Simple industrial robot and working method thereof

Abstract

The invention relates to the technical field of industrial robots, in particular to a simple industrial robot and a working method thereof.The simple industrial robot comprises a first sliding rail, a second sliding rail, a manipulator assembly and a rack assembly; the rack assembly comprises a rack, a spring and a check block, the rack is slidably arranged in the second sliding rail, one end of the spring is connected with the end of the rack, and the other end of the spring is connected with the check block. The manipulator assembly comprises a base, a rotating shaft, a gear, a mechanical arm and a limiting block, and the gear is meshed with the rack; the stability of the position of the rack is kept before extrusion through proper selection of elasticity modulus in the front stroke, so that rotation of the gear is achieved, linear movement of a workpiece rotating in place to a matched structural body can be completed along with synchronous movement of the rack and the gear in the rear stroke, and based on the mechanical linkage, angle transfer of the workpiece can be conducted as needed; and the cost is effectively reduced in a production line scene of reaching an assembly position through a linear path after transferring, and the control difficulty can also be effectively reduced through a mechanical linkage mode.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a simple industrial robot and a working method thereof. Background Art

[0002] In modern industrial production, the application of industrial robots has become quite common, especially in the assembly lines of various products. The emergence of industrial robots has greatly improved production efficiency, product quality and safety in the production process. In specific assembly lines, the advantages of industrial robots in the linear transfer of materials are not prominent. In many scenarios, when the linear path of materials needs to change direction, it is a better choice to use industrial robots to achieve this task.

[0003] Industrial robots can be flexibly programmed according to different workpiece types and transfer requirements. They can be programmed to grasp, transfer and place different materials. By adaptively installing tooling structures for clamping or adsorption at the joint ends of industrial robots, they can achieve predetermined grasping actions for various workpieces. Their continuous work can effectively maintain the continuity and consistency of the entire production process and enable the workpiece to reach a precise assembly position.

[0004] In conventional assembly processes, the realization of the path through which direction is transferred and the realization of the movement path to the mating structure during assembly often require power supply from two or more power sources, and each power source needs to be controlled independently. Of course, this kind of control requires the establishment of linkage. This situation makes the cost of industrial robots relatively high and the control difficulty is also increased to a certain extent.

[0005] Based on the above situation, how to realize the mechanical linkage of some actions through the optimization of mechanical structure, so as to obtain a relatively simple industrial robot that can save power and meet the above path requirements, has become a way to reduce the cost of the production line.

[0006] The information disclosed in this background technology section is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0007] The present invention provides a simple industrial robot and a working method thereof, thereby effectively solving the problems pointed out in the background technology.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is: A simple industrial robot comprises: a first slide rail and a second slide rail arranged in parallel along an assembly direction, a manipulator assembly arranged on the first slide rail and moving along the first slide rail, and a rack assembly arranged in the second slide rail and moving along the second slide rail; The rack assembly includes a rack, a spring and a stopper, the rack is slidably arranged in the second slide rail, the stopper is arranged at one end of the second slide rail away from the manipulator assembly, one end of the spring is connected to the end of the rack, and the other end is connected to the stopper, and the spring is used to maintain the stability of the rack position before being squeezed; The manipulator assembly includes a base, a rotating shaft, a gear, a mechanical arm and a limit block. The base is slidably arranged on the first slide rail, one side of the base is connected to the power output end, the rotating shaft vertically passes through the base, the gear and the mechanical arm are arranged on the rotating shaft, and are respectively located on both sides of the base, the gear and the rack are meshed with each other, and the limit block is slidably arranged in the second slide rail and is connected to the base.

[0009] Furthermore, a support rod is provided on the side of the stopper, and the support rod is inserted into the spring to straighten the spring.

[0010] Furthermore, when the robotic arm rotates to a state parallel to the length direction of the second slide rail, the limit block contacts the end of the rack.

[0011] Furthermore, a buffer layer is provided at one end of the limit block close to the rack.

[0012] Furthermore, it also includes a locking member arranged between the stopper and the second slide rail, a plurality of adjustment holes are arranged in the second slide rail and along the length direction of the second slide rail, the locking member passes through the stopper, and the end portion is locked with the adjustment hole.

[0013] Furthermore, a protrusion is provided at one end of the rack close to the stopper, and the protrusion is used to increase the end area of ​​the stopper.

[0014] Furthermore, the manipulator assembly also includes a connecting piece, which is arranged in a Z-shaped structure, with one end connected to the limit block and the other end connected to the base.

[0015] Furthermore, the cross-sections of the first slide rail and the second slide rail are at least one of a T-shaped structure, a dovetail groove structure, and a semicircular structure.

[0016] Furthermore, the end of the robotic arm is one of a chuck, a suction cup, and a magnet.

[0017] The present invention also includes a working method of the simple industrial robot as described above, comprising: S10: After the robotic arm grabs the material, it drives the base to move along the length direction of the first slide rail. Under the action of the spring, the rack position remains stationary. At the same time, it drives the gear to mesh along the length direction of the rack, so that the shaft rotates, thereby causing the robotic arm to rotate. S20: When the limit block moves to the end of the rack, the mechanical arm stops rotating. At this time, the mechanical arm is parallel to the length direction of the second slide rail, thereby completing the material transfer operation; S30: Continue to drive the base to move along the length direction of the first slide rail. Under the action of the limit block, the spring is compressed. At this time, the rack and the gear synchronously move linearly along the second slide rail, so that the robotic arm continues to move the assembly position along the length direction of the second slide rail, thereby completing the pressing and assembly operation of the material.

[0018] The technical solution of the present invention can achieve the following technical effects: Qiancheng maintains the stability of the rack position before being squeezed by properly selecting the elastic modulus, thereby realizing the rotation of the gear; during the squeezing process, it realizes the flexibility of moving to the matching structure, and avoids hard collision during the assembly process through its own elastic buffer; it can also realize the flexibility of the rack reset process; Through the precise control of the servo motor, the precise positioning of the support arm's rotation angle can be achieved. The subsequent process is accompanied by the synchronous movement of the rack and gear, which can complete the linear movement of the workpiece that has been rotated into place to the matching structure. Based on this mechanical linkage, it can effectively reduce costs in production line scenarios where the workpiece angle needs to be transferred and the workpiece reaches the assembly position through a straight path after the transfer. The form of mechanical linkage can also effectively reduce the difficulty of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the structure of a simple industrial robot; Figure 2 This is a structural diagram of a simple industrial robot from another angle; Figure 3 It is a structural schematic diagram of the robot assembly; Figure 4 is a schematic diagram of the structure of the rack assembly; Figure 5This is a structural diagram of the working method of a simple industrial robot.

[0021] Figure numerals: 1. first slide rail; 2. second slide rail; 3. manipulator assembly; 31. base; 32. rotating shaft; 33. gear; 34. manipulator arm; 35. limit block; 36. connecting piece; 4. rack assembly; 41. rack; 411. protrusion; 42. spring; 43. stop block; 431. locking piece; 44. handrail. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0024] like Figures 1 to 4 As shown: a simple industrial robot comprises: a first slide rail 1 and a second slide rail 2 arranged in parallel along an assembly direction, a manipulator assembly 3 arranged on the first slide rail 1 and moving along the first slide rail 1, and a rack assembly 4 arranged in the second slide rail 2 and moving along the second slide rail 2; The rack assembly 4 includes a rack 41, a spring 42 and a stopper 43. The rack 41 is slidably disposed in the second slide rail 2. The stopper 43 is disposed at one end of the second slide rail 2 away from the manipulator assembly 3. One end of the spring 42 is connected to the end of the rack 41, and the other end is connected to the stopper 43. The spring 42 is used to maintain the stability of the position of the rack 41 before being squeezed. The manipulator assembly 3 includes a base 31, a rotating shaft 32, a gear 33, a mechanical arm 34 and a limit block 35. The base 31 is slidably arranged on the first slide rail 1, one side of the base 31 is connected to the power output end, the rotating shaft 32 vertically passes through the base 31, the gear 33 and the mechanical arm 34 are arranged on the rotating shaft 32, and are respectively located on both sides of the base 31, the gear 33 and the rack 41 are engaged with each other, and the limit block 35 is slidably arranged in the second slide rail 2 and is connected to the base 31.

[0025] As a specific implementation method, there are various ways to transfer materials. For the sake of ease of understanding, for example, if the material is a cover that needs to be pressed and assembled, after the robotic arm 34 clamps the cover, the power output end drives the base 31 to move along the first slide rail 1, driving the gear 33 to mesh along the length direction of the rack 41, so that the rotating shaft 32 rotates, thereby causing the robotic arm 34 to rotate. When the robotic arm 34 that clamps the cover rotates to be parallel to the length direction of the first slide rail 1 or the second slide rail 2, the limit block 35 just moves to the end of the rack 41, so that the rotating arm stops rotating. At this time, the material transfer is completed; the power output end continues to drive the base 31 to move along the first slide rail 1, and driven by the limit block 35, the rack 41 and the gear 33 synchronously move in a straight line along the second slide rail 2, that is, the robotic arm 34 continues to move in a straight line along the length direction of the second slide rail 2 toward the assembly position, completing the press assembly of the cover.

[0026] It should be noted that the starting position of the robot arm 34 can be Figure 1 The robot arm 34 is perpendicular to the length direction of the second slide rail 2. At this time, it needs to be rotated 90°. The robot arm 34 can be parallel to the length direction of the second slide rail 2. The starting position of the robot arm 34 can also be other angles. As long as the robot arm 34 is parallel to the length direction of the second slide rail 2 after rotation, it is within the protection scope of this application.

[0027] Qiancheng maintains the stability of the position of the rack 41 before being squeezed by appropriate selection of the elastic modulus, thereby realizing the rotation of the gear 33; during the squeezing process, the flexibility of moving toward the matching structure is realized, and hard collision during assembly is avoided through its own elastic buffering; the flexibility of the resetting process of the rack 41 can also be realized.

[0028] The above-mentioned power output end can be a servo motor, a cylinder, an oil cylinder, etc. Through the precise control of the servo motor, the precise positioning of the rotation angle of the support arm can be achieved. The subsequent process is accompanied by the synchronous movement of the rack 41 and the gear 33, so that the workpiece that has been rotated into place can be moved linearly to the matching structure. Based on this mechanical linkage, it can effectively reduce costs in production line scenarios where the workpiece angle needs to be transferred and the workpiece reaches the assembly position through a straight path after the transfer. The form of mechanical linkage can also effectively reduce the control difficulty.

[0029] As a preferred embodiment of the above-mentioned embodiment, a support rod 44 is provided on the side of the block 43, and the support rod 44 is inserted into the spring 42 to straighten the spring 42. Specifically, the design of the support rod 44 effectively prevents the spring 42 from deflecting or twisting during operation, so that the spring 42 can be compressed and released in an ideal straight line direction, ensuring the stability of the force of the spring 42, so that it can more accurately maintain the position of the rack 41, and further improve the stability of the robot's movement.

[0030] In this embodiment, when the robotic arm 34 rotates to a state parallel to the length direction of the second slide rail 2, the limit block 35 contacts the end of the rack 41, effectively providing a physical limit to ensure that the robotic arm 34 accurately rotates and stops at a predetermined position (the robotic arm 34 is parallel to the length direction of the second slide rail 2 after rotation), preventing the robotic arm 34 from over-rotating due to inertia or improper power, reducing the risk of accidents during the assembly process, and improving the safety of the assembly process; the physical limit is used to stop the rotation angle of the robotic arm 34 without the need for additional complex control or sensor adjustment, thereby simplifying the design of the robot control system and reducing the control difficulty and cost of the system.

[0031] Among them, a buffer layer is provided at one end of the limit block 35 close to the rack 41. Specifically, on the one hand, the buffer layer can effectively absorb the impact force generated when the limit block 35 contacts the end of the rack 41, avoids hard collisions, and reduces the wear of components such as the rack 41, the gear 33, and the limit block 35 caused by the impact, thereby extending the service life of these components; on the other hand, the buffer layer can alleviate the emergency stop of the limit block 35 when in contact, so that the robot arm 34 is more stable when stopping at the rotation angle, thereby improving the accuracy of the assembly operation.

[0032] As a preferred embodiment of the above embodiment, it also includes a locking piece 431 arranged between the block 43 and the second slide rail 2, and a plurality of adjustment holes are provided in the second slide rail 2 and along the length direction of the second slide rail 2. The locking piece 431 passes through the block 43, and the end is locked with the adjustment hole. Specifically, the locking piece 431 can be a bolt, a spring lock pin or a knob locking structure, etc., all of which are within the protection scope of the present application; on the one hand, by moving the position of the block 43 between the plurality of adjustment holes, the initial compression amount of the spring 42 can be accurately controlled, so that the spring 42 can generate different pre-pressures in different assembly tasks, thereby optimizing the buffering effect during the assembly process and improving the flexibility and adaptability of the system; on the other hand, the design of the adjustment hole also facilitates the replacement of springs 42 of different specifications when needed. According to different assembly requirements, springs 42 with different elastic moduli or lengths can be replaced to meet different load or precision requirements. After adjusting the position of the block 43, the size and compression requirements of the new spring 42 can be quickly adapted, which simplifies the replacement and debugging process and improves the scope of application of the equipment.

[0033] In this embodiment, a protrusion 411 is provided at one end of the rack 41 close to the stop block 43. The protrusion 411 is used to increase the end area of ​​the stop block 43, thereby increasing the contact area between the spring 42 and the end of the rack 41, so that the spring 42 can act more firmly on the end of the rack 41, effectively reducing the possible deviation or sliding of the spring 42, and ensuring that the spring 42 always remains in the correct position to provide support force.

[0034] Among them, the manipulator component 3 also includes a connector 36, which is arranged in a Z-shaped structure, one end of which is connected to the limit block 35, and the other end is connected to the base 31. Specifically, on the one hand, the Z-shaped connector 36 provides a solid connection method, which helps to ensure a stable connection between the limit block 35 and the base 31, reduces the displacement or shaking between components, and improves the overall stability of the system; on the other hand, the Z-shaped connector 36 can realize the connection between the base 31 and the limit block 35 in a limited space, which is suitable for the compact robot design.

[0035] As a preferred embodiment of the above-mentioned embodiment, the cross-section of the first slide rail 1 and the second slide rail 2 is a T-shaped structure, a dovetail groove structure, a semicircular structure, or at least one of them. Specifically, these structural designs provide good guidance and stability, and can effectively limit the movement of the base 31 or the rack 41 in the non-length direction, ensuring that the base 31 or the rack 41 slides smoothly and in a single direction in the slide grooves of the first slide rail 1 and the second slide rail 2, thereby improving the accuracy and reliability of the robot operation.

[0036] In this embodiment, the end of the mechanical arm 34 is one of a chuck, a suction cup, and a magnetic suction. Specifically, the chuck can flexibly grasp objects of various shapes and sizes, and is suitable for the handling and assembly of various workpieces; the suction cup grasps objects by vacuum adsorption force, without damaging the surface of the workpiece, and is suitable for handling materials with smooth surfaces; the magnetic suction uses magnetic force without additional clamping action, and can quickly grasp metal objects, which is easy to operate and fast; selecting the appropriate clamping method according to the on-site needs is within the protection scope of this application.

[0037] The present invention also includes a working method of the simple industrial robot as described above, such as Figure 5 As shown, including: S10: After the mechanical arm 34 grabs the material, the driving base 31 moves along the length direction of the first slide rail 1. Under the action of the spring 42, the rack 41 remains stationary. At the same time, the gear 33 is driven to mesh along the length direction of the rack 41, so that the shaft 32 rotates, thereby causing the mechanical arm 34 to rotate. S20: When the limit block 35 moves to the end of the rack 41, the mechanical arm 34 stops rotating. At this time, the mechanical arm 34 is parallel to the length direction of the second slide rail 2, thereby completing the material transfer operation; S30: Continue to drive the base 31 to move along the length direction of the first slide rail 1. Under the action of the limit block 35, the spring 42 is compressed. At this time, the rack 41 and the gear 33 synchronously move in a straight line along the second slide rail 2, so that the robot arm 34 continues to move the assembly position along the length direction of the second slide rail 2, thereby completing the pressing and assembly operation of the material.

[0038] Similarly, the driving base 31 moves in the opposite direction along the length direction of the first slide rail 1, the rack 41 is reset under the action of the spring 42, and the gear 33 moves in the opposite direction along the rack 41, so that the robot arm 34 performs a reverse rotation movement and resets to the initial position. This cycle is repeated to complete the installation of multiple materials.

[0039] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A simple industrial robot, characterized in that: include: A first slide rail and a second slide rail arranged in parallel along an assembly direction, a manipulator assembly arranged on the first slide rail and moving along the first slide rail, and a rack assembly arranged in the second slide rail and moving along the second slide rail; The rack assembly includes a rack, a spring and a stopper, the rack is slidably arranged in the second slide rail, the stopper is arranged at one end of the second slide rail away from the manipulator assembly, one end of the spring is connected to the end of the rack, and the other end is connected to the stopper, and the spring is used to maintain the stability of the rack position before being squeezed; The manipulator assembly includes a base, a rotating shaft, a gear, a mechanical arm and a limit block. The base is slidably arranged on the first slide rail, one side of the base is connected to the power output end, the rotating shaft vertically passes through the base, the gear and the mechanical arm are arranged on the rotating shaft, and are respectively located on both sides of the base, the gear and the rack are meshed with each other, and the limit block is slidably arranged in the second slide rail and is connected to the base.

2. The simple industrial robot according to claim 1, characterized in that: A support rod is arranged on the side of the stopper, and the support rod is inserted into the spring and is used for straightening the spring.

3. The simple industrial robot according to claim 1, characterized in that: When the robot arm rotates to a state parallel to the length direction of the second slide rail, the limit block contacts the end of the rack.

4. The simple industrial robot according to claim 1, characterized in that: A buffer layer is provided at one end of the limit block close to the rack.

5. The simple industrial robot according to claim 1, characterized in that: It also includes a locking member arranged between the stopper and the second slide rail. A plurality of adjustment holes are arranged in the second slide rail and along the length direction of the second slide rail. The locking member passes through the stopper, and the end portion is locked with the adjustment hole.

6. The simple industrial robot according to claim 1, characterized in that: A protrusion is arranged at one end of the rack close to the stopper, and the protrusion is used to increase the end area of ​​the stopper.

7. The simple industrial robot according to claim 1, characterized in that: The manipulator assembly also includes a connecting piece, which is arranged in a Z-shaped structure, with one end connected to the limit block and the other end connected to the base.

8. The simple industrial robot according to claim 1, characterized in that: The cross-sections of the first slide rail and the second slide rail are at least one of a T-shaped structure, a dovetail groove structure, and a semicircular structure.

9. The simple industrial robot according to claim 1, characterized in that: The end of the robotic arm is one of a chuck, a suction cup, and a magnet.

10. A working method of a simple industrial robot as claimed in claim 1, characterized in that: include: S10: After the robotic arm grabs the material, it drives the base to move along the length direction of the first slide rail. Under the action of the spring, the rack position remains stationary. At the same time, it drives the gear to mesh along the length direction of the rack, so that the shaft rotates, thereby causing the robotic arm to rotate. S20: When the limit block moves to the end of the rack, the mechanical arm stops rotating. At this time, the mechanical arm is parallel to the length direction of the second slide rail, thereby completing the material transfer operation; S30: Continue to drive the base to move along the length direction of the first slide rail. Under the action of the limit block, the spring is compressed. At this time, the rack and the gear synchronously move linearly along the second slide rail, so that the robotic arm continues to move the assembly position along the length direction of the second slide rail, thereby completing the pressing and assembly operation of the material.

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