WO2022247334A1 - 一种装配机械臂 - Google Patents

一种装配机械臂 Download PDF

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Publication number
WO2022247334A1
WO2022247334A1 PCT/CN2022/074279 CN2022074279W WO2022247334A1 WO 2022247334 A1 WO2022247334 A1 WO 2022247334A1 CN 2022074279 W CN2022074279 W CN 2022074279W WO 2022247334 A1 WO2022247334 A1 WO 2022247334A1
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WIPO (PCT)
Prior art keywords
joint
arm
movable
moving
driver
Prior art date
Application number
PCT/CN2022/074279
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English (en)
French (fr)
Inventor
林子春
林高宏
张园
Original Assignee
琦星智能科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN202110561682.3A external-priority patent/CN113146598A/zh
Priority claimed from CN202110561694.6A external-priority patent/CN113119094A/zh
Priority claimed from CN202110561697.XA external-priority patent/CN113119091A/zh
Priority claimed from CN202110561683.8A external-priority patent/CN113146226A/zh
Priority claimed from CN202110561695.0A external-priority patent/CN113118748A/zh
Application filed by 琦星智能科技股份有限公司 filed Critical 琦星智能科技股份有限公司
Publication of WO2022247334A1 publication Critical patent/WO2022247334A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints

Definitions

  • the invention relates to the technical field of industrial robot manufacturing, more specifically, it relates to an assembly robot arm.
  • Robotic arms are widely used in the current market and are involved in various industries. While improving work efficiency for enterprises, they also reduce manufacturing costs for enterprises.
  • the operation process of the mechanical arm in the prior art is relatively cumbersome, requiring two mechanical arms to cooperate. First, one robotic arm clamps the products on the assembly line and places them on the workbench, and then another robot arm clamps the products on the workbench to the other side. This process is not only time-consuming, but also reduces production efficiency.
  • the two operating robotic arms occupy a relatively large area, which also has certain restrictions on the size of the production site.
  • a mechanical arm with a lifting function is usually provided with a rotation mechanism on the base, and the entire mechanical arm rotates when the rotation is performed. This lifting method increases the burden on the driving device of the mechanical arm.
  • the present invention overcomes the deficiencies of the above-mentioned technologies, and provides an assembly manipulator, which has a compact structure, can realize the transport function of workpieces in horizontal and vertical directions, can reduce the weight borne by the manipulator at the same time, and improve the strength of the manipulator. flexibility.
  • an assembly mechanical arm which is characterized in that it includes a mobile joint support, a mobile joint arm is provided on the mobile joint support, and a mobile joint arm is provided on the mobile joint arm.
  • a pushing device is provided between the moving joint arm and the moving joint bracket, and the pushing device includes:
  • the rack is fixedly arranged on the movable articulated arm
  • the driver is fixedly arranged on the movable joint support, and a gear is externally connected to the driver, and the gear is matched with the rack.
  • the moving joint includes a first moving joint and/or a second moving joint
  • the first moving joint includes:
  • Actuating end one is threaded on the nut fixing seat and on the movable articulated arm, and jaw one is provided on the executing end one;
  • Rotary driver 1 is fixedly arranged on the movable articulated arm
  • Driver 1 is fixedly arranged on the movable articulated arm
  • a transmission belt is arranged between the first rotary driver and the first driver and the execution end one.
  • the moving joint includes a first moving joint and/or a second moving joint
  • the second moving joint includes:
  • the second nut fixing seat is fixedly arranged on the movable articulated arm
  • the execution end 2 is threaded on the nut fixing seat 2 and on the movable joint arm, and the execution end 2 is provided with a jaw 2;
  • the second rotary drive is fixedly arranged on the movable articulated arm
  • the second driver is fixedly arranged on the movable articulated arm
  • a transmission belt is set between the second rotary driver and the second driver and the second execution end.
  • the mobile joint bracket is provided with a clamping and turning device
  • the clamping and turning device includes a clamping device and a turning device.
  • the overturning device includes:
  • Gear one is rotatably arranged on the movable joint bracket.
  • the clamping device includes jaws, and the jaws are connected with the first gear.
  • the movable articulated arm is provided with a fastening operation joint, and the fastening operation joint includes:
  • the screwdriver lifting joint is fixedly arranged on the movable joint arm;
  • the screwdriver mounting bracket is movably arranged on the screwdriver lifting joint, and the screwdriver mounting bracket can move along the screwdriver lifting joint;
  • a screwdriver is connected with the screwdriver mounting bracket.
  • the assembly robot arm further includes a base, the movable joint bracket is arranged on the base, a rotating device is arranged between the base and the movable joint bracket, and the rotating device is fixedly arranged on the Move the swivel joint drive on the joint mount.
  • the moving joint includes a lifting arm and a moving arm, a lifting device is arranged between the lifting arm and the moving joint support, and a pushing device is arranged between the lifting arm and the moving arm.
  • the lifting device includes:
  • the driver three is fixedly arranged on the movable joint support
  • the nut bracket is arranged on the screw rod, the nut bracket is connected with a guide module 1, and the lifting arm is connected with the guide module 1;
  • the driver three drives the screw mandrel to rotate through a transmission belt.
  • the pushing device includes:
  • the driver 4 is fixedly arranged on the lifting arm, the output end of the driver 4 is connected with a push gear, and the push gear is engaged with the push rack.
  • the assembly robot arm further includes: a base, and a rotatable connection between the base and the movable joint support.
  • the front end of the lifting arm is equipped with a carrying joint.
  • the beneficial effects of the present invention are: (1) compact structure and strong flexibility, which can realize the transportation of workpieces in various directions; (2) high degree of automation and convenient operation.
  • Fig. 1 is a kind of structure schematic diagram with assembly manipulator of the present invention
  • Fig. 2 is a structural diagram of a first mobile joint with an assembly robot arm according to the present invention
  • Fig. 3 is a structural schematic diagram of a screw machine with an assembly robot arm in the present invention
  • Fig. 4 is a structural diagram of a second mobile joint with an assembly robot arm of the present invention.
  • Fig. 5 is a schematic diagram of a pushing device with an assembly robot arm according to the present invention.
  • Fig. 6 is a schematic structural view of another embodiment of the present invention.
  • Fig. 7 is a diagram of different numbers in the structural schematic diagram of another embodiment in Fig. 6;
  • Fig. 8 is a schematic structural view of another embodiment of the mobile joint support in Fig. 6;
  • Fig. 9 is a schematic structural view of another embodiment of the mobile articulated arm in Fig. 6;
  • base 10 rotating device 11, rotating joint driver 12, base 13, electric control box 131, rotating joint 14, chassis 15;
  • Mobile joint support 20 support side plate 201, support base frame 202, support cover plate 203, pushing device 21, side plate 22, fixed plate 23, lifting pusher 24, front and rear pusher 25;
  • second moving joint 40 rotary driver two 41, nut holder two 42, driver two 43, executing end 2 44, first moving joint 50, rotating driver 1 51, nut holder 1 52, driver 1 53, executing end 1 54, clamping and turning device 60, clamping device 61, jaw 611, flipping Device 62, gear one 621, rack one 622, telescopic cylinder 623, jaw one 70, jaw two 80, fastening operation joint 90, screwdriver lifting joint 91, screwdriver mounting bracket 92, screwdriver 93.
  • an assembly mechanical arm includes a base 10, a moving joint support 20, a moving joint arm 30, a clamping and turning device 60, a fastening operation joint 90 and a control system
  • the above-mentioned mobile joint support 20 is installed on the base 10
  • the mobile joint arm 30 is installed on the mobile joint support 20
  • the mobile joint support 20 is provided with a mobile joint
  • the mobile joint includes a second mobile joint 40 and a first mobile joint 50, the second mobile joint
  • the mobile joint 40 and the first mobile joint 50 are installed at both ends of the mobile joint arm 30
  • the clamping and turning device 60 is installed on the mobile joint support 20 .
  • the mobile joint bracket 20, the mobile joint arm 30, the second mobile joint 40, and the first mobile joint 50 are rotated on the base 10, so that the whole mechanical arm can perform a rotating action; under the control of the control system Next, the mobile articulated arm 30, together with the second mobile joint 40 and the first mobile joint 50, perform forward and backward transport actions on the mobile joint support 20, so that the mechanical arm can perform forward and backward transport actions; under the control of the control system, the second mobile joint 40 Together with the first mobile joint 50, the moving joint arm 30 can perform lifting and transporting actions simultaneously, so that the mechanical arm can realize the lifting and transporting action.
  • the mechanical arm of the present application has the advantages of convenient and fast assembly and a small number of mechanical arms, which overcomes the defect of requiring multiple mechanical arms in the existing assembly technology, and has high promotion and use value.
  • a rotation device 11 is arranged between the above-mentioned base 10 and the movable joint support 20 , the rotation device 11 is fixed on the base 10 , and the rotation device 11 is connected to the bottom plate of the mobile joint support 20 .
  • the rotating device 11 is fixedly connected in the form of a rotating joint driver 12 with a motor plus a transmission connected to the bottom plate of the moving joint bracket 20.
  • the moving joint bracket 20 realizes the entire machine including the moving joint bracket 20 under the control of the control system.
  • the arm realizes the rotation operation.
  • the above-mentioned mobile joint arm 30 is installed on the mobile joint support 20 .
  • a pushing device 21 is arranged between the moving joint support 20 and the moving joint arm 30 , and the pushing device 21 provides power for forward and backward transport of the moving joint arm 30 .
  • the specific solution of the pushing device 21 in this embodiment is that the pushing device 21 has a linear guide rail 31 , a driver 33 , a gear 34 and a rack 32 .
  • the movable joint support 20 has two side plates 22 and two fixed plates 23, the fixed plates 23 are fixed on the side plates 22 in a horizontal state, a linear guide rail 31 is arranged between the two fixed plates 23 and the movable joint arm 30, and the linear guide rail 31 can not only make the movable articulated arm 30 move back and forth on the movable articulated support 20 to provide structural support, but also enable the movable articulated arm 30 to have a relatively fixed connection structure.
  • the two fixed plates 23 are provided with a driver 33 , the driver 33 is externally connected to a gear 34 , and the movable articulated arm 30 is fixed with a rack 32 , and the gear 34 is matched with the rack 32 .
  • the driver 33 drives the gear 34 and the rack 32 under the control of the control system, the forward and backward transport of the movable articulated arm 30 is realized.
  • first mobile joint 50 and second mobile joint 40 are installed at the front and rear ends of the mobile articulated arm 30, and the first mobile joint 50 and the second mobile joint 40 pass through the mobile articulated arm 30 and enter the lower part of the mobile articulated arm 30.
  • the lifting area of the first mobile joint 50 and the second mobile joint 40 is the lifting area of the first mobile joint 50 and the second mobile joint 40 .
  • the first mobile joint 50 has a first rotation driver 51 , a first nut holder 52 , a first execution end 54 and a first driver 53 .
  • Executing end one 54 passes through the movable articulated arm 30 and is fixed on the movable articulated arm 30, the driver one 53 is fixed on the movable articulated arm 30, the nut holder one 52 is dynamically connected with the execution end one 54, the driver one 53 is connected with the nut holder
  • a transmission belt is provided between the first moving joint 52 to carry out the lifting and transporting action of the first mobile joint 50 to the execution end one 54 .
  • the rotary driver 1 51 is fixed on the movable articulated arm 30 , and a transmission belt is arranged between the rotary driver 1 51 and the execution end 54 to carry out the rotating and transporting action on the execution end 1 54 .
  • the execution end one 54 is equipped with a jaw one 70, and the jaw one 70 is used for gripping materials. Clamping claw 1 70 clamps the material and transfers the material to the clamping and turning device 60 through the movement of the moving articulated arm 30 for assembly processing.
  • the second mobile joint 40 has a second rotary driver 41 , a second nut holder 42 , a second actuator 44 and a second driver 43 .
  • the execution end 2 44 passes through the movable articulated arm 30 and is fixed on the movable articulated arm 30 , the execution end 2 44 is dynamically connected with the nut holder 2 42 , the driver 2 43 is fixed on the movable articulated arm 30 , the driver 2 43 is connected with the nut holder
  • a transmission belt is arranged between the two 42 to carry out the lifting and transporting action of the second mobile joint 40 on the execution end 2 44 .
  • the second rotary driver 41 is fixed on the movable articulated arm 30 , and a transmission belt is arranged between the second rotary driver 41 and the second execution end 44 to carry out the rotating and transporting action on the second execution end 44 .
  • the execution end 2 44 is equipped with a gripper 2 80, which is used for gripping and clamping the assembled materials on the flipper 60. When the gripper 70 grips the material, the gripper 80 also grabs the The material that has been assembled by the holding and turning device 60 can be transferred to two different positions simultaneously under the movement of the movable articulated arm 30 .
  • clamping and turning device 60 is fixed on the side plate 22 of movable joint support 20, and clamping and turning device 60 has clamping device 61 and turning device 62, and clamping device 61 is installed on the inner side of side plate 22, and turning device 62 Installed on the outside of the side plate 22, the clamping device 61 is used to accept the material clamped by the jaw one 70, and the turning device 62 is used for turning over the material during the assembly process.
  • the above-mentioned overturning device 62 has a gear one 621 , a rack one 622 and a telescopic cylinder 623 .
  • the gear one 621 passes through the side plate 22 and matches with the rack one 622 on the outside of the side plate 22 , and is connected to the turning device 62 on the inside of the side plate 22 .
  • the first rack 622 is fixedly connected to the telescopic cylinder 623 and receives the power of the telescopic cylinder 623 .
  • the above-mentioned clamping device 61 has a jaw 611, and the gear one 621 is connected to the jaw 611.
  • the gear one 621 is driven to rotate through the rack one 622 so as to drive the jaw 611 to rotate, so that the jaw 611 can clamp It can pick up the material, and can perform flipping action under the state of clamping the material, which has high operational flexibility.
  • the above-mentioned overturning device 52 has a gear one 521 , a rack one 522 and a telescopic cylinder 523 .
  • Gear 1 521 passes through side plate 22 and is matched with gear 1 521 on the outside of side plate 22.
  • Gear 1 521 is connected to clamping device 51 on the inside of side plate 22.
  • Gear 1 521 is respectively connected to clamping devices on both sides of side plate 22. 51 and turning device 52.
  • the rack one 522 is connected to the telescopic cylinder 523 in a chute state, and receives the pushing power of the telescopic cylinder 523. Under the action of the telescopic cylinder 523, the rack one 522 drives the gear one 521 to rotate so as to drive the turning device 52 to rotate.
  • the above-mentioned clamping device 51 is installed on the overturning device 52, and the clamping device 51 is overturned with the overturning of the overturning device 52, so that the clamping device 51 can not only clamp the material, but also implement the overturning action in the state of clamping the material, Advantages of high operational flexibility
  • the above-mentioned fastening operation joint 90 is installed on the movable joint arm 30; the fastening operation joint 90 is used for fastening the materials transported by the second mobile joint 40 or the first mobile joint 50, and the specific fastening operation joint 90 is installed on Move the middle part of the articulated arm 30, and the fastening operation joint 90 of the present embodiment selects a screwdriver 93 for assembly and fixing work.
  • the fastening operation joint 90 includes a screwdriver lifting joint 91 , a screwdriver mounting bracket 92 and a screwdriver 93 .
  • Screwdriver lifting joint 91 is fixed on the middle position of mobile joint arm 30 with vertical state
  • screwdriver mounting bracket 92 is fixed on the liftable device of screwdriver lifting joint 91
  • screwdriver mounting bracket 92 is fixed with screwdriver 93
  • screwdriver 93 is screwed nut ( or screws) fastened to the material.
  • the first movable joint 50 has a first actuator end 54 equipped with a jaw one 70
  • the second movable joint 40 has an actuator end two 44 equipped with a second jaw 80, and the first jaw 70 or the second jaw 80 clamps the material while clamping And on the flipper 60, the fastening work is implemented by the fastening work joint 90.
  • the material is clamped and removed from the flipper 60 by the first jaw 70 or the second jaw 80 .
  • the first gripper 70, the second gripper 80 and the fastening operation joint 90 work in coordination under the control of the control system.
  • the assembly robot arm of the present application is convenient and quick in the material assembly process, and overcomes the need for multiple robotic arms in the prior art. Defects.
  • Embodiment 2 Referring to Figures 6 to 9, this embodiment is similar in structure to Embodiment 1, the difference is that this embodiment is composed of a base 13, a movable joint support 20, and an electric control box 131, and the mobile
  • the joint support 20 is provided with a moving joint
  • the moving joint includes a lifting arm 35 and a moving arm 36
  • a lifting device 37 is arranged between the lifting arm 35 and the moving joint support 20
  • a pushing device 38 is arranged between the lifting arm 35 and the moving arm 36 .
  • the bottom of the base 13 has an adjustable underframe 15, an electric control box 131 is installed on the underframe 15, the electric control box 131 and the base 13 are fixed together, and the movable joint support 20 is fixed on the base 13, and the movable joint support 20 is in a vertical state.
  • a revolving joint 14 is arranged between the base 13 and the movable joint support 20, and the revolving joint 14 is fixed on the base 13 to perform a rotating action on the movable joint support 20 under the program control of the electric control box 131, thereby realizing the Under the control of the program, the entire mechanical arm including the lifting arm 35 and the moving arm 36 of the mobile joint support 20 is rotated.
  • the mobile joint support 20 described above has a support side plate 201 , a support base frame 202 and a support cover plate 203 .
  • the support base frame 202 is connected and fixed with the rotary joint 14, the support side plates 201 are fixed on both sides of the support base frame 202, and the support cover plate 203 is fixed on the top of the support side plates 201 on both sides to form a rectangular frame.
  • the lifting device 37 is fixedly installed on the support side plate 201 of the mobile joint support 20, and the lifting device 37 is a lifting pusher 24, and the lifting pusher 24 provides power for the lifting action of the lifting arm 35 and the mobile arm 36, and the lifting pusher 24 is used to drive
  • the elevating arm 35 realizes the up and down movement of the entire elevating arm 35 .
  • a lifting device 37 is included, and the lifting device 37 includes a lifting pusher 24 .
  • the specific lifting pusher 24 has a driver 1 371 , a screw 372 , a guide module 1 374 , a nut bracket 373 and a connecting bracket 375 .
  • the driver one 371 is installed and fixed on the lower end of the bracket side plate 201, and the screw rod 372 is arranged between the bearing seat under the bracket cover plate 203 and the bearing seat at one end where the driver one 371 is located.
  • the lifting arm 35 and the support side plate 201 are connected and fixed by the connecting bracket 375.
  • At least two or more guiding modules 374 are arranged between the connecting bracket 375 and the movable joint bracket 20, and between the screw rod 372 and the guiding module 1 374 are arranged.
  • the driver one 371 drives the nut bracket 373 to rotate through the conveyor belt drive screw 372 under the program control of the electric control box 131, so as to push the lifting arm 35 to make a lifting action on the guide module one 374.
  • the lifting mechanism of the mechanical arm of the present application no longer lifts and lowers the lifting mechanism itself, which effectively reduces the weight of the lifting mechanism and improves the operating efficiency of the mechanical arm.
  • the lifting arm 35 is installed above the moving arm 36, and a propelling device 38 is installed between the lifting arm 35 and the moving arm 36.
  • the propelling device 38 is a front and rear pusher 25. Power is provided for the forward and backward movement of the movable arm 36 .
  • the specific front and rear pusher 25 has a driver 4 382 , a push gear 383 , a push rack 381 , and a guide module 2 384 .
  • the driver four 382 is fixed on the lifting arm 35, and the driving gear 383 is connected to the output shaft of the driver four 382.
  • a push rack 381 is installed on the movable arm 36, and the push rack 381 meshes and matches with the push gear 383.
  • At least two or more guiding modules 384 are arranged between the lift arm 35 and the movable arm 36, and the drive four 382 is electrically controlled Under the program control of the box 131, the driving gear 383 is driven to push the rack 381 so that the entire moving arm 36 moves back and forth on the second guide module 384 .
  • the front end of the lifting arm 35 is equipped with a carrying joint 39, which is connected to the lifting arm 35 through a motor.
  • the carrying joint 39 can be rotated and lifted under the program control of the electric control box 131 and can be rotated within the range of rotation. Move back and forth inside.
  • the mechanical arm of the present application has the advantages of convenient and fast assembly and a small number of mechanical arms, which overcomes the defect that multiple mechanical arms are required in the existing assembly technology, and has high promotion and use value.

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种装配机械臂，包括移动关节支架（20），移动关节支架（20）上设置有移动关节臂（30），移动关节臂（30）上设置有移动关节，移动关节臂（30）与移动关节支架（20）之间设置有推送装置（21），移动关节包括第一移动关节（50）和/或第二移动关节（40），移动关节支架（20）上设置有夹持和翻转器（60），夹持和翻转器（60）包括夹持装置（61）和翻转装置（62）。装配机械臂实现在流水线上灵活的抓取工件，具有灵活度高、体积小、工作效率高的特点。

Description

一种装配机械臂 技术领域
本发明涉及工业机器人制造技术领域，更具体地说，它涉及一种装配机械臂。
背景技术
机械臂在目前市场中应用广泛，在各个行业中都有所涉及，为企业提升工作效率的同时，还降低了企业的制造成本。现有技术中的机械臂在作业时运行过程较为繁琐，需要两台机械臂进行合作。先由一台机械臂将流水线上的产品夹取放在作业台上，再由另一台机械臂将作业台上的产品夹取到另一边，这个过程不仅耗费时间，还降低了生产效率，除此之外，两台作业机械臂占用的面积较大，对生产场地的大小也有一定的限制。另外，带有升降功能的机械臂通常在底座上设置旋转机构，当旋转动作时整个机械臂随之旋转，这种升降方式增加了机械臂驱动装置的负担。
发明内容
本发明克服了上述技术的不足，提供了一种装配机械臂，它具有结构紧凑，能够实现水平和竖直方向对工件的运输作用，同时能够减小机械臂所承受的重量，提高机械臂的灵活性。
为了解决上述技术问题，本发明采用以下技术方案：一种装配机械臂，其特征在于，包括移动关节支架，所述移动关节支架上设置有移动关节臂，所述移动关节臂上设置有移动关节。
作为优选，所述移动关节臂与所述移动关节支架之间设置有推送装置，所述推送装置包括：
直线导轨，固定设置在所述移动关节臂上；
齿条，固定设置在所述移动关节臂上；
驱动器，固定设置在所述移动关节支架，所述驱动器上外接有齿轮，所述齿轮与所述齿条相配合。
作为优选，所述移动关节包括第一移动关节和/或第二移动关节，所述第一移动关节包括：
螺母固定座一，固定设置在所述移动关节臂上；
执行端一，穿设在所述螺母固定座且穿设在所述移动关节臂上，所述执行端一上设置有夹爪一；
旋转驱动器一，固定设置在所述移动关节臂上；
驱动器一，固定设置在所述移动关节臂上；
其中，所述旋转驱动器一和驱动器一两者均与执行端一之间设置有传动带。
作为优选，所述移动关节包括第一移动关节和/或第二移动关节，所述第二移动关节包括：
螺母固定座二，固定设置在所述移动关节臂上；
执行端二，穿设在所述螺母固定座二且穿设在所述移动关节臂上，所述执行端二上设置有夹爪二；
旋转驱动器二，固定设置在所述移动关节臂上；
驱动器二，固定设置在所述移动关节臂上；
其中，所述旋转驱动器二和驱动器二两者均与执行端二之间设置有传动带。
作为优选，所述移动关节支架上设置有夹持和翻转器，所述夹持和翻转器包括夹持装置和翻转装置。
作为优选，所述翻转装置包括：
伸缩气缸，固定设置在所述移动关节支架上；
齿条一，与所述伸缩气缸相连接；
齿轮一，可转动的设置在所述移动关节支架上。
作为优选，所述夹持装置包括夹爪，所述夹爪与所述齿轮一相连接。
作为优选，所述移动关节臂上设置有一紧固作业关节，所述紧固作业关节包括：
螺丝刀升降关节，固定设置在所述移动关节臂上；
螺丝刀安装支架，可活动的设置在所述螺丝刀升降关节上，所述螺丝刀安装支架可沿所述螺丝刀升降关节进行运动；
螺丝刀，与所述螺丝刀安装支架相连接。
作为优选，所述装配机械臂还包括底座，所述移动关节支架设置在所述底座上，所述底座与所述移动关节支架之间设置有一旋转装置，所述旋转装置为固定设置在所述移动关节支架上的旋转关节驱动器。
作为优选，所述移动关节包括升降臂和移动臂，所述升降臂与所述移动关节支架之间设置有升降装置，所述升降臂与所述移动臂之间设置有推动装置。
作为优选，所述升降装置包括：
驱动器三，固定设置在所述移动关节支架上；
丝杆，竖直设置在所述移动关节支架上；
螺母支架，设置在所述丝杆上，所述螺母支架连接有一导向模组一，所述升降臂与所述导向模组一相连接；
其中，所述驱动器三通过传动带带动所述丝杆转动。
作为优选，所述推动装置包括：
推动齿条，设置在所述移动臂上；
驱动器四，固定设置咋所述升降臂上，所述驱动器四的输出端连接有推动齿轮，所述推动齿轮与所述推动齿条相啮合。
作为优选，所述装配机械臂还包括：基座，所述基座与所述移动关节支架之间可转动的连接。
作为优选，，所述升降臂的前端安装有执行运送关节。
与现有技术相比，本发明的有益效果是：(1)结构紧凑，灵活性强，能够实现各个方向的工件的运输工作；(2)自动化程度高，操作方便。
附图说明
图1是本发明一种具有装配机械臂的结构示意图；
图2是本发明一种具有装配机械臂第一移动关节结构图；
图3是本发明一种具有装配机械臂的螺丝机结构示意图；
图4是发本明一种具有装配机械臂的第二移动关节结构图；
图5是本发明一种具有装配机械臂推送装置示意图。
图6是本发明另一实施例的结构示意图；
图7是图6中另一实施例的结构示意图中的不同标号图；
图8是图6中另一实施例的移动关节支架的结构示意图；
图9是图6中另一实施例的移动关节臂的结构示意图；
图中：底座10，旋转装置11，旋转关节驱动器12，基座13，电控箱131，旋转关节14，底架15；
移动关节支架20，支架侧板201，支架底架202，支架盖板203，推送装置21，侧板22，固定板23，升降推动器24，前后推动器25；
移动关节臂30，直线导轨31，齿条32，驱动器33，齿轮34，升降臂35，移动臂36，升降装置37，驱动器三371，丝杆372，螺母支架373，导向模组一374，连接支架375，推动装置38，推动齿条381，驱动器四382，推动齿轮383，导向模组二384，执行运送关节39；第二移动关节40，旋转驱动器二41，螺母固定座二42，驱动器二43，执行端二44，第一移 动关节50，旋转驱动器一51，螺母固定座一52，驱动器一53，执行端一54，夹持和翻转器60，夹持装置61，夹爪611，翻转装置62，齿轮一621，齿条一622，伸缩气缸623，夹爪一70，夹爪二80，紧固作业关节90，螺丝刀升降关节91，螺丝刀安装支架92，螺丝刀93。
具体实施方式
下面通过具体实施例，并结合附图，对本发明的技术方案作进一步的具体描述：
实施例1：参阅附图1至附图5，一种装配机械臂，包括有底座10、移动关节支架20、移动关节臂30、夹持和翻转器60、紧固作业关节90和控制系统，上述移动关节支架20安装在底座10上，移动关节臂30安装在移动关节支架20上，移动关节支架20上设置有移动关节，移动关节包括第二移动关节40和第一移动关节50，第二移动关节40和第一移动关节50安装在移动关节臂30的两端，夹持和翻转器60安装在移动关节支架20上。在控制系统的控制下，移动关节支架20以及移动关节臂30、第二移动关节40、第一移动关节50在底座10上作旋转运行，达到机械臂整体能够作出旋转动作；在控制系统的控制下，移动关节臂30连同第二移动关节40和第一移动关节50在移动关节支架20上作出前后运送动作，达到机械臂能够作出前后运送动作；在控制系统的控制下，第二移动关节40和第一移动关节50在移动关节臂30上可同时作出升降运送动作，使得机械臂实现升降运送动作。综合上述各个关节的运转，本申请的机械臂具有装配方便快捷，使用机械臂数量少的优点，克服了现有装配技术中需要多个机械臂的缺陷，具有较高的推广使用价值。
上述的底座10与移动关节支架20之间设置有旋转装置11，旋转装置11固定在底座10上，旋转装置11再连接移动关节支架20底板。本实施方案旋转装置11以电机加变速器的旋转关节驱动器12连接移动关节支架20底板的形式来实现固定连接的，移动关节支架20在控制系统的控制下实现包括移动关节支架20在内的整个机械臂实现旋转运行。
上述的移动关节臂30安装在移动关节支架20上。移动关节支架20与移动关节臂30之间设置有推送装置21，推送装置21起到对移动关节臂30的前后运送动作提供动力。
本实施方案推送装置21具体方案是，推送装置21具有直线导轨31、驱动器33、齿轮34和齿条32。移动关节支架20具有两块侧板22和两块固定板23，固定板23以水平状态固定在侧板22上，两块固定板23与移动关节臂30之间设置有直线导轨31，直线导轨31既可以使得移动关节臂30在移动关节支架20上前后移送提供结构上的支持，又可以使得移动关节臂30具有相对固定的连接结构。两块固定板23上设置有驱动器33，驱动器33外接齿轮34，移动关节臂30上固定有齿条32，齿轮34匹配于齿条32。当驱动器33在控制系统的控制下驱动齿轮34及齿条32实现移动关节臂30的前后运送。
上述的第一移动关节50和第二移动关节40安装在移动关节臂30的前后两端，第一移动关节50和第二移动关节40穿过移动关节臂30进入移动关节臂30的下部，上述移动关节臂30的下部与移动关节支架20的两块侧板22之间为第一移动关节50和第二移动关节40的升降区域。
第一移动关节50具有旋转驱动器一51、螺母固定座一52、执行端一54和驱动器一53。执行端一54穿过移动关节臂30并固定在移动关节臂30上，驱动器一53固定在移动关节臂30上，螺母固定座一52与执行端一54动连接，驱动器一53与螺母固定座一52之间设置有传动带用以对执行端一54实施第一移动关节50的升降运送动作。旋转驱动器一51固定在移动关节臂30上，旋转驱动器一51与执行端一54之间设置有传动带用以对执行端一54实施旋转运送动作。执行端一54安装有夹爪一70，夹爪一70用于夹取物料。夹爪一70夹取物料通过移动关节臂30的移动将物料移送到夹持和翻转器60上进行装配加工。
第二移动关节40具有旋转驱动器二41、螺母固定座二42、执行端二44和驱动器二43。执行端二44穿过移动关节臂30并固定在移动关节臂30上，执行端二44与螺母固定座二42动连接，驱动器二43固定在移动关节臂30上，驱动器二43与螺母固定座二42之间设置有传动带用以对执行端二44实施第二移动关节40的升降运送动作。旋转驱动器二41固定在移动关节臂30上，旋转驱动器二41与执行端二44之间设置有传动带用以对执行端二44实施旋转运送动作。执行端二44安装有夹爪二80，夹爪二80用于夹取夹持和翻转器60上的装配完成物料，当夹爪一70夹取物料时，夹爪二80也抓取在夹持和翻转器60装配完成的物料，在移动关节臂30的移动下同时实现两个不同位置物料的移送。
上述夹持和翻转器60固定在移动关节支架20的侧板22上，夹持和翻转器60具有夹持装置61和翻转装置62，夹持装置61安装在侧板22的内侧，翻转装置62安装在侧板22的外侧，夹持装置61用于接受夹爪一70夹持的物料，翻转装置62用于物料装配过程中的翻转。
上述的翻转装置62具有齿轮一621、齿条一622和伸缩气缸623。齿轮一621穿过侧板22在侧板22外侧与齿条一622匹配，在侧板22内侧与翻转装置62连接。齿条一622以固定的方式连接伸缩气缸623，并接收伸缩气缸623的动力。上述的夹持装置61具有夹爪611，齿轮一621连接夹爪611，在伸缩气缸623作用下，通过齿条一622带动齿轮一621旋转从而带动夹爪611旋转，实现夹爪611既能夹取物料，又能在夹取物料的状态下实施翻转动作，具有较高的操作灵活性。
上述的翻转装置52具有齿轮一521、齿条一522和伸缩气缸523。齿轮一521穿过侧 板22并在侧板22外侧与齿轮一521匹配连接，齿轮一521在侧板22内侧与夹持装置51连接，齿轮一521在侧板22两侧分别连接夹持装置51和翻转装置52。齿条一522以处于滑槽状态连接伸缩气缸523，并接收伸缩气缸523的推送动力，在伸缩气缸523作用下，通过齿条一522带动齿轮一521旋转从而带动翻转装置52作出旋转动作。上述的夹持装置51安装在翻转装置52上，夹持装置51随翻转装置52的翻转而翻转，实现夹持装置51既能夹取物料，又能在夹取物料的状态下实施翻转动作，具有较高操作灵活性的优点
上述紧固作业关节90安装在移动关节臂30上；紧固作业关节90用于将第二移动关节40或者第一移动关节50运送的物料进行紧固工作，具体的紧固作业关节90安装位于移动关节臂30的中部，本实施例的紧固作业关节90选用螺丝刀93进行装配固定工作。紧固作业关节90包括有螺丝刀升降关节91、螺丝刀安装支架92和螺丝刀93。螺丝刀升降关节91以竖直状态固定在移动关节臂30的中部位置，螺丝刀安装支架92固定在螺丝刀升降关节91的可升降装置上，螺丝刀安装支架92上固定有螺丝刀93，螺丝刀93将螺帽(或螺钉)紧固在物料上。第一移动关节50具有执行端一54安装有夹爪一70，第二移动关节40具有的执行端二44安装有夹爪二80，夹爪一70或者夹爪二80夹取物料在夹持和翻转器60上，由紧固作业关节90实施紧固工作。紧固工作完成后，再由夹爪一70或者夹爪二80将物料夹持和翻转器60上取走。上述的夹爪一70、夹爪二80和紧固作业关节90在控制系统控制下协调工作，本申请的装配机械臂在物料装配过程中方便快捷，克服了现有技术中需要多台机械臂的缺陷。
实施例2：参照图6至图9所示，本实施例与实施例1结构相似，不同之处在与，本实施例由基座13、移动关节支架20、和电控箱131组成，移动关节支架20上设置有移动关节，移动关节包括升降臂35和移动臂36，升降臂35与移动关节支架20之间设置有升降装置37，升降臂35与移动臂36之间设置有推动装置38。上述基座13底部具有可调节的底架15，底架15上安装有电控箱131，电控箱131与基座13相依固定在一起，基座13上固定移动关节支架20，移动关节支架20呈竖直状态。基座13与移动关节支架20之间设置有旋转关节14，旋转关节14固定在基座13在电控箱131的程序控制下对移动关节支架20实施旋转动作，从而实现在电控箱131的程序控制下对移动关节支架20包括升降臂35和移动臂36在内的整个机械臂作出旋转动作。
上述的移动关节支架20具有支架侧板201、支架底架202和支架盖板203。支架底架202与旋转关节14连接固定，支架侧板201固定在支架底架202的两侧，支架盖板203固定在两侧支架侧板201的上部，形成一个长方形框架。移动关节支架20的支架侧板201上固定安装升降装置37，固升降装置37为升降推动器24，升降推动器24为升降臂35以及移动臂 36的升降动作提供动力，升降推动器24以驱动升降臂35实现整个升降臂35的上下升降动作。
本实施例中，包括升降装置37，升降装置37包括升降推动器24，具体的升降推动器24具有驱动器一371、丝杆372、导向模组一374、螺母支架373和连接支架375。驱动器一371安装固定在支架侧板201的下端，丝杆372设置在支架盖板203下的轴承座与驱动器一371所在一端的轴承座之间。升降臂35与支架侧板201由连接支架375连接固定，连接支架375与移动关节支架20之间至少设置有两组以上的导向模组一374，丝杆372与导向模组一374之间设置有螺母支架373。驱动器一371在电控箱131的程序控制下通过传送带驱动丝杆372旋动带动螺母支架373旋转，实现推动升降臂35在导向模组一374上作出升降动作。本申请的机械臂的升降机构不再对升降机构本省进行升降工作，有效地减轻了升降机构的重量，使得机械臂运行效率得以提高。
升降臂35安装位于移动臂36的上方，升降臂35与移动臂36之间安装有推动装置38，推动装置38为前后推动器25，前后推动器25安装在升降臂35上，前后推动器25为移动臂36的前后移动提供动力。本实施例中，具体的前后推动器25具有驱动器四382，推动齿轮383，推动齿条381，导向模组二384。驱动器四382固定在升降臂35上，推动齿轮383连接驱动器四382的输出轴。移动臂36上安装有推动齿条381，推动齿条381啮合匹配于推动齿轮383，升降臂35与移动臂36之间至少设置有两组以上的导向模组二384，驱动器四382在电控箱131的程序控制下驱动推动齿轮383推动推动齿条381以至整个移动臂36在导向模组二384上作出前后移动动作。
升降臂35的前端安装有执行运送关节39，执行运送关节39通过一电机与升降臂35连接，执行运送关节39在电控箱131的程序控制下可以做到旋转和升降并且在可以旋转的范围内前后移动。本申请的机械臂具有装配方便快捷，使用机械臂数量少的优点，克服了现有装配技术中需要多个机械臂的缺陷，具有较高的推广使用价值。
以上所述的实施例只是本发明较佳的方案，并非对本发明作任何形式上的限制，在不超出权利要求所记载的技术方案的前提下还有其它的变体及改型。

Claims (14)

  1. 一种装配机械臂，其特征在于，包括移动关节支架(20)，所述移动关节支架(20)上设置有移动关节臂(30)，所述移动关节臂(30)上设置有移动关节。
  2. 根据权利要求1所述的装配机械臂，其特征是，所述移动关节臂(30)与所述移动关节支架(20)之间设置有推送装置(21)，所述推送装置(21)包括：
    直线导轨(31)，固定设置在所述移动关节臂(30)上；
    齿条(32)，固定设置在所述移动关节臂(30)上；
    驱动器(33)，固定设置在所述移动关节支架(20)，所述驱动器(33)上外接有齿轮(34)，所述齿轮(34)与所述齿条(32)相配合。
  3. 根据权利要求1所述的装配机械臂，其特征是，所述移动关节包括第一移动关节(50)和/或第二移动关节(40)，所述第一移动关节(50)包括：
    螺母固定座一(52)，固定设置在所述移动关节臂(30)上；
    执行端一(54)，穿设在所述螺母固定座(52)且穿设在所述移动关节臂(30)上，所述执行端一(54)上设置有夹爪一(70)；
    旋转驱动器一(51)，固定设置在所述移动关节臂(30)上；
    驱动器一(53)，固定设置在所述移动关节臂(30)上；
    其中，所述旋转驱动器一(51)和驱动器一(53)两者均与执行端一(54)之间设置有传动带。
  4. 根据权利要求1所述的装配机械臂，其特征是，所述移动关节包括第一移动关节(50)和/或第二移动关节(40)，所述第二移动关节(40)包括：
    螺母固定座二(42)，固定设置在所述移动关节臂(30)上；
    执行端二(44)，穿设在所述螺母固定座二(42)且穿设在所述移动关节臂(30)上，所述执行端二(44)上设置有夹爪二(80)；
    旋转驱动器二(41)，固定设置在所述移动关节臂(30)上；
    驱动器二(43)，固定设置在所述移动关节臂(30)上；
    其中，所述旋转驱动器二(41)和驱动器二(43)两者均与执行端二(44)之间设置有传动带。
  5. 根据权利要求3或4所述的装配机械臂，其特征是，所述移动关节支架(20)上设置有夹持和翻转器(60)，所述夹持和翻转器(60)包括夹持装置(61)和翻转装置(62)。
  6. 根据权利要求5所述的装配机械臂，其特征是，所述翻转装置(62)包括：
    伸缩气缸(623)，固定设置在所述移动关节支架(20)上；
    齿条一(622)，与所述伸缩气缸(623)相连接；
    齿轮一(621)，可转动的设置在所述移动关节支架(20)上。
  7. 根据权利要求6所述的装配机械臂，其特征是，所述夹持装置(61)包括夹爪(611)，所述夹爪(611)与所述齿轮一(621)相连接。
  8. 根据权利要求1所述的装配机械臂，其特征是，所述移动关节臂(30)上设置有一紧固作业关节(90)，所述紧固作业关节(90)包括：
    螺丝刀升降关节(91)，固定设置在所述移动关节臂(30)上；
    螺丝刀安装支架(92)，可活动的设置在所述螺丝刀升降关节(91)上，所述螺丝刀安装支架(92)可沿所述螺丝刀升降关节(91)进行运动；
    螺丝刀(93)，与所述螺丝刀安装支架(92)相连接。
  9. 根据权利要求1或2或3或4或8所述的装配机械臂，其特征是，所述装配机械臂还包括底座(10)，所述移动关节支架(20)设置在所述底座(10)上，所述底座(10)与所述移动关节支架(20)之间设置有一旋转装置(11)，所述旋转装置(11)为固定设置在所述移动关节支架(20)上的旋转关节驱动器(12)。
  10. 根据权利要求1所述的装配机械臂，其特征是，所述移动关节包括升降臂(35)和移动臂(36)，所述升降臂(35)与所述移动关节支架(20)之间设置有升降装置(37)，所述升降臂(35)与所述移动臂(36)之间设置有推动装置(38)。
  11. 根据权利要求10所述的装配机械臂，其特征是，所述升降装置(37)包括：
    驱动器三(371)，固定设置在所述移动关节支架(20)上；
    丝杆(372)，竖直设置在所述移动关节支架(20)上；
    螺母支架(373)，设置在所述丝杆(372)上，所述螺母支架(373)连接有一导向模组一(374)，所述升降臂(35)与所述导向模组一(374)相连接；
    其中，所述驱动器三(371)通过传动带带动所述丝杆(373)转动。
  12. 根据权利要求10所述的装配机械臂，其特征是，所述推动装置(38)包括：
    推动齿条(381)，设置在所述移动臂(36)上；
    驱动器四(382)，固定设置咋所述升降臂(37)上，所述驱动器四(382)的输出端连接有推动齿轮(383)，所述推动齿轮(383)与所述推动齿条(381)相啮合。
  13. 根据权利要求10所述的装配机械臂，其特征是，所述装配机械臂还包括：基座(13)，所述基座(13)与所述移动关节支架(20)之间可转动的连接。
  14. 根据权利要求10或11或12或13所述的装配机械臂，其特征是，所述升降臂(35)的 前端安装有执行运送关节(39)。
PCT/CN2022/074279 2021-05-23 2022-01-27 一种装配机械臂 WO2022247334A1 (zh)

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