Supporting tool for manufacturing large arm of robot

Abstract

The invention relates to a supporting tool for manufacturing a big arm of a robot, the supporting tool comprises a bottom plate, two reference surface positioning mechanisms, a horizontal positioning mechanism and a bottom supporting mechanism, the two reference surface positioning mechanisms are symmetrically arranged on the two sides of the bottom plate, each reference surface positioning mechanism comprises a guide rail, a sliding block and a reference positioning plate, and the bottom supporting mechanism comprises a plurality of supporting assemblies; the multiple supporting assemblies are symmetrically arranged in two rows. Each supporting assembly comprises a guide block, a guide sleeve, a bolt, a nut, an extension rod and a supporting rod. According to the supporting tool, the reference positioning plate is used for positioning the top end face of the cylindrical part of the robot big arm, nuts of all the bottom supporting mechanisms are rotated, bolts are pushed to move upwards through threads, the bolts drive supporting rods at the bottom of the robot big arm to move upwards through guide blocks and extension rods, and the supporting rods are matched with the reference positioning plate; the large arm of the robot is clamped and fixed, operation is convenient, efficiency is high, and the positioning precision can be improved easily.

Description

Technical Field

[0001] The present invention relates to the technical field of robot arm manufacturing, and in particular to a supporting tooling for manufacturing a robot arm. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. At present, industrial robots are developing towards large-scale and high-precision. The arm length of conventional industrial robots is mostly within 2 meters, and the processing technology is relatively simple.

[0003] There is an industrial robot arm blank such as Figure 1 As shown, it includes a hollow arm body, which includes an upper wall plate and a lower wall plate formed in one piece, and the top surface of the upper wall plate and the bottom surface of the lower wall plate are both arc-shaped curved surfaces that are concave downward. The two ends of the upper wall plate are provided with a first cylindrical portion and a second cylindrical portion whose central axes are parallel to each other, and flange surfaces are subsequently formed on the end surfaces of the two cylindrical portions.

[0004] Since the upper and lower wall panels of the robot arm are both arc-shaped surfaces, the conventional supporting tooling during manufacturing and processing is to use multiple bolts at the bottom of the robot arm to form a supporting surface for the bottom surface of the lower wall panel. This support method has the following shortcomings: on the one hand, since the bolts are under the robot arm, when tightening the bolts to adjust the support height, it is necessary to adjust the height under the robot arm or after turning the robot arm and the tooling over, which is cumbersome and inefficient. On the other hand, the supporting surface formed by the tooling is based on the bottom surface of the lower wall panel, while the flange surface processing is usually based on the top end surfaces of the two cylindrical parts, which leads to poor positioning accuracy, thereby affecting the finishing accuracy.

[0005] Therefore, the present invention proposes a supporting tooling for manufacturing a robot arm to solve the above-mentioned problem. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a supporting tooling for manufacturing a robot arm, which facilitates positioning and improves positioning accuracy and operating efficiency.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: a support tool for manufacturing a robot arm, wherein the robot arm is provided with a first cylindrical part and a second cylindrical part with central axes parallel to each other on both sides in the length direction, and the innovation point is: comprising A bottom plate, the bottom plate is arranged horizontally; The reference plane positioning mechanism has two symmetrically arranged on both sides of the bottom plate, and the reference plane positioning mechanism includes a guide rail, a slider and a reference positioning plate. The guide rail is installed on the top surface of the bottom plate, and the slider is slidably installed on the guide rail and driven by a screw to move horizontally along the guide rail. The reference positioning plate is installed on the top of the slider, and one side of the reference positioning plate extends out of the slider; A horizontal positioning mechanism, the horizontal positioning mechanism is arranged between the two reference surface positioning mechanisms, the horizontal positioning mechanism comprises a first positioning column for surrounding the first cylindrical portion and a second positioning column for surrounding the second cylindrical portion, the first positioning column and the second positioning column are both vertically mounted on the top surface of the bottom plate; A bottom support mechanism, wherein the bottom support mechanism is arranged between two reference plane positioning mechanisms, the bottom support mechanism includes a plurality of support components, and the plurality of support components are symmetrically arranged in two rows. The support components include a guide block, a guide sleeve, a bolt, a nut, an extension rod and a support rod. The guide sleeve is vertically installed on the top surface of the bottom plate, the guide block is movably arranged in the guide sleeve, the central axis of the bolt is vertically arranged above the guide sleeve, the bottom end of the bolt extends into the guide sleeve and is connected to the guide block, the nut is rotatably installed above the guide sleeve and is threadedly sleeved on the outside of the bolt, the extension rod is horizontally arranged, and a through hole is opened on the guide sleeve for the extension rod to pass through and move with the guide block. One end of the extension rod passes through the through hole and is connected to the guide block, and the other end is connected to the support rod, and the central axis of the support rod is vertically arranged.

[0008] Furthermore, there are three first positioning posts and three second positioning posts, and they are distributed in a triangular shape.

[0009] Furthermore, a bearing is provided above the top of the guide sleeve, the outer ring of the bearing is fixedly connected to the guide sleeve, and the nut is provided above the bearing and fixedly connected to the inner ring of the bearing.

[0010] Furthermore, the guide block and the extension rod are both rectangular parallelepiped structures.

[0011] Furthermore, a first triangular plate is provided between the support rod and the extension rod, and two sides of the first triangular plate are respectively connected to the support rod and the side walls of the extension rod; a second triangular plate is provided between the extension rod and the guide block, and two sides of the second triangular plate are respectively connected to the extension rod and the guide block.

[0012] Furthermore, the top end surface of the support rod is a hemispherical curved surface.

[0013] The advantages of the present invention are: The supporting tooling of the present invention utilizes the reference positioning plates of two reference plane positioning mechanisms to position the top end surfaces of the two cylindrical parts of the robot's boom, and using this as a reference, rotates the nuts of each bottom supporting mechanism, and pushes the bolts to move upward through the threads. The bolts drive the supporting rods at the bottom of the robot's boom to move upward through the guide blocks and extension rods, and cooperate with the reference positioning plates to clamp and fix the robot's boom. The entire process does not require operation under the robot's boom or flipping the robot's boom and the tooling, and the operation is convenient and efficient. Moreover, when the supporting rods of each bottom supporting mechanism are adjusted, the cylindrical end surfaces of the robot's boom are pressed against the reference positioning plates, which is beneficial to improving the positioning accuracy.

[0014] The present invention has three first positioning columns and three second positioning columns which are distributed in a triangular shape, which is beneficial for horizontal positioning of the robot arm and improves the horizontal positioning accuracy.

[0015] The nut of the invention is rotatably mounted above the guide sleeve through a bearing, has a simple structure, low manufacturing cost and is not easy to be damaged.

[0016] The guide block and the extension rod of the present invention are both rectangular parallelepiped structures, and can achieve horizontal limiting by virtue of the structural characteristics to avoid shaking, which is beneficial to improving the guiding accuracy.

[0017] The present invention improves the connection strength between the support rod, the extension rod and the guide block by arranging the first triangular plate and the second triangular plate, reduces the deformation probability of the support rod and the extension rod, and improves the positioning accuracy.

[0018] The top end surface of the support rod of the present invention is a hemispherical curved surface. When the support rod supports the robot arm, it is in point contact with the bottom surface of the robot arm, has high stability, and can effectively avoid damage to the surface of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a schematic diagram of the structure of the robot arm blank.

[0021] Figure 2 Schematic diagram of the robot arm blank installed on the supporting tooling.

[0022] Figure 3 It is a structural schematic diagram of the bottom support mechanism.

[0023] Figure 4 It is a cross-sectional view of the bottom support mechanism in the AA direction. DETAILED DESCRIPTION

[0024] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0025] like Figure 1 As shown, the robot arm blank includes an arm body with a hollow interior, and the arm body includes an upper wall plate and a lower wall plate that are integrally formed. The top surface of the upper wall plate and the bottom surface of the lower wall plate are both downwardly concave arc-shaped surfaces, and the two ends of the upper wall plate are provided with a first cylindrical portion a and a second cylindrical portion b whose central axes are parallel to each other.

[0026] This embodiment provides a support tool for manufacturing a robot arm, including a base plate 1, a reference surface positioning mechanism 2, a horizontal positioning mechanism 3 and a bottom support mechanism 4. Figure 2-4 shown.

[0027] The bottom plate 1 is arranged horizontally.

[0028] The reference plane positioning mechanism 2 has two and is symmetrically arranged on both sides of the base plate 1. The reference plane positioning mechanism 2 includes a guide rail 21, a slider 22 and a reference positioning plate 23. The guide rail 21 is installed on the top surface of the base plate 1. The slider 22 is slidably installed on the guide rail 21 and is driven to move horizontally along the guide rail 21 by a screw rod 24. The slider 22 is provided with a threaded hole matching the screw rod 24. The middle part of the screw rod 24 is threadedly connected in the threaded hole. The two sides of the screw rod 24 are rotatably installed on the top surface of the base plate 1 through a mounting seat 25. An operating handle is installed at the outer end of the screw rod 24. The reference positioning plate 23 is installed on the top of the slider 22. One side of the reference positioning plate 23 extends out of the slider 22, which is used to position the top end surface of the cylindrical part of the robot arm.

[0029] The horizontal positioning mechanism 3 is arranged between the two reference plane positioning mechanisms 2. The horizontal positioning mechanism 3 includes a first positioning column 31 for surrounding the first cylindrical portion a and a second positioning column 32 for surrounding the second cylindrical portion b. The first positioning column 31 and the second positioning column 32 are both vertically installed on the top surface of the base plate 1; in this embodiment, in order to improve the horizontal positioning accuracy, the first positioning column 31 and the second positioning column 32 are both three and distributed in a triangular shape.

[0030] The bottom support mechanism 4 is arranged between the two reference surface positioning mechanisms 2, and the bottom support mechanism 4 includes a plurality of support components, which are symmetrically arranged in two rows on both sides of the robot arm. The support components include a guide block 41, a guide sleeve 42, a bolt 43, a nut 44, an extension rod 46 and a support rod 47. The guide sleeve 42 is vertically installed on the top surface of the base plate 1, and the guide block 42 is movably arranged in the guide sleeve 42 up and down. The central axis of the bolt 43 is vertically arranged above the guide sleeve 42, and the bottom end of the bolt 43 extends into the guide sleeve 42 and is connected with the guide block 41. The nut 44 is rotatably installed above the guide sleeve 42 through a bearing 45, and is threadedly sleeved on the outside of the bolt 43. The bearing 45 is arranged above the guide sleeve 42, and the outer ring of the bearing 45 is fixedly connected to the guide sleeve 42. The nut 44 is arranged above the bearing 45 and is fixedly connected to the inner ring of the bearing 45. The extension rod 46 is arranged horizontally, and a through hole is provided on the guide sleeve 42 for the extension rod 46 to pass through and move with the guide block 41. One end of the extension rod 46 passes through the through hole and is connected to the guide block 41, and the other end is connected to the support rod 47, and the central axis of the support rod 47 is arranged vertically. In order to improve the connection strength between the support rod 47, the extension rod 46 and the guide block 41, and reduce the deformation probability of the support rod 47 and the extension rod 46, a first triangular plate 48 is arranged between the support rod 47 and the extension rod 46, and the two sides of the first triangular plate 48 are respectively connected to the side walls of the support rod 47 and the extension rod 46, and a second triangular plate 46 is arranged between the extension rod 46 and the guide block 41, and the two sides of the second triangular plate 46 are respectively connected to the extension rod 46 and the guide block 41. In this embodiment, in order to improve the guiding accuracy, the guide block 41 and the extension rod 46 are both rectangular structures, which can achieve horizontal limit with the help of structural characteristics, avoid shaking, and improve positioning accuracy. In addition, the top end surface of the support rod 47 is a hemispherical curved surface. When the support rod supports the robot arm, it is in point contact with the bottom surface of the robot arm, which has high stability and can effectively avoid damage to the surface of the robot arm.

[0031] Working principle: The robot arm is placed above the base plate 1, and the bottom is supported by the support rods 47 that are lowered in advance by each support component, while the bolts 43 and nuts 44 of the two rows of support components are located on both sides of the robot arm. The two cylindrical parts of the robot arm are positioned by the first positioning column and the second positioning column respectively, and the screws 24 of the two reference surface positioning mechanisms 2 are rotated to drive the reference positioning plate 23 to move toward the direction close to the robot arm through the slider 22, so that the reference positioning plate 23 moves to the top of the corresponding cylindrical part, and the nuts 44 of each support component are rotated to push the bolts 43 upward through the threads. The bolts 43 drive the support rods 47 at the bottom of the robot arm to move upward through the guide blocks 41 and the extension rods 46, thereby moving the robot arm upward, and finally making the top end face of the cylindrical part of the robot arm close to the bottom surface of the reference positioning plate 23, completing the clamping and fixation of the robot arm.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A support tool for manufacturing a robot arm, wherein the robot arm has a first cylindrical portion and a second cylindrical portion with central axes parallel to each other on both sides in the length direction, characterized in that: include A bottom plate, the bottom plate is arranged horizontally; The reference plane positioning mechanism has two symmetrically arranged on both sides of the bottom plate, and the reference plane positioning mechanism includes a guide rail, a slider and a reference positioning plate. The guide rail is installed on the top surface of the bottom plate, and the slider is slidably installed on the guide rail and driven by a screw to move horizontally along the guide rail. The reference positioning plate is installed on the top of the slider, and one side of the reference positioning plate extends out of the slider; A horizontal positioning mechanism, the horizontal positioning mechanism is arranged between the two reference surface positioning mechanisms, the horizontal positioning mechanism comprises a first positioning column for surrounding the first cylindrical portion and a second positioning column for surrounding the second cylindrical portion, the first positioning column and the second positioning column are both vertically mounted on the top surface of the bottom plate; A bottom support mechanism, wherein the bottom support mechanism is arranged between two reference plane positioning mechanisms, the bottom support mechanism includes a plurality of support components, and the plurality of support components are symmetrically arranged in two rows. The support components include a guide block, a guide sleeve, a bolt, a nut, an extension rod and a support rod. The guide sleeve is vertically installed on the top surface of the bottom plate, the guide block is movably arranged in the guide sleeve, the central axis of the bolt is vertically arranged above the guide sleeve, the bottom end of the bolt extends into the guide sleeve and is connected to the guide block, the nut is rotatably installed above the guide sleeve and is threadedly sleeved on the outside of the bolt, the extension rod is horizontally arranged, and a through hole is opened on the guide sleeve for the extension rod to pass through and move with the guide block. One end of the extension rod passes through the through hole and is connected to the guide block, and the other end is connected to the support rod, and the central axis of the support rod is vertically arranged.

2. The supporting tooling for manufacturing a robot arm according to claim 1, characterized in that: There are three first positioning posts and three second positioning posts, which are distributed in a triangle shape.

3. The supporting tool for manufacturing a robot arm according to claim 1, characterized in that: A bearing is arranged above the guide sleeve, the outer ring of the bearing is fixedly connected to the guide sleeve, and a nut is arranged above the bearing and fixedly connected to the inner ring of the bearing.

4. The supporting tooling for manufacturing a robot arm according to claim 1, characterized in that: The guide block and the extension rod are both rectangular parallelepiped structures.

5. The supporting tool for manufacturing a robot arm according to claim 1, characterized in that: A first triangular plate is provided between the support rod and the extension rod, and two sides of the first triangular plate are respectively connected to the support rod and the side wall of the extension rod; a second triangular plate is provided between the extension rod and the guide block, and two sides of the second triangular plate are respectively connected to the extension rod and the guide block.

6. The supporting tool for manufacturing a robot arm according to claim 1, characterized in that: The top end surface of the support rod is a hemispherical curved surface.

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