Assembly robot

Abstract

The invention relates to the technical field of assembling machinery equipment, and particularly discloses an assembling robot which comprises a workbench and a movable positioning seat, the movable positioning seat is provided with a positioning notch used for placing a vertical pipe fitting, and a lifting mechanism used for lifting a transverse pipe fitting is installed on the workbench; the lifting mechanism comprises a V-shaped supporting base, a bottom plate and a hydraulic cylinder, the bottom of the V-shaped supporting base is hinged to the bottom plate, and the hydraulic cylinder is arranged at the lower end of the bottom plate; the compression roller is inserted into one end of the transverse pipe fitting, one end of the compression roller is connected with a first pull rope, and the compression roller is pulled downwards through the first pull rope to drive the transverse pipe fitting to be warped to be horizontal; the front end of the movable positioning seat is connected with a second pull rope; a winding wheel set is arranged in the workbench, the winding wheel set is connected with the first pull rope and the second pull rope, and the winding wheel set rotates and pulls the movable positioning seat to be close to each other and to be in butt joint with the vertical pipe fitting and the transverse pipe fitting. The pipeline butt joint device is more convenient for butt joint and assembly of pipelines, and improves the butt joint precision and efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly machinery and equipment, and in particular to an assembly robot. Background Art

[0002] Usually, a long-distance pipeline is composed of multiple pipes spliced ​​together, and pipe docking is to dock the openings of two pipes to achieve laying of different lengths, which is convenient for adjusting the angle setting according to the laying path. The methods of pipe docking include welding and flange connection. After the two pipes are brought close together, they are docked to ensure that the center lines of the pipes are in the same straight line, and then the connection seams are welded or screwed. However, when some large-sized square pipes are docked at one end with flanges, their docking interfaces are oblique. For example, such pipes as air duct square pipes are connected by flanges combined with screws. When the oblique ends of the long pipe fittings and the short pipe fittings are connected, if the docking tool uses a lifting device to move the pipe fittings to adjust the angle and bring the two pipe fittings close to dock, this method is difficult to make the two pipe bevels fit tightly, and the screw holes on the flanges are difficult to align, and the docking difficulty is relatively high. Therefore, an assembly robot is designed to facilitate accurate and efficient docking of pipes. Summary of the invention

[0003] The object of the present invention is to provide an assembly robot which can more easily dock and assemble pipelines, thereby improving docking accuracy and efficiency.

[0004] The present invention is achieved through the following technical solutions: an assembly robot comprises a workbench and a mobile positioning seat, the mobile positioning seat is provided with a positioning notch for placing vertical pipe fittings, and a lifting mechanism for lifting horizontal pipe fittings is installed on the workbench; the lifting mechanism comprises a V-shaped supporting base, a bottom plate and a hydraulic cylinder, the bottom of the V-shaped supporting base is hinged to the bottom plate, and the hydraulic cylinder is arranged at the lower end of the bottom plate; a pressure roller, which is inserted into one end of the horizontal pipe fitting, one end of the pressure roller is connected to a first pull rope, and the pressure roller is pulled down by the first pull rope to drive the horizontal pipe fitting to be tilted to the horizontal; the front end of the mobile positioning seat is connected to a second pull rope; a winding wheel group is provided in the workbench, and the winding wheel group is respectively connected to the first pull rope and the second pull rope, and the winding wheel group rotates to pull the mobile positioning seat close to dock the vertical pipe fittings and the horizontal pipe fittings.

[0005] Furthermore, the winding wheel group includes a motor, a first reel and a second reel, the output shaft of the motor is connected to the first reel, the first reel and the second reel are coaxially arranged; the first reel is connected to the first pull rope, and the second reel is connected to the second pull rope.

[0006] Furthermore, a yoke and an armature are installed in sequence at one end of the second reel, a first spring is connected between the armature and the yoke, a force transmission column is installed on the yoke, and the force transmission column is inserted into the armature and is slidably connected thereto; an engaging toothed disk is installed on one end face of the first reel, and a toothed disk surface matching the engaging toothed disk is provided on the side of the armature facing the first reel.

[0007] Furthermore, the diameter of the second reel is greater than the diameter of the first reel.

[0008] Furthermore, a support plate is provided on the workbench, a slide plate is connected to one end of the pressure roller, the slide plate is slidably connected to the support plate, the first pull rope is connected to the slide plate; and a second spring is connected to the back side of the slide plate.

[0009] Furthermore, a slide seat is installed at the bottom of the hydraulic cylinder, and a slide rail adapted to the slide seat is provided on the workbench.

[0010] Furthermore, at least two guide rods are provided on one end surface of the workbench, and the guide rods pass through the movable positioning seat and are slidably connected thereto; the second pull rope is arranged between the guide rods and remains parallel thereto, and a third spring is sleeved on the guide rod, and the third spring abuts between the workbench and the movable positioning seat.

[0011] Furthermore, a plurality of balls are embedded and installed on the pressure roller.

[0012] Furthermore, the positioning notch is a square hole structure.

[0013] Furthermore, a non-slip rubber pad is provided on the surface of the V-shaped support base.

[0014] The technical solution of the present invention has at least the following advantages and beneficial effects: 1. Move the flange bevel of the vertical pipe fitting toward the flange bevel of the horizontal pipe fitting to push it to a horizontal fit state, which has higher fitting accuracy and is tighter, and the flange hole overlap is higher; 2. When the vertical pipe fitting is close to the horizontal pipe fitting, it also drives the other end of the horizontal pipe fitting to be pulled down, achieving a double-end force effect and reducing the friction and docking difficulty of the two oblique end faces. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the assembly robot of the present invention before docking; Figure 2 for Figure 1 A local enlarged view of point A in FIG. Figure 3 This is a schematic diagram of the structure of the assembly robot after docking is completed in the present invention; Figure 4 It is a schematic structural diagram of the winding wheel assembly in the present invention; Figure 5 It is a front view of the lifting mechanism in the present invention; Figure 6 A top view of the assembly robot in the invention; Figure 7 It is a schematic diagram of the end surface structure of the armature in the present invention; Figure 8 It is a structural schematic diagram of the butt-jointed square tubes in the present invention.

[0016] Figure markings: 1-workbench, 2-movable positioning seat, 21-positioning slot, 3-lifting mechanism, 31-V-shaped support base, 32-bottom plate, 33-hydraulic cylinder, 34-slide, 4-pressure roller, 41-ball, 5-first pull rope, 6-second pull rope, 7-winding wheel group, 71-motor, 72-second reel, 73-first reel, 74-yoke, 75-armature, 751-toothed disk surface, 76-first spring, 77-force transmission column, 78-engaging gear disk, 8-support plate, 9-slide plate, 10-second spring, 11-guide rod, 12-third spring, 13-slide rail. DETAILED DESCRIPTION

[0017] The following is a specific implementation method in conjunction with the accompanying drawings.

[0018] Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the drawings Specific implementation of the accompanying drawings Specific implementation of the accompanying drawings The following is further described in conjunction with specific embodiments. Figure 1-Figure 8As shown, this embodiment is an assembly robot, including a workbench 1 and a mobile positioning seat 2, the mobile positioning seat 2 is provided with a positioning notch 21 for placing vertical pipe fittings, and a lifting mechanism 3 for lifting horizontal pipe fittings is installed on the workbench 1; the lifting mechanism 3 includes a V-shaped supporting base 31, a bottom plate 32 and a hydraulic cylinder 33, the bottom of the V-shaped supporting base 31 is hinged to the bottom plate 32, and the hydraulic cylinder 33 is arranged at the lower end of the bottom plate 32; a pressing roller 4 is inserted into one end of the horizontal pipe fitting, and one end of the pressing roller 4 is connected to a first pull rope 5, through which the first pull rope 5 The downward pulling roller 4 drives the horizontal pipe fitting to be tilted to the horizontal; the front end of the mobile positioning seat 2 is connected to the second pull rope 6; a winding wheel group 7 is provided in the workbench 1, and the winding wheel group 7 is respectively connected to the first pull rope 5 and the second pull rope 6, and the winding wheel group 7 rotates to pull the mobile positioning seat 2 closer to the docking vertical pipe fitting and the horizontal pipe fitting; specifically, before the docking assembly, this assembly robot first uses a lifting equipment to lift one end of the short pipe joint into the mobile positioning seat 2 so that the end of the non-flange disk is stuck in the positioning groove 21 to ensure that the vertical pipe fitting is in a vertical state. Secondly, according to the height of the vertical pipe, the hydraulic cylinder 33 adjusts the height of the V-shaped support base 31 to a suitable position, and then the transverse pipe is hung and placed on the V-shaped support base 31, and the V-shaped support base 31 is not supported in the middle of the transverse pipe, so that the transverse pipe is inclined at a certain angle, and the pressure roller 4 is placed in the higher end of the transverse pipe, and the first pull rope 5 pulls the pressure roller 4 and is stuck in the ridge groove of the transverse pipe to maintain the transverse pipe in this inclined state. The winding wheel group 7 rotates to reel in and pulls the second pull rope 6 to pull the moving positioning seat 2 and the vertical pipe fitting toward the workbench 1. The flanges at the oblique ends of the two pipe fittings will contact and drive the lever with the V-shaped support base 31 as the fulcrum to tilt toward the horizontal, and the winding wheel group 7 will pull down the pressure roller 4 to assist in the winding process, so that the left end of the horizontal pipe fitting is compressed and the right end is lifted up. In this process, when the oblique flange fits tightly and the screw holes are aligned, the winding wheel group 7 is stopped, and the bolts are aligned, inserted and tightened, with high alignment accuracy and operating efficiency.

[0019] It is worth noting that a tightening mechanism, such as a gas expander, can be provided in the positioning notch 21 to prevent the vertical pipe from collapsing. A roller is provided at the bottom of the movable positioning seat 2 , and the rolling direction of the roller is toward the workbench 1 .

[0020] Reference Figure 4As shown, the winding wheel group 7 in this embodiment includes a motor 71, a first winding wheel 73 and a second winding wheel 72. The output shaft of the motor 71 is connected to the first winding wheel 73, and the first winding wheel 73 and the second winding wheel 72 are coaxially arranged. One motor 71 serves as a power source to drive the two winding wheels; the first winding wheel 73 and the second winding wheel 72 are cylindrical cage structures, the first winding wheel 73 is connected to the first pull rope 5, and the second winding wheel 72 is connected to the second pull rope 6, and the first pull rope 5 and the second pull rope are tied to the stick; a yoke 74 and an armature 75 are installed at one end of the second winding wheel 72 in sequence, a first spring 76 is connected between the armature 75 and the yoke 74, and a force transmission column 77 is installed on the yoke 74, and the force transmission column 77 is inserted into the armature 75 and is slidably connected thereto; a side end surface of the first winding wheel 73 is installed The meshing toothed disc 78 and the armature 75 are provided with a toothed disc surface 751 which matches the meshing toothed disc 78 on the side facing the first reel 73; specifically, when the second pull rope 6 pulls the vertical pipe fitting on the movable positioning seat 2 to contact the horizontal pipe fitting, the rotation of the motor 71 only drives the second reel 72 to rotate and reel in the second pull rope 6 to achieve pulling; and when the two beveled flanges come into contact, the yoke 74 is powered off, so that the armature 75 is ejected by the first spring 76, and its toothed disc surface 751 is in contact and meshed with the meshing toothed disc 78 to achieve power transmission, so that the first reel 73 starts to pull the pressure roller 4, so that the end of the horizontal pipe fitting close to the vertical pipe fitting is forced to tilt up, which mainly plays an auxiliary role, and the end faces of the beveled flanges are gradually fitted, which helps to improve the docking tightness and the alignment of the screw holes.

[0021] like Figure 4 As shown, since the adjustment stroke of the first pull rope 5 for pulling the pressure roller 4 down is short, and the stroke of the second pull rope 6 for pulling the vertical pipes together is long, the diameter of the second reel 72 is larger than the diameter of the first reel 73. In addition, the first reel 73 can be provided with an electrically controlled ratchet mechanism to prevent the first reel 73 from rotating, thereby making the downward pressing effect of the pressure roller 4 ineffective.

[0022] like Figure 2 As shown, in this embodiment, a support plate 8 is provided on the workbench 1, one end of the pressure roller 4 is connected to a slide plate 9, the slide plate 9 is slidably connected to the support plate 8, and the first pull rope 5 is connected to the slide plate 9; the back side of the slide plate 9 is connected to the second spring 10; specifically, the slide plate 9 drives the pressure roller 4 to make vertical linear motion relative to the support plate 8, and the second spring 10 can pull the slide plate 9 to reset due to the elastic force of the second spring 10 when the first reel 73 is powered off.

[0023] like Figure 3 and Figure 5 As shown, in order to adjust the working position of the lifting mechanism 3 so that it can be better used for assembling pipe fittings, a slide 34 is installed at the bottom of the hydraulic cylinder 33, and a slide rail 13 adapted to the slide 34 is opened on the workbench 1. The slide 34 drives the V-shaped support base 31 to move along the slide rail 13.

[0024] Reference Figure 1 and Figure 6 As shown, at least two guide rods 11 are provided on one side end face of the workbench 1, and the guide rods 11 pass through the movable positioning seat 2 and are slidably connected thereto; the second pull rope 6 is provided between the guide rods 11 and remains parallel thereto, and a third spring 12 is sleeved on the guide rod 11, and the third spring 12 abuts between the workbench 1 and the movable positioning seat 2; specifically, the guide rod 11 combined with the setting position of the second pull rope 6 effectively prevents the problem of displacement of the movable positioning seat 2 during the process of approaching, and the horizontal pipe fittings and the vertical pipe fittings are on the same plane.

[0025] Reference Figure 2 As shown, in this embodiment, a plurality of balls 41 are embedded and installed on the pressure roller 4; specifically, relative sliding will occur when the pressure roller 4 presses down the horizontal pipe, and the balls 41 can reduce the friction with the edge of the lowest point of the inner wall of the horizontal pipe.

[0026] Reference Figure 6 As shown, the positioning notch 21 is a square hole structure; specifically, the tip of the positioning notch 21 is aligned with the opening of the V-shaped support base 31, so that subsequent assembly only requires alignment of the horizontally placed pipe fittings on a single plane, which makes the operation easier.

[0027] In order to prevent the transversely placed pipe from sliding relative to the V-shaped support base 31 during the lever tilting alignment process, an anti-slip rubber pad is provided on the surface of the V-shaped support base 31 .

[0028] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An assembly robot, characterized in that: It comprises a workbench (1) and a movable positioning seat (2), wherein the movable positioning seat (2) is provided with a positioning notch (21) for placing a vertical pipe fitting, and the workbench (1) is provided with a lifting mechanism (3) for lifting a horizontal pipe fitting; The lifting mechanism (3) comprises a V-shaped supporting base (31), a bottom plate (32) and a hydraulic cylinder (33); the bottom of the V-shaped supporting base (31) is hinged to the bottom plate (32), and the hydraulic cylinder (33) is arranged at the lower end of the bottom plate (32); A pressure roller (4) is provided above the workbench (1) and is inserted into one end of the horizontally placed pipe. One end of the pressure roller (4) is connected to a first pull rope (5). The pressure roller (4) is pulled down by the first pull rope (5) to drive the horizontally placed pipe to tilt to a horizontal position. The front end of the movable positioning seat (2) is connected to a second pull rope (6); The workbench (1) is provided with a winding wheel group (7), and the winding wheel group (7) is respectively connected to the first pull rope (5) and the second pull rope (6). The winding wheel group (7) rotates and pulls the movable positioning seat (2) to approach and dock the vertical pipe fittings and the horizontal pipe fittings.

2. The assembly robot according to claim 1, characterized in that: The winding wheel assembly (7) comprises a motor (71), a first winding wheel (73) and a second winding wheel (72); the output shaft of the motor (71) is connected to the first winding wheel (73); the first winding wheel (73) and the second winding wheel (72) are coaxially arranged; The first reel (73) is connected to the first pull rope (5), and the second reel (72) is connected to the second pull rope (6).

3. The assembly robot according to claim 2, characterized in that: A yoke (74) and an armature (75) are sequentially mounted on one end of the second reel (72); a first spring (76) is connected between the armature (75) and the yoke (74); a force transmission column (77) is mounted on the yoke (74); the force transmission column (77) is inserted into the armature (75) and is slidably connected thereto; A meshing toothed disc (78) is mounted on one end face of the first reel (73), and a toothed disc surface (751) matching the meshing toothed disc (78) is provided on the side of the armature (75) facing the first reel (73).

4. The assembly robot according to claim 2, characterized in that: The diameter of the second reel (72) is greater than the diameter of the first reel (73).

5. The assembly robot according to claim 1, characterized in that: The workbench (1) is provided with a support plate (8), one end of the pressure roller (4) is connected to a slide plate (9), the slide plate (9) is slidably connected to the support plate (8), and the first pull rope (5) is connected to the slide plate (9); The back side of the slide plate (9) is connected with a second spring (10).

6. The assembly robot according to claim 1, characterized in that: A slide seat (34) is installed at the bottom of the hydraulic cylinder (33), and a slide rail (13) adapted to the slide seat (34) is provided on the workbench (1).

7. The assembly robot according to claim 1, characterized in that: At least two guide rods (11) are provided on one end surface of the workbench (1), and the guide rods (11) pass through the movable positioning seat (2) and are slidably connected thereto; The second pull rope (6) is arranged between the guide rods (11) and maintained parallel thereto; a third spring (12) is sleeved on the guide rods (11); the third spring (12) abuts between the workbench (1) and the movable positioning seat (2).

8. The assembly robot according to claim 1, characterized in that: A plurality of balls (41) are embedded and mounted on the pressure roller (4).

9. The assembly robot according to claim 1, characterized in that: The positioning notch (21) is a square hole structure.

10. The assembly robot according to claim 1, characterized in that: The surface of the V-shaped support base (31) is provided with an anti-slip rubber pad.

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