Workpiece auxiliary mounting device

Abstract

The present invention discloses a workpiece auxiliary installation device, comprising: a mechanical arm unit and a grasping unit; the grasping unit comprises a connecting seat, a crank slider structure, and a grasping assembly; the end of the mechanical arm unit is connected to the connecting seat, and the position of the connecting seat in the horizontal direction and the vertical direction can be adjusted; the connecting seat is connected to the grasping assembly through the crank slider structure; the grasping assembly comprises a vacuum suction cup structure, and the vacuum suction cup structure is used to grasp the workpiece. Such a structural setting can quickly carry and install the workpiece, reduce the labor intensity, improve work efficiency, improve the fluency of the workpiece installation process, and at the same time help to ensure the installation quality of the product.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a workpiece auxiliary installation device. Background Art

[0002] At present, domestic manufacturers mainly use the original manual operation method to install products. The product workpieces are precision-processed and have the characteristics of large size, heavy weight, and large quantity. At the same time, the installation cycle is also very short. Working in the existing way requires the cooperation of multiple people, which is labor-intensive and time-consuming. In addition, differences in people's subjective factors, environmental conditions, physical fitness, etc. all have a certain impact on the installation of products. It is difficult to ensure the consistency of products, resulting in uneven product quality, affecting the production schedule, and then causing a vicious cycle of rework, making it difficult to meet the growing product demand. Workpiece installation is one of the most important factors in ensuring product quality. The higher the value of the product, the greater the economic loss to the manufacturer if there is a problem with the assembly. The existing working method is difficult to meet the requirements of high-quality products. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a workpiece auxiliary installation device to solve the technical problems of heavy manual operation and poor product consistency.

[0004] Based on the above purpose, the present invention provides a workpiece auxiliary installation device, including: a mechanical arm unit and a grasping unit;

[0005] The grabbing unit comprises a connecting seat, a crank slider structure, and a grabbing assembly;

[0006] The end of the mechanical arm unit is connected to the connecting seat, and the position of the connecting seat in the horizontal direction and the vertical direction can be adjusted;

[0007] The connecting seat is connected to the grabbing assembly via a crank slider structure;

[0008] The gripping assembly comprises a vacuum suction cup structure, and the vacuum suction cup structure is used for gripping a workpiece.

[0009] Further, it also includes a tightening member and a safety lock;

[0010] The extension axis of the connecting seat vertically passes through the end of the mechanical arm unit and is connected to the tightening member, the extension axis of the connecting seat is coaxial with the symmetry axis of the grabbing assembly, and rotating the tightening member can drive the grabbing assembly to rotate along the symmetry axis;

[0011] The safety lock is arranged on the tightening member, and the safety lock can cooperate with the mechanical arm unit to lock the tightening member.

[0012] Further, the mechanical arm unit includes a supporting shaft, a rotating shaft, a bearing, a shaft end cylinder and a connecting rod;

[0013] The support shaft is arranged vertically;

[0014] The rotating shaft and the supporting shaft are coaxially arranged, and the rotating shaft rotates relative to the supporting shaft;

[0015] The rotating shaft is hinged to the bearing member;

[0016] One end of the shaft end cylinder is arranged on the rotating shaft, and the other end is arranged on the bearing member, and is used to adjust the angle between the rotating shaft and the bearing member;

[0017] One end of the connecting rod is rotatably connected to the bearing member; the other end of the connecting rod is provided with the connecting seat.

[0018] Furthermore, the connecting rod includes a first rod and a second rod which are coaxially arranged and rotated with each other, the first rod is used to connect the bearing member, the second rod is used to set the connecting seat, and the first rod is provided with a bend.

[0019] Furthermore, it also includes a stopping cylinder, which is arranged at the connection between the supporting shaft and the rotating shaft, or at the connection between the first rod and the second rod.

[0020] Furthermore, the crank slider structure includes a tilting cylinder, a tilting cylinder connecting rod and a fixing member;

[0021] The flip cylinder is hinged to the connecting seat, one end of the flip cylinder connecting rod is hinged to the cylinder shaft of the flip cylinder, and the other end is fixedly connected to the fixing piece;

[0022] The connecting seat is provided with a connecting portion, and the connecting portion is hinged to the fixing piece.

[0023] Furthermore, the grabbing assembly also includes a grabbing cylinder, a workpiece plate, an intermediate piece, and a grabbing connector;

[0024] The grabbing cylinder is arranged on the fixing member,

[0025] The grabbing cylinder is fixedly connected to the workpiece plate, the workpiece plate is provided with a through hole and a slidable positioning portion, and the shaft of the grabbing cylinder passes through the through hole and is connected to the middle piece;

[0026] The grabbing connector is disposed on the slidable positioning portion, and two ends thereof are respectively connected to the middle piece and the vacuum suction cup structure, so as to adjust the angle of the vacuum suction cup structure.

[0027] Further, the grabbing connector includes an L-shaped connector and an adjustable connector;

[0028] The middle part of the L-shaped connecting piece is arranged on the slidable positioning part, one end of the L-shaped connecting piece is connected to the vacuum suction cup structure, and the other end of the L-shaped connecting piece is connected to the middle piece;

[0029] One end of the adjustable connecting member is arranged on the slidable positioning portion, and the other end is connected to the vacuum suction cup structure.

[0030] Furthermore, the workpiece plate is also provided with a positioning pin, and the positioning pin is used to cooperate with the positioning hole on the workpiece.

[0031] Furthermore, the vacuum suction cup structure includes a suction cup fixing plate and a vacuum suction cup; at least two vacuum suction cups are arranged on the suction cup fixing plate.

[0032] From the above, it can be seen that an embodiment of the present invention provides a workpiece auxiliary installation device, by setting the connecting seat on the mechanical arm unit, and using the mechanical arm unit to adjust the position of the connecting seat in the horizontal and vertical directions, in this way, the movement of the workpiece position is realized, the labor intensity of manual labor is reduced, and the work efficiency is improved; the connecting seat is connected to the grasping component through the crank slider structure, and the grasping component grasps the workpiece using the vacuum suction cup structure. Here, the crank slider structure is used to accurately align the workpiece on the grasping component with other components, which can greatly reduce the installation alignment time; due to the use of the vacuum suction cup structure, there is no need to set up a structure for mobile installation on the workpiece, which simplifies the workpiece preparation process. Such a human-machine collaborative method replaces the traditional manual working method, can quickly transport and install the workpiece, reduce the labor intensity of manual labor, improve work efficiency, improve the fluency of the workpiece installation process, and at the same time help to ensure the installation quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0034] Figure 1 A schematic structural diagram of an embodiment of a workpiece auxiliary mounting device provided by the present invention;

[0035] Figure 2 A schematic structural diagram of an embodiment of a grabbing unit provided by the present invention;

[0036] Figure 3 A schematic structural diagram of an embodiment of a tightening member and a safety lock provided by the present invention;

[0037] Figure 4 and Figure 5 A schematic diagram of the working state of the crank slider structure provided by the present invention;

[0038] Figure 6 and Figure 7 This is a schematic diagram of the working state of the grabbing assembly provided by the present invention. DETAILED DESCRIPTION

[0039] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0040] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] like Figure 1 and Figure 2 As shown, an auxiliary workpiece installation device provided by an embodiment of the present invention. Specifically, it includes: a mechanical arm unit and a gripping unit 2; the gripping unit 2 includes a connecting seat 21, a crank slider structure 22, and a gripping assembly; the end of the mechanical arm unit is connected to the connecting seat 21, and the position of the connecting seat in the horizontal direction and the vertical direction can be adjusted; the connecting seat 21 is connected to the gripping assembly through the crank slider structure; the gripping assembly includes a vacuum suction cup structure 235, and the vacuum suction cup structure 235 is used to grip the workpiece.

[0042] It can be seen that the embodiment of the present invention provides a workpiece auxiliary installation device, by setting the connecting seat on the mechanical arm unit, and using the mechanical arm unit to adjust the position of the connecting seat in the horizontal and vertical directions, in this way, the movement of the workpiece position is realized, the labor intensity of manual labor is reduced, and the work efficiency is improved; the connecting seat is connected to the grasping component through the crank slider structure, and the grasping component grasps the workpiece using the vacuum suction cup structure. Here, the crank slider structure is used to accurately align the workpiece on the grasping component with other components, which can greatly reduce the alignment time. Due to the use of the vacuum suction cup structure, there is no need to set up a structure for mobile installation on the workpiece, which simplifies the workpiece preparation process. Such a human-machine collaborative method replaces the traditional manual working method, can quickly transport and install the workpiece, reduce the labor intensity of manual labor, improve work efficiency, improve the fluency of the workpiece installation process, and at the same time help to ensure the installation quality of the product.

[0043] refer to Figure 3 In some embodiments of the present invention, the workpiece auxiliary installation device also includes a tightening member 3 and a safety lock 4; the extension axis (not marked in the figure) of the connecting seat 21 vertically passes through the end of the robotic arm unit and is connected to the tightening member 3, the extension axis of the connecting seat 21 is coaxial with the symmetry axis of the grasping assembly, and rotating the tightening member 3 can drive the grasping assembly to rotate along the symmetry axis; the safety lock 4 is arranged on the tightening member 3, and the safety lock 3 can cooperate with the robotic arm unit to lock the tightening member 3.

[0044] Here, in the case where the workpiece and other parts are threadedly connected, when the safety lock 4 is locked, the connection seat 21 is fixed relative to the mechanical arm unit. At this time, the grasping assembly can accurately grasp the workpiece to be installed, and use the mechanical arm unit to transfer the workpiece to be installed to the position of other parts, and after aligning the other parts with the help of the crank slider, open the safety lock 4, rotate the tightening member 3, and screw the workpiece to be installed into other parts to complete the installation. Such a technical solution, which uses the tightening member 3 to realize the rotation of the workpiece, can greatly reduce the labor intensity of manual labor. Because it rotates along the extension axis, it can ensure the stability of the rotation and significantly improve the screw connection accuracy of the workpiece and other parts.

[0045] It should be noted that, when the connection method between the workpiece and other components is not a threaded connection, such as a rivet connection, welding, etc., in some embodiments of the present invention, the workpiece auxiliary installation device may not be provided with a tightening member 3 and a safety lock 4. Such a structure can effectively reduce the cost of the installation device and the manufacturing cost is also lower.

[0046] Optionally, the tightening member 3 is a steering wheel.

[0047] refer to Figure 1, in some embodiments of the present invention, the robot arm unit includes a support shaft 11, a rotating shaft 12, a bearing 13, a shaft end cylinder 15 and a connecting rod 14;

[0048] The support shaft 11 is arranged vertically;

[0049] The rotating shaft 12 and the supporting shaft 11 are coaxially arranged, and the rotating shaft 12 rotates relative to the supporting shaft 11;

[0050] The rotating shaft 12 is hinged to the bearing member 13;

[0051] One end of the shaft end cylinder 15 is disposed on the rotating shaft 12, and the other end is disposed on the bearing member 13, and is used to adjust the angle between the rotating shaft 12 and the bearing member 13;

[0052] One end of the connecting rod 14 is rotatably connected to the bearing member 13 ; the other end of the connecting rod 14 is provided with the connecting seat 21 .

[0053] Through such a structure, the rotating shaft 12 is hinged to the bearing member 13, and the bearing member 13 is connected to the connecting rod 14. When the rotating shaft 12 rotates, the bearing member 13 can rotate in the horizontal plane accordingly, so as to realize the horizontal position movement of the connecting seat 21; by setting the shaft end cylinder 15 to adjust the angle between the rotating shaft 12 and the bearing member 13, the vertical position of the end of the bearing member away from the shaft end cylinder 15 is changed, thereby realizing the adjustment of the vertical position of the connecting seat 21. Here, the mechanical arm unit can realize the vertical and horizontal adjustment through simple manual operation, such as controlling the operation of the shaft end cylinder 15, which saves time and effort, and can conveniently move the connecting seat 21 between the storage area and the installation area of ​​the workpiece to be installed.

[0054] It should be understood that by manually moving the support member 13 , the support member 13 drives the rotating shaft 12 to rotate, so that the horizontal position of the support member 13 can be easily changed.

[0055] It should be noted that the support shaft 11 can be fixed on the ground. As an alternative embodiment, the support shaft 11 is arranged on a base 19, and wheels are arranged at the bottom of the base 19 to realize the overall position movement of the workpiece mounting device.

[0056] Further, the connecting rod 14 includes a first rod 141 and a second rod 142 which are coaxially arranged and rotated with each other, the first rod 141 is used to connect the bearing member 13, the second rod is used to set the connecting seat 21, and a bend is provided on the first rod 14. By providing a bend on the first rod 14, when the position of the bearing member 13 is fixed, the first rod 14 is rotated to move the position of the connecting seat 21 in a small range, which is conducive to more accurate alignment of the workpiece to be installed, and has the advantage of flexible and convenient operation.

[0057] Furthermore, the robot arm unit also includes a blocking cylinder 16, and the blocking cylinder 16 is arranged at the connection between the support shaft 11 and the rotating shaft 12, or at the connection between the first rod 141 and the second rod 142. It should be noted that the blocking cylinder 16 can also be arranged at the connection between the support member 13 and the first rod 141. The blocking cylinder 16 is arranged to lock the connection when the workpiece mounting device is not in use, thereby ensuring the safety and stability of the operation. Therefore, any position that can rotate relatively can be locked by arranging the blocking cylinder 16, and is not limited to the connection listed here.

[0058] like Figure 2 As shown, in some embodiments of the present invention, the crank slider structure 22 includes a flip cylinder 221, a flip cylinder connecting rod 222 and a fixing member 223;

[0059] The flip cylinder 221 is hinged to the connecting seat 21, one end of the flip cylinder connecting rod 222 is hinged to the cylinder axis of the flip cylinder 221, and the other end is fixedly connected to the fixing member 223;

[0060] The connection seat 21 is provided with a connection portion 211 (refer to Figure 4 and Figure 5 ), the connecting portion is hinged to the fixing member 223.

[0061] Here, reference Figure 4 and Figure 5 The schematic diagram of the working state of the crank slider structure shown in the figure (only part of the structure of the connecting seat 21 is shown in the figure), by controlling the extension and retraction of the flip cylinder 221 (equivalent to the slider), the fixing member 223 rotates with the connecting portion 211 as the axis under the action of the flip cylinder 221 and the flip cylinder connecting rod 222, so that the grabbing assembly set on the fixing member 223 rotates accordingly (here, it can be pitch), and the angle of the grabbing assembly is adjusted, so that the workpiece on the grabbing assembly can be aligned and installed with other components faster and more accurately. With such a structure, the angle adjustment of the grabbing assembly can be achieved by only controlling the flip cylinder 221, which saves labor and is highly efficient.

[0062] In some embodiments of the present invention, the grabbing assembly further includes a grabbing cylinder 231, a workpiece plate 232, an intermediate piece 233, and a grabbing connector 234;

[0063] The grabbing cylinder 231 is disposed on the fixing member 223.

[0064] The grabbing cylinder 231 is fixedly connected to the workpiece plate 232. The workpiece plate 232 is provided with a through hole and a slidable positioning portion 237. The shaft of the grabbing cylinder 231 passes through the through hole and is connected to the middle piece 233.

[0065] The grabbing connector 234 is disposed on the slidable positioning portion 237 , and two ends thereof are respectively connected to the middle piece 233 and the vacuum suction cup structure 235 , so as to adjust the angle of the vacuum suction cup structure 235 .

[0066] Optionally, a positioning slot is provided on the workpiece plate 232, and the slidable positioning portion 237 is provided in the positioning slot to achieve a sliding connection.

[0067] It should be understood that the connection between the grabbing connector 234 and the slidable positioning portion 273, the connection between the grabbing connector 234 and the suction cup structure 235, and the connection between the grabbing connector 234 and the intermediate member 233 are all hinged. Optionally, the hinge is achieved by a pin connection.

[0068] Here, when the gripping assembly is aligned with the workpiece to be installed, the angle of the vacuum suction cup structure 235 needs to be adjusted so that the vacuum suction cup structure can be close to the surface of the workpiece to be installed. Figure 6 and Figure 7 The schematic diagram of the working state of the grabbing assembly shown in the figure, by setting the grabbing cylinder 231, using the expansion and contraction of the grabbing cylinder 231, the inclination angle of the grabbing connecting member 234 relative to the axis of the grabbing cylinder is changed, thereby achieving the angle adjustment of the vacuum suction cup structure 235, so that the vacuum suction cup structure 235 can be close to the surface of the workpiece. In this solution, the worker only needs to control the expansion and contraction of the grabbing cylinder 231 to achieve the angle adjustment of the vacuum suction cup structure, which saves labor and is highly efficient.

[0069] It should be noted that for a workpiece with a three-dimensional structure and a symmetric axis, such as a boss, a cylinder, or a cone, the number of the grabbing connectors 234 can be three, and accordingly, the number of the vacuum suction cup structures 235 is also three. Such a setting makes the grabbing of the workpiece to be installed more stable and reliable. It should be understood that for a plate-like workpiece, the number of the grabbing connectors 234 can be appropriately reduced.

[0070] In addition, by providing the workpiece plate 232 , when the workpiece is grasped, the edge of the workpiece can abut against the workpiece plate 232 , thereby improving the grasping stability.

[0071] In some embodiments of the present invention, the grabbing connector 234 includes an L-shaped connector 2341 and an adjustable connector 2342;

[0072] The middle part of the L-shaped connecting member 2341 is disposed on the slidable positioning portion 237 , one end of which is connected to the vacuum suction cup structure 235 , and the other end of which is connected to the middle member 233 ;

[0073] One end of the adjustable connecting member 2342 is disposed on the slidable positioning portion 237 , and the other end is connected to the vacuum suction cup structure 235 .

[0074] With such a structural arrangement, the L-shaped connector 2341 and the adjustable connector 2342 are both connected to the vacuum suction cup 235. The arrangement of two connection points can better ensure the angle adjustment of the vacuum suction cup 235, which is safer and more reliable than having one connection point. It should be understood that those skilled in the art can determine the type of connection between the slidable positioning portion 237, the middle piece 233, the L-shaped connector 2341, the adjustable connector 2342 and the vacuum suction cup structure 235, such as hinged connection, based on the function of achieving the angle adjustment of the vacuum suction cup structure 235.

[0075] Here, the adjustable connection member 2342 includes a first portion, a screw and a second portion, wherein the first portion and the second portion are respectively connected to the vacuum suction cup structure 235 and the slidable positioning portion 237. The screw connects the first portion and the second portion. During installation, by adjusting the length of the screw between the first portion and the second portion, the length of the adjustable connection 2342 can be adjusted so that the vacuum suction cup structure 235 is in a suitable position.

[0076] In some embodiments of the present invention, the workpiece plate 232 is further provided with a positioning pin 236, and the positioning pin 236 is used to cooperate with the positioning hole on the workpiece. It should be understood that the positioning hole on the workpiece is not specially made for the positioning pin 236, but is inherent in the workpiece itself. By providing the positioning pin 236 and inserting it into the positioning hole on the workpiece, the gripping stability and firmness of the workpiece during movement can be significantly improved, and the workpiece is protected from being damaged due to falling off.

[0077] Furthermore, the positioning pin 236 is slidably connected to the workpiece plate 232, so that the distance from the positioning pin 236 to the center of the workpiece plate 232 can be adjusted to accommodate workpieces of different sizes. Such a structural setting can increase the applicability of the workpiece auxiliary installation device and save equipment costs.

[0078] In some embodiments of the present invention, the vacuum suction cup structure 235 includes a suction cup fixing plate 2352 and a vacuum suction cup 2351; at least two vacuum suction cups 2351 are arranged on the suction cup fixing plate 2352. Here, the suction cup fixing plate 2352 is used to connect the grabbing connector 234, and the vacuum suction cup 2351 directly contacts the workpiece, and uses vacuum negative pressure to adsorb the workpiece to the workpiece auxiliary mounting device. Providing multiple vacuum suction cups to increase the contact area with the workpiece can improve the stability and reliability of grasping. It should be understood that the vacuum suction cup 2351 is connected to a vacuum pump, and the vacuum pump is used to provide negative pressure. The vacuum pump and the vacuum suction cup bracket are connected through a pipeline. When the workpiece needs to be released, it is sufficient to contact the negative pressure state, for example, using an air pump to inflate the vacuum suction cup.

[0079] Here, it is understood by those skilled in the art that, for the specific connection method or specific setting method between the components involved in one or more embodiments of the present invention, unless explicitly stated, it should be based on the ability to achieve its functions.

[0080] It should be noted that the workpiece auxiliary installation device provided in the embodiment of the present invention also includes a control unit. The control unit includes a robot arm control box 18, a grabbing fixture control box 25, pneumatic components and gas pipelines. The robot arm control box 18 and the grabbing fixture control box 25 are used to control the working state of the pneumatic components. The pneumatic components include but are not limited to throttle valves, pressure regulating valves, and reversing valves. Among them, the robot arm control box 18 is arranged on the rotating shaft 12, and is used to control the movement of the robot arm in the horizontal and vertical directions, such as controlling lifting and hovering; the grabbing fixture control box 25 is arranged on the connecting rod 14, and is used to control the grabbing unit, such as controlling flipping and controlling picking and placing.

[0081] Optionally, the gas pipeline is connected by a hose, which can ensure that the gas path is unobstructed when the grabbing unit rotates.

[0082] Furthermore, the control unit also includes a variety of function keys to facilitate manual operation of the device. Figure 3 As shown, for example, the whole device switch 263, the grab function key 264, the release function key 265, and the flip function key 261, with the help of these function keys, various states of the device can be realized conveniently and quickly.

[0083] In addition, it also includes a status display light 262 for displaying the load condition and an operating handle 266 for adjusting the position.

[0084] Below, combined with the attached Figure 4-7 The working principle of the auxiliary workpiece installation device provided by the embodiment of the present invention is further described as follows: first, turn on the whole machine switch 263 on the operating system, use the operating handle 266 to move the robot arm unit and the gripping unit to the workpiece storage area, and the status display light 262 indicates that it is in the no-load state. Figure 6 The three positioning pins 236 on the grabbing assembly are matched with the positioning holes of the workpiece. After the match is completed, press the grab function key 264 with both hands, and the grab function in the pick-and-place part of the control unit starts to work. The vacuum suction cup 2351 simultaneously sucks the inner surface of the workpiece to grab the workpiece. The status display light 262 lights up green to indicate that it is in the load state. At this time, refer to the attached Figure 7 Press and hold the flip function key 261 to make the flip part of the control unit work (for example, by the attached Figure 4 The position flip is attached Figure 5 position), after the workpiece is flipped to the installation direction, the workpiece is lifted to the area to be installed and the axis is aligned with the workpiece to be installed, the safety lock 4 is unlocked, and the workpiece and the part to be installed are threadedly installed by operating the tightening member 3 to rotate; after the installation is successful, the tightening member 3 is locked with the safety lock 4, and the release function key 265 is pressed with both hands, the vacuum suction cup 2351 stops vacuuming, and the vacuum suction cup 2351 is inflated to release the workpiece, and the status display light 262 indicates that it is in an unloaded state; after the installation work is completed, the grabbing assembly is taken out, the robot arm is moved to the workpiece storage area, and the flip function key 261 is pressed to make the flip part of the control unit work, and the grabbing assembly is flipped to the direction of grabbing the workpiece; the above actions are repeated to complete the installation of the next workpiece; after the work task is completed, the whole machine switch 263 on the operating system is turned off, and the machine stops working.

[0085] It can be seen from the above embodiments that the workpiece auxiliary installation device provided by the present invention is a special fixture, which can realize the rapid placement and installation of the workpiece by only one person; the present invention realizes the placement, position adjustment and installation of the workpiece by setting a mechanical arm unit and a grasping unit, eliminating the high labor intensity of manual handling and reducing the danger caused by the installation of multiple people, and can easily place and take the workpiece and ensure the accuracy of installation. The installation process is safe and reliable, reduces the labor requirements, is convenient, can be moved to other positions for operation, reduces production costs, and improves installation efficiency.

[0086] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present invention, the above embodiments or technical features in different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0087] In addition, to simplify the description and discussion, and in order not to obscure the present invention, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the devices may be shown in the form of block diagrams to avoid obscuring the present invention, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the present invention will be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present invention, it will be apparent to those skilled in the art that the present invention may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0088] Although the invention has been described in conjunction with specific embodiments of the invention, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0089] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A workpiece auxiliary installation device, characterized in that: include: Robotic arm unit and gripping unit; The grabbing unit comprises a connecting seat, a crank slider structure, and a grabbing assembly; The end of the mechanical arm unit is connected to the connecting seat, and the position of the connecting seat in the horizontal direction and the vertical direction can be adjusted; The connecting seat is connected to the grabbing assembly via a crank slider structure; The gripping assembly comprises a vacuum suction cup structure, and the vacuum suction cup structure is used to grip the workpiece; wherein, the vacuum suction cup structure comprises a suction cup fixing plate and a vacuum suction cup; at least two vacuum suction cups are arranged on the suction cup fixing plate; wherein, The crank slider structure includes a tilting cylinder, a tilting cylinder connecting rod and a fixing member; The flip cylinder is hinged to the connecting seat, one end of the flip cylinder connecting rod is hinged to the cylinder shaft of the flip cylinder, and the other end is fixedly connected to the fixing piece; The connecting seat is provided with a connecting portion, and the connecting portion is hinged to the fixing piece.

2. The workpiece auxiliary mounting device according to claim 1, characterized in that: It also includes a screw-on fitting and a safety lock; The extension axis of the connecting seat vertically passes through the end of the mechanical arm unit and is connected to the tightening member, the extension axis of the connecting seat is coaxial with the symmetry axis of the grabbing assembly, and rotating the tightening member can drive the grabbing assembly to rotate along the symmetry axis; The safety lock is arranged on the tightening member, and the safety lock can cooperate with the mechanical arm unit to lock the tightening member.

3. The workpiece auxiliary mounting device according to claim 1, characterized in that: The mechanical arm unit comprises a supporting shaft, a rotating shaft, a bearing, a shaft end cylinder and a connecting rod; The support shaft is arranged vertically; The rotating shaft and the supporting shaft are coaxially arranged, and the rotating shaft rotates relative to the supporting shaft; The rotating shaft is hinged to the bearing member; One end of the shaft end cylinder is arranged on the rotating shaft, and the other end is arranged on the bearing member, and is used to adjust the angle between the rotating shaft and the bearing member; One end of the connecting rod is rotatably connected to the bearing member; the other end of the connecting rod is provided with the connecting seat.

4. The workpiece auxiliary mounting device according to claim 3, characterized in that: The connecting rod comprises a first rod and a second rod which are coaxially arranged and rotated with each other, the first rod is used to connect the bearing member, the second rod is used to set the connecting seat, and the first rod is provided with a bend.

5. The workpiece auxiliary mounting device according to claim 4, characterized in that: It also includes a stopping cylinder, which is arranged at the connection between the supporting shaft and the rotating shaft, or at the connection between the first rod and the second rod.

6. The workpiece auxiliary mounting device according to claim 1, characterized in that: The grabbing assembly also includes a grabbing cylinder, a workpiece plate, an intermediate piece, and a grabbing connector; The grabbing cylinder is arranged on the fixing member, The grabbing cylinder is fixedly connected to the workpiece plate, the workpiece plate is provided with a through hole and a slidable positioning portion, and the shaft of the grabbing cylinder passes through the through hole and is connected to the middle piece; The grabbing connector is disposed on the slidable positioning portion, and two ends thereof are respectively connected to the middle piece and the vacuum suction cup structure, so as to adjust the angle of the vacuum suction cup structure.

7. The workpiece auxiliary mounting device according to claim 6, characterized in that: The grabbing connector includes an L-shaped connector and an adjustable connector; The middle part of the L-shaped connecting piece is arranged on the slidable positioning part, one end of the L-shaped connecting piece is connected to the vacuum suction cup structure, and the other end of the L-shaped connecting piece is connected to the middle piece; One end of the adjustable connecting member is arranged on the slidable positioning portion, and the other end is connected to the vacuum suction cup structure.

8. The workpiece auxiliary mounting device according to claim 6, characterized in that: The workpiece plate is also provided with a positioning pin, and the positioning pin is used to match with the positioning hole on the workpiece.

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