Assembling and tightening integrated manipulator

Abstract

An assembling and tightening integrated mechanical arm comprises a connecting base. A rotating shaft and a bearing are arranged in the fixed sleeve, and the upper part of the rotating shaft is inserted into the connecting base; the first rotary brake device is arranged on the connecting base; one end of the lifting arm is connected with the fixed sleeve; the second rotary brake device is arranged at the other end of the lifting arm; the supporting rod is L-shaped, and the upper end of the supporting rod is connected with the second rotary brake device; the rotary joint is connected with the lower end of the supporting rod; the third rotary brake device is arranged on the outer side of the rotary joint; the clamping mechanism is arranged on the rotary joint; the tightening gun is arranged on the supporting rod; and a controller. According to the utility model, the clamping mechanism and the tightening gun are designed into a whole, so that the problem that nodes are all in a separated state in the working process of the existing power-assisted manipulator is solved, and an article needing to be assembled is carried or transferred to an assembling position and then is manually tightened by a tool or tightened by a tightening manipulator.

Description

Technical Field

[0001] This utility model relates to the fields of transfer, handling, and assembly, and in particular to an integrated assembly and tightening robot. Background Technology

[0002] With the continuous and rapid development of the country's new industrialization, the rise of new-type manufacturing has forced labor-intensive enterprises to change their traditional concepts. The era of improving productivity through labor is gone forever. Traditional handling and assembly can no longer meet the needs of the changing times. Therefore, solving the problem of heavy manual labor has undoubtedly become the development trend of modern manufacturing industry.

[0003] Existing robotic arm technology involves separate operation steps. The items to be assembled are first moved or transferred to the assembly location, and then tightened manually or by a robotic arm. This results in waste in assembly process conditions, area expansion, and assembly efficiency.

[0004] In the existing technology, during the clamping and adjustment process, the clamping device or the end effector of the robot is often damaged due to the different specifications of the products and the mutual adjustment friction of the moving parts, resulting in a loss of life and reliability.

[0005] In the clamping and adjustment process, existing technologies often fail to perform multi-dimensional floating alignment and avoidance due to different product assembly scenarios and objects. They can only perform operations for a single scenario and a single object. Summary of the Invention

[0006] The purpose of this utility model is to provide an assembly and tightening integrated robot, which integrates the clamping mechanism and the tightening gun into one unit. This solves the problem that the operation process nodes of the existing assisted robot are all in a separate state. It combines the transportation or transfer of the items to be assembled to the assembly position and the subsequent manual tightening with tools or tightening by the robot into one.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] An assembly and tightening integrated robotic arm, comprising,

[0009] The connecting base is a sleeve with connecting flanges at both ends and bearings inside;

[0010] A fixed sleeve is provided with flanges at its upper and lower ends; the fixed sleeve is equipped with a rotating shaft and bearings; the upper part of the rotating shaft is inserted into the connecting base.

[0011] The lifting arm includes:

[0012] A fixed base with a frame structure, the top surface of which is connected to the lower flange of the fixed sleeve;

[0013] A first link and a second link are arranged in parallel vertically. The first link has connecting rings at both ends, and one end of the first link is pivotally connected to the fixed base via a connecting shaft. One end of the second link passes through the fixed base, and the lower part of this end is pivotally connected to the fixed base via a connecting shaft.

[0014] The connecting seat consists of two parallel fixed plates and an upper connecting plate and a lower connecting plate connecting one side of the two fixed plates. The upper and lower sides of one side of the fixed plates are respectively provided with mounting holes and rotating shafts. The other ends of the first connecting rod and the second connecting rod are respectively sleeved on the rotating shafts provided on the upper and lower sides of one side of the fixed plates, forming a four-bar linkage structure. The middle of the outer side of the upper connecting plate and the lower connecting plate is provided with a vertical connecting tube. The connecting tube contains a bearing and a rotating shaft. The lower end of the rotating shaft extends out of the connecting tube and is connected to a connecting base plate.

[0015] A lifting cylinder has its cylinder body vertically downwards positioned on one side of the upper part of the fixed sleeve; the end of its piston rod is connected to the end of a second connecting rod extending out of the fixed seat.

[0016] The first turning brake device includes,

[0017] The first brake disc is fitted onto the lower part of the connecting base, and a stop block is protruding from the outer edge of its bottom surface;

[0018] The first brake cylinder has its cylinder body vertically upward and located on one side of the fixed sleeve, with a first brake block at the end of its piston rod.

[0019] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the first brake cylinder and the other end located above the first brake disc and corresponding to the first brake block;

[0020] A stop and limit block is provided on the upper end face of the flange provided at the upper end of the fixed sleeve, and it cooperates with the first brake block;

[0021] The support rod is L-shaped, and its upper end is connected to the connecting base plate.

[0022] The second rotary brake device includes,

[0023] The second brake disc is fitted onto the connecting pipe on the connecting seat and connected to the top surface of the connecting base plate; a stop block protrudes from the outer edge of the top surface of the second brake disc.

[0024] The second brake cylinder has its cylinder body vertically downwards and is located on the outside of the connecting pipe or the outside of the connecting seat. The piston rod end of the cylinder is provided with a second brake block, which corresponds to the top surface of the second brake disc.

[0025] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the second brake cylinder and the other end located below the second brake disc and corresponding to the second brake block;

[0026] The rotary joint includes a vertically arranged sleeve, bearings arranged vertically inside the sleeve and their inner shaft; the lower end of the support rod is connected to the outer side of the sleeve; a connecting plate is provided on the upper end face of the shaft of the rotary joint.

[0027] The third rotary brake device includes,

[0028] The third brake disc is mounted on the connecting plate, and a stop block is protruding from the outer edge of its bottom surface.

[0029] The third brake cylinder has its cylinder body vertically downwards and located on the outside of the sleeve of the rotary joint, with a second brake block at the end of its piston rod.

[0030] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the third brake cylinder and the other end located above the third brake disc and corresponding to the third brake block;

[0031] Clamping mechanism, including,

[0032] The swing joint is located at the center of the upper surface of the third brake disc;

[0033] A support plate is provided on the top surface of the swing joint. The support plate is rectangular and has through holes at its four corners. Bolts with balls on the top surface are inserted into the through holes.

[0034] A floating fixing plate is provided on the balls of the bolts with ball bearings at the four corners of the support plate; a central through hole is provided in the center of the floating fixing plate, and mounting through holes are symmetrically provided on both sides of the central through hole; and an insertion hole is provided on one side of the floating fixing plate, with a step provided on the lower part of the inner wall of the insertion hole.

[0035] Two floating devices are respectively disposed at the mounting through holes on both sides of the central through hole of the floating fixing plate. Each floating device includes...

[0036] A fixed column is inserted into the mounting through hole, with its lower end connected to the support plate and its upper end extending out of the floating fixed plate;

[0037] The mounting plate is set on the upper end of the fixing column of the extended floating fixing plate. The mounting plate has through holes at the four corners. Bolts with balls on the top surface are inserted into the through holes. The balls are located at the lower end of the bolts, corresponding to the top surface of the floating fixing plate.

[0038] The floating limit device includes:

[0039] The floating limiting post is a square post that is inserted into the central through hole of the floating fixing plate. Its lower end is connected to the top surface of the support plate, and its upper end extends out of the central through hole of the floating fixing plate.

[0040] Four floating limit blocks are symmetrically arranged on the top surface around the central through hole of the floating fixed plate. Adjusting bolts are provided on the floating limit blocks, and the ends of the bolts correspond to one side of the upper part of the floating limit column.

[0041] Several clamping blocks are respectively disposed on the outer side of the top surface of the floating fixing plate;

[0042] Triggering device, including,

[0043] The mechanically controlled valve is located on the bottom surface of the floating fixed plate, on one side of the insertion hole;

[0044] A trigger rod with a trigger block at its upper part and the lower part of the trigger rod inserted into a socket. The lower end of the trigger rod corresponds to the mechanical control valve.

[0045] A tightening gun is located at the lower part of the support rod;

[0046] The controller is connected to the lifting cylinder and the first to third brake cylinders.

[0047] Preferably, the swing joint includes:

[0048] The upper connecting plate and the lower connecting plate are set parallel to each other. On the opposite side of the upper connecting plate and the lower connecting plate, four ear plates are symmetrically and vertically arranged in pairs. A short shaft is set in the middle of the ear plate, and the lower ends of the four ear plates are connected to the lower connecting plate. The upper ends of the two opposite ear plates are connected to the upper connecting plate.

[0049] The cross-shaped swing block has a hexahedral structure with shaft holes in the center of its four sides. The short shafts on the four ear plates are respectively inserted into the shaft holes of the cross-shaped swing block.

[0050] Compared with the prior art, the advantages of this utility model are:

[0051] This utility model integrates the clamping mechanism and the tightening gun into one unit, solving the problem that the existing robotic arms operate in a separate state. It combines the transportation or transfer of items to be assembled to the assembly position and the subsequent manual tightening with tools or tightening by the robotic arm into one.

[0052] The clamping mechanism of this invention adopts a floating design, which solves the problem that existing technologies often fail to perform multi-dimensional floating alignment and avoidance during clamping and adjustment due to different product assembly scenarios and objects, limiting them to single-scenario and single-object operations. It also solves the problem that existing technologies often damage the clamping device or robot end effector during clamping and adjustment due to differences in product specifications and friction between moving parts, resulting in reduced lifespan and reliability.

[0053] This invention represents a technological breakthrough, transforming traditional labor-intensive manual tightening and assembly operations into robotic tightening and assembly operations. It promotes the upgrading and transformation of existing technologies by integrating various operational nodes such as handling, tightening, and assembly, improving the integration effect of product handling, tightening, and assembly, improving working conditions, reducing costs, enhancing the flexible matching requirements for assembling various specifications of products under complex conditions, reducing the frequency of damage during assembly, minimizing manual intervention during transfer and assembly, achieving multi-purpose standardization, optimizing management, and improving new quality productivity. Attached Figure Description

[0054] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0055] Figure 2 This is a perspective view of the lifting arm in an embodiment of this utility model;

[0056] Figure 3 This is a front view of the lifting arm in an embodiment of this utility model;

[0057] Figure 4 This is a perspective view of the rotary joint and the third rotary brake device in the embodiment of this utility model;

[0058] Figure 5 The three-dimensional representation of the third rotary braking device and clamping mechanism in this utility model embodiment. Figure 1 ;

[0059] Figure 6 The three-dimensional representation of the third rotary braking device and clamping mechanism in this utility model embodiment. Figure 2 ;

[0060] Figure 7 This is an exploded perspective view of the clamping mechanism in an embodiment of this utility model;

[0061] Figure 8 This is a perspective view of the swing joint in an embodiment of the present invention;

[0062] Figure 9 This is a front view of the swing joint in an embodiment of this utility model;

[0063] Figure 10 This is a three-dimensional exploded view of the swing joint in an embodiment of this utility model. Detailed Implementation

[0064] See Figures 1-10 The assembly and tightening integrated robotic arm of this utility model includes,

[0065] The connecting base 1 is a sleeve with connecting flanges at both ends and bearings inside;

[0066] Fixed sleeve 2, with flanges at its upper and lower ends; fixed sleeve 1 is equipped with a rotating shaft 21 and bearings; the upper part of the rotating shaft 21 is inserted into the connecting base 1;

[0067] Lifting boom 3 includes:

[0068] The fixed base 31 has a frame structure, and its top surface is connected to the lower flange of the fixed sleeve 2.

[0069] A first connecting rod 32 and a second connecting rod 33 are arranged in parallel vertically. The first connecting rod 32 is provided with connecting rings at both ends, and one end of the first connecting rod is pivotally connected to the fixed base 31 through a connecting shaft. One end of the second connecting rod 33 passes through the fixed base 31, and the lower part of this end is pivotally connected to the fixed base 31 through a connecting shaft.

[0070] The connecting seat 34 consists of two parallel fixed plates 341 and an upper connecting plate 342 and a lower connecting plate 343 connecting one side of the two fixed plates 341. The fixed plates 341 are provided with mounting holes and rotating shafts on the upper and lower sides of one side, respectively. The other ends of the first connecting rod 32 and the second connecting rod 33 are respectively sleeved on the rotating shafts provided on the upper and lower sides of the fixed plates 341, forming a four-bar linkage structure. The upper connecting plate 342 and the lower connecting plate 343 are provided with a connecting tube 344 in the middle of the outer side in the vertical direction. The connecting tube 344 is provided with a bearing and a rotating shaft 345. The lower end of the rotating shaft 345 extends out of the connecting tube 344 and is connected to a connecting base plate 346.

[0071] The lifting cylinder 35 has its cylinder body vertically downwards and is located on one side of the upper part of the fixed sleeve 3; the end of its piston rod is connected to the end of the second connecting rod 33 that extends out of the fixed seat 31.

[0072] The first turning brake device 4 includes,

[0073] The first brake disc 41 is sleeved on the lower part of the connecting base 1, and a stop block is protruding from the outer edge of its bottom surface;

[0074] The first brake cylinder 42 has its cylinder body vertically upward and located on the outside of the fixed sleeve 2, and its piston rod end is provided with a first brake block 43.

[0075] The fixed brake block 44 is L-shaped, with one end fixed to the cylinder body of the first brake cylinder 42 and the other end located above the first brake disc 42 and corresponding to the first brake block 43.

[0076] The stop limit block 45 is disposed on the upper end face of the flange provided at the upper end of the fixed sleeve 2, and it cooperates with the first brake block 43.

[0077] The support rod 5 is L-shaped, and its upper end is connected to the connecting base plate 346;

[0078] The second slewing brake device 6 includes,

[0079] The second brake disc 61 is fitted onto the connecting pipe 344 on the connecting seat 34 and connected to the top surface of the connecting base plate 346; a stop block protrudes from the outer edge of the top surface of the second brake disc 61.

[0080] The second brake cylinder 62 has its cylinder body vertically downwards and is located on the outside of the connecting pipe 344 or the outside of the connecting seat 34. The piston rod end is provided with a second brake block 63, which corresponds to the top surface of the second brake disc 61.

[0081] The fixed brake block 64 is L-shaped, with one end fixed to the cylinder body of the second brake cylinder 62 and the other end located below the second brake disc 61 and corresponding to the second brake block 63;

[0082] The rotary joint 7 includes a vertically arranged sleeve 71, bearings arranged vertically inside the sleeve 71 and its inner rotating shaft 72; the lower end of the support rod 5 is connected to the outer side of the sleeve 71; a connecting plate 73 is provided on the upper end face of the rotating shaft 72 of the rotary joint 7.

[0083] The third rotary brake device 8 includes,

[0084] The third brake disc 81 is mounted on the connecting plate 83, and a stop block 811 protrudes from the outer edge of its bottom surface;

[0085] The third brake cylinder 82 has its cylinder body vertically upward and located on the outside of the sleeve 71 of the rotary joint 7, and below the third brake disc 81. The piston rod end is provided with a second brake block 83.

[0086] Clamping mechanism 9 includes,

[0087] The swing joint 91 is located at the center of the upper surface of the third brake disc 91;

[0088] A support plate 92 is provided on the top surface of the swing joint 91. The support plate 92 is rectangular and has through holes at its four corners. Bolts 93 with ball bearings on the top surface are inserted into the through holes.

[0089] A floating fixing plate 94 is provided on the balls of the ball bolts 93 at the four corners of the support plate 92; a central through hole 941 is provided in the center of the floating fixing plate 94, and mounting through holes 942 are symmetrically provided on both sides of the central through hole 941; and an insertion hole 943 is provided on one side of the floating fixing plate 94, and a step is provided on the lower part of the inner wall of the insertion hole 943.

[0090] Two floating devices 95 are respectively disposed at the mounting through holes 942 on both sides of the central through hole 941 of the floating fixing plate 94. The floating device 95 includes,

[0091] A fixed post 951 is inserted into a mounting through hole 942, with its lower end connected to the support plate 92 and its upper end extending out of the floating fixed plate 94.

[0092] Mounting plate 952 is set on the upper end of the fixing post 951 extending from the floating fixing plate 94. The mounting plate 952 has through holes at its four corners. Bolts 953 with ball bearings on the top surface are inserted into the through holes. The ball bearings are located at the lower end of the bolts, corresponding to the top surface of the floating fixing plate 94.

[0093] The floating limit device 96 includes:

[0094] The floating limiting post 961 is a square post that is inserted into the central through hole 941 of the floating fixing plate 94. Its lower end is connected to the top surface of the support plate 92, and its upper end extends out of the central through hole 941 of the floating fixing plate 94.

[0095] Four floating limit blocks 962 are symmetrically arranged on the top surface around the central through hole 941 of the floating fixed plate 94. The floating limit blocks 962 are provided with adjusting bolts 963, and the ends of the bolts correspond to one side of the upper part of the floating limit post 961.

[0096] Several clamping blocks 97 are respectively disposed on the outer side of the top surface of the floating fixing plate 94;

[0097] Triggering device 10, including,

[0098] The mechanical control valve 101 is located on the bottom surface of the floating fixed plate 94, on one side of the insertion hole 943;

[0099] A trigger rod 102 is provided with a trigger block 103 on its upper part, and the lower part of the trigger rod 102 is inserted into a socket. The lower end of the trigger rod 102 corresponds to the machine control valve 101.

[0100] Tightening gun 11 is located at the lower part of the support rod 5;

[0101] The controller 12 is connected to the lifting cylinder and the first to third brake cylinders.

[0102] See Figures 7-10 The swing joint 91 of this utility model includes:

[0103] The upper connecting plate 911 and the lower connecting plate 912 are arranged in parallel. On the opposite side of the upper connecting plate 911 and the lower connecting plate 912, four ear plates 913 are symmetrically and vertically arranged in pairs. A short shaft 914 is provided in the middle of the ear plate 913, and the lower ends of the four ear plates 913 are connected to the lower connecting plate 912. The upper ends of the two opposite ear plates are connected to the upper connecting plate 911.

[0104] The cross-shaped swing block 915 has a hexahedral structure with shaft holes in the center of its four sides. The short shafts 913 on the four ear plates 913 are respectively inserted into the shaft holes of the cross-shaped swing block 915.

Claims

1. An assembly and tightening integrated robot characterized by, Comprising, Connecting base, a sleeve, both ends of which are provided with connecting flanges, and inside which are provided with bearings; Fixed sleeve, upper and lower ends of which are provided with flanges; the fixed sleeve is provided with a rotating shaft and bearings; the upper part of the rotating shaft is inserted into the connecting base; Lifting arm, comprising: Fixed seat, frame structure, the top surface of which is connected to the lower end flange of the fixed sleeve; First connecting rod and second connecting rod arranged in parallel from top to bottom, wherein the two ends of the first connecting rod are respectively provided with connecting rings, one end of which is connected to the fixed seat through a connecting shaft; one end of the second connecting rod passes through the fixed seat, and the lower part of this end is connected to the fixed seat through a connecting shaft; Connecting seat, which is composed of two parallel fixed plates and upper and lower connecting plates connected to one side of the two fixed plates; one side of the fixed plate is respectively provided with a mounting hole and a rotating shaft from top to bottom; the other end of the first connecting rod and the second connecting rod is respectively sleeved on the rotating shaft provided on one side of the fixed plate from top to bottom, forming a four-link structure; the middle part of the outer end of the upper and lower connecting plates is provided with a connecting pipe in the vertical direction; the connecting pipe is provided with bearings and a rotating shaft inside; the lower end of the rotating shaft extends out of the connecting pipe and is connected to a connecting bottom plate; Lifting cylinder, the cylinder body of which is arranged vertically downward on one side of the upper part of the fixed sleeve; the end of the piston rod of which is connected to the end of the second connecting rod extending out of the fixed seat; First rotary brake device, comprising, First brake disc, which is sleeved on the lower part of the connecting base, and a stop block is protruded on the outer edge of the bottom surface thereof; First brake cylinder, the cylinder body of which is arranged vertically upward on one side outside the fixed sleeve, and the end of the piston rod of which is provided with a first brake block; Fixed brake block, which is L-shaped, one end of which is fixed to the cylinder body of the first brake cylinder, and the other end of which is located above the first brake disc and corresponds to the first brake block; Stop limiting block, which is arranged on the upper end surface of the flange arranged on the upper end of the fixed sleeve, and cooperates with the first brake block; Supporting rod, which is L-shaped, the upper end of which is connected to the connecting bottom plate; Second rotary brake device, comprising, Second brake disc, which is sleeved on the connecting pipe of the connecting seat and is connected to the top surface of the connecting bottom plate; a stop block is protruded on the outer edge of the top surface of the second brake disc; Second brake cylinder, the cylinder body of which is arranged vertically downward on one side outside the connecting pipe or one side outside the connecting seat, and the end of the piston rod of which is provided with a second brake block corresponding to the top surface of the second brake disc; Fixed brake block, which is L-shaped, one end of which is fixed to the cylinder body of the second brake cylinder, and the other end of which is located below the second brake disc and corresponds to the second brake block; Rotary joint, comprising a sleeve arranged vertically, bearings arranged from top to bottom inside the sleeve, and a rotating shaft inside the sleeve; the outer side of the sleeve is connected to the lower end of the supporting rod; the upper end surface of the rotating shaft of the rotary joint is provided with a connecting plate; Third rotary brake device, comprising, Third brake disc, which is arranged on the connecting plate, and a stop block is protruded on the outer edge of the bottom surface thereof; Third brake cylinder, the cylinder body of which is arranged vertically downward on one side outside the sleeve of the rotary joint, and the end of the piston rod of which is provided with a second brake block; Fixed brake block, which is L-shaped, one end of which is fixed to the cylinder body of the third brake cylinder, and the other end of which is located above the third brake disc and corresponds to the third brake block; Clamping mechanism, comprising, Swing joint, which is arranged on the central part of the top surface of the third brake disc; Support plate, disposed on the top surface of the swing joint, the support plate is rectangular, and four corners of the support plate are provided with through holes, and a bolt with a ball on the top surface is inserted into the through hole; Floating fixing plate, disposed on the ball of the bolt with the ball provided on the four corners of the support plate; the floating fixing plate is provided with a center through hole in the center, and mounting through holes are symmetrically arranged on both sides of the center through hole; and a insertion hole is arranged on one side of the floating fixing plate, and a step is arranged on the inner wall of the insertion hole; Two floating devices are respectively arranged at the mounting through holes on both sides of the center through hole of the floating fixing plate, and the floating device comprises, A fixed column is inserted into the mounting through hole, and the lower end of the fixed column is connected to the support plate, and the upper end of the fixed column extends out of the floating fixing plate; An installation plate is arranged on the upper end of the fixed column extending out of the floating fixing plate, and the installation plate is provided with through holes at four corners, and a bolt with a ball on the top surface is inserted into the through hole, and the ball is located at the lower end of the bolt and corresponds to the top surface of the floating fixing plate; A floating limiting device comprises: A floating limiting column is a square column, which is inserted into the center through hole of the floating fixing plate, and the lower end of the floating limiting column is connected to the top surface of the support plate, and the upper end of the floating limiting column extends out of the center through hole of the floating fixing plate; Four floating limiting blocks are symmetrically arranged on the top surface around the center through hole of the floating fixing plate, and an adjusting bolt is arranged on the floating limiting block, and the end of the bolt corresponds to one side of the upper part of the floating limiting column; A plurality of clamping blocks are respectively arranged on the outer side of the top surface of the floating fixing plate; A trigger device comprises, A machine control valve is arranged on the bottom surface of the floating fixing plate and located on one side of the insertion hole; A trigger rod is provided with a trigger block on the upper part, the lower part of the trigger rod is inserted into the insertion hole, and the lower end of the trigger rod corresponds to the machine control valve; A tightening gun is arranged on the lower part of the support rod; A controller is connected to the lifting cylinder, the first brake cylinder and the third brake cylinder.

2. The assembly and tightening integrated robot according to claim 1, wherein The swing joint comprises: An upper connecting plate and a lower connecting plate are arranged in parallel, and four ear plates are symmetrically arranged in pairs in the middle of the opposite surfaces of the upper connecting plate and the lower connecting plate, a short shaft is arranged in the middle of the ear plate, and the lower end of the four ear plates is connected to the lower connecting plate, wherein the upper end of the two opposite ear plates is connected to the upper connecting plate; The cross swing block is a hexahedron structure, four side surfaces of the cross swing block are provided with shaft holes in the center, and the short shafts on the four ear plates are respectively inserted into the shaft holes of the cross swing block.

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