Robot hand plate model machining and assembling line

Abstract

The invention discloses a robot hand plate model machining and assembling line, relates to the technical field of assembling manipulators, and solves the problems that the stability and the cost of parts during installation are affected due to the fact that the vibration force is large when a mechanical claw grabs and moves the parts. The robot hand plate model machining and assembling line comprises a plurality of assembling mechanical claws, each assembling mechanical claw comprises a mechanical base, an integrated lifting carrying mechanism and a mechanical grabbing assembly, the mechanical bases are installed at the top of the machining and assembling line through screws, and the integrated lifting carrying mechanisms are installed at the tops of the mechanical bases; mechanical grabbing assemblies are installed on the two sides of the bottom of the integrated lifting carrying mechanism, and robot hand plate parts are fixedly grabbed at the bottoms of the mechanical grabbing assemblies. According to the device, when a grabbed and fixed part is driven to ascend and descend, rotating operation of the lifted and moved part can be synchronously carried out, vibration force generated when the part is subjected to initial position adjustment is reduced, and the part is more stable when being subjected to initial adjustment.

Description

Technical Field

[0001] The invention relates to the technical field of assembly manipulators, in particular to a robot hand-plate model processing assembly line. Background Art

[0002] The robot prototype model is a functional model used to check the appearance or structural rationality of the robot prototype. It is the first step to verify the feasibility of the robot and the most direct and effective way to find out the defects, deficiencies and drawbacks of the robot design. When the robot prototype model is produced and processed, the various parts that make up the robot prototype model need to be assembled.

[0003] The existing Chinese patent application with application publication number CN114872024A discloses a mechanical arm for equipment assembly, including an arm supporting body, the arm supporting body including a supporting base and an assembly working arm arranged on the supporting base; a clamping mechanical arm with flexible position adjustment, the clamping mechanical arm is used to clamp and fix parts of different models; a mechanical arm adjustment mechanism installed on the assembly working arm, connected to the clamping mechanical arm, and used to adjust the position of the clamping mechanical arm; the mechanical arm adjustment mechanism includes: a lifting adjustment component installed in the assembly working arm, used to adjust the height of the clamping mechanical arm; a rotation adjustment component, which is arranged on one side of the assembly working arm and connected to the lifting adjustment component, and is used to adjust the inclination angle and movement path of the clamping mechanical arm; the invention, through the lifting adjustment component, the rotation adjustment component and the movable adjustment platform, and the lifting adjustment component, the rotation adjustment component and the movable adjustment platform work together to meet the adjustment of different movement paths and assembly positions of the clamping mechanical arm, facilitate the assembly of the gear device in automobile processing, and improve the assembly efficiency.

[0004] However, the model processing assembly line has the following defects when used:

[0005] 1. When assembling robot prototypes, existing model processing and assembly lines generally use mechanical claws to grab parts and move them to automatically complete the assembly of robot prototypes. However, when traditional mechanical claws grab and move parts, the structure that drives the parts to move up and down and the structure that rotates (to complete the initial adjustment of the position of the parts) generally use multiple driving parts (motors, etc.) to drive the operation, resulting in greater vibration when lifting, grabbing and assembling parts, affecting the stability and cost of parts during installation;

[0006] 2. When the existing model processing and assembly line automatically assembles the robot prototype model, it is necessary to assemble the various components that make up the robot prototype model to various positions of the mold base to complete the automatic assembly operation of the robot prototype model. However, when the traditional mechanical claw grabs the components for assembly, it is difficult to adjust the grasped components at multiple angles, resulting in low efficiency in assembling the robot prototype model. Summary of the invention

[0007] The purpose of the present invention is to provide a robot prototype model processing assembly line to solve the problems raised in the above background technology.

[0008] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0009] The present invention provides a robot prototype model processing assembly line, comprising a plurality of assembly mechanical claws, wherein the assembly mechanical claws include a mechanical base, an integrated lifting and handling mechanism and a mechanical grasping component.

[0010] The mechanical base is installed on the top of the processing assembly line by screws. An integrated lifting and transporting mechanism is installed on the top of the mechanical base. Mechanical grabbing components are installed on both sides of the bottom of the integrated lifting and transporting mechanism. Robot handboard parts are grabbed and fixed at the bottom of the mechanical grabbing component.

[0011] Wherein, the integrated lifting and transporting mechanism includes:

[0012] A screw lifting assembly is installed on the top of the mechanical base, a lifting sliding seat is arranged on the outside of the screw lifting assembly, a docking transfer assembly is arranged inside the lifting sliding seat, and the docking transfer assembly extends to the outside of the screw lifting assembly.

[0013] Wherein, the interior of the lifting sliding seat is configured to be hollow;

[0014] A telescopic steering assembly is installed on the outer side of the bottom of the docking transfer assembly, the telescopic steering assembly is located below the lifting sliding seat, and mechanical grabbing assemblies are installed on both sides of the bottom of the telescopic steering assembly.

[0015] As a preferred embodiment of the present invention, the mechanical grabbing assembly comprises:

[0016] A grabbing support, the grabbing support is installed on the outside of the telescopic steering assembly, a DC motor is installed at the top center of the grabbing support, the output end of the DC motor runs through the grabbing support, and the bottom of the DC motor output end is connected to a rotating disk,

[0017] Wherein, the rotating disk is rotatably connected to the bottom of the grabbing support;

[0018] Side protrusions, the side protrusions are installed on both sides of the bottom of the rotating disk, the outer sides of the side protrusions are rotatably connected with movable arms, and the movable arms are movably arranged at the bottom of the rotating disk;

[0019] A sliding clamping block is rotatably connected to the outside of the movable arm, and the side surface of the sliding clamping block clamps and fixes robot hand plate parts.

[0020] As a preferred solution of the present invention, the top of the sliding clamping block protrudes outward and constitutes a sliding block, and the sliding block is slidably connected inside the sliding groove part.

[0021] Wherein, the slide groove portion is arranged at the center of the bottom of the grab support.

[0022] As a preferred embodiment of the present invention, the screw lifting assembly includes:

[0023] A vertical guide rod, wherein the vertical guide rod is fixedly mounted on the top of the mechanical base, four vertical guide rods are provided, and an upper support plate is mounted and supported on the top of the vertical guide rod;

[0024] An upper base, the upper base is installed at the center of the top of the upper support plate, the top of the upper base supports a DC motor, and the output end of the DC motor is connected to a main shaft that passes through the upper support plate,

[0025] Wherein, a docking transfer assembly is installed on the outer side of the main shaft;

[0026] The first gear is provided with two first gears, the two first gears are meshed and connected, one first gear is installed on the outside of the main shaft, and the two first gears are rotatably connected to the top of the upper supporting plate.

[0027] As a preferred solution of the present invention, another bottom of the first gear is connected to a threaded shaft, and the threaded shaft is rotatably connected to the top of the mechanical base.

[0028] The threaded shaft and the vertical guide rod are arranged through a partition, the partition is located below the upper support plate, the outer side of the threaded shaft is threadedly connected with a threaded assembly block, and the threaded assembly block is installed inside the lifting sliding seat.

[0029] Wherein, the lifting sliding seat and the vertical guide rod are slidably connected.

[0030] As a preferred solution of the present invention, the docking transfer component includes:

[0031] An inner groove, wherein the inner groove is arranged at the inner bottom of the main shaft, a lifting slide bar is slidably connected inside the inner groove, the lifting slide bar extends to the outside of the inner groove, one side of the lifting slide bar protrudes outward and forms an extended protrusion,

[0032] Wherein, the extended protrusion matches the inner groove;

[0033] A lifting assembly block, the lifting assembly block is movably arranged on the outside of the lifting slide rod, a plurality of telescopic cylinders are installed at the eccentric top of the lifting assembly block, the telescopic cylinders are installed at the bottom of the upper base, and the plurality of telescopic cylinders are all arranged on the outside of the main shaft;

[0034] A connecting rod, the connecting rod is arranged below the lifting slide rod, the lifting slide rod extends to the inside of the connecting rod, the connecting rod is rotatably connected to the center of the top of the mechanical base, the connecting rod passes through the lifting slide seat, and the inner top of the connecting rod matches the extension protrusion.

[0035] Wherein, a gear transmission component located inside the lifting assembly block is installed on the outer side of the connecting rod.

[0036] As a preferred solution of the present invention, the gear transmission component includes:

[0037] A side groove, wherein the side groove is provided on one side of the coupling rod, wherein a second gear installed on the outside of the coupling rod is slidably connected inside the side groove, and the second gear is rotatably connected to the inner bottom of the lifting sliding seat;

[0038] A transmission gear, the transmission gear is meshed and connected to the side of the second gear, the transmission gear is rotatably connected to the inner bottom of the lifting sliding seat, the top of the transmission gear is connected to a transmission shaft, and the transmission shaft is rotatably connected to the inside of the lifting sliding seat;

[0039] A transmission belt is connected to the outer side of the transmission shaft through a synchronous wheel key arranged on the inner side. The transmission belt is movably arranged on the inner top of the lifting sliding seat. The inner side of the transmission belt is connected to a rotating support through a synchronous wheel key.

[0040] As a preferred solution of the present invention, the transmission belt is located on the top of the transmission gear, and the transmission belt is located on the side of the vertical guide rod.

[0041] The rotating support is rotatably connected to the inside of the lifting sliding seat, the rotating support extends to the bottom of the lifting sliding seat, and the side of the rotating support is rotatably connected to an extension arm.

[0042] A driving motor is installed on the top of the extension arm, an output end of the driving motor is connected to a transfer seat, the transfer seat is rotatably connected to the bottom of the extension arm, and a telescopic steering assembly is installed on the side of the transfer seat.

[0043] As a preferred embodiment of the present invention, the telescopic steering assembly comprises:

[0044] A first steering motor, the first steering motor is installed on one side of the transfer seat, an output end of the first steering motor is connected to a first steering block, and the first steering block is rotatably connected to the inner side of the transfer seat;

[0045] A horizontal slide, wherein the horizontal slide is slidably connected to the side of the first steering block, the horizontal slide extends to the side of the first steering block, the side of the horizontal slide is connected to the output end of the electric push rod, and the electric push rod is installed inside the first steering motor.

[0046] Wherein, a hydraulic cylinder is installed on the top of the first steering block, and the output end of the hydraulic cylinder is connected to the top of the horizontal slide.

[0047] As a preferred solution of the present invention, a lower mounting seat is installed at the bottom of the horizontal slide, a second steering motor is installed on one side of the lower mounting seat, and an output end of the second steering motor is connected to a second steering block.

[0048] Wherein, the second steering block is rotatably connected to the inner side of the lower mounting seat, and mechanical grabbing components are installed on the left and right sides of the second steering block.

[0049] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0050] 1. In the robot prototype model processing and assembly line, when the fixed parts are lifted and moved, the lifting slide rod and the connecting rod can be assembled and connected so that the threaded shaft can synchronously drive the connecting rod to rotate when rotating, and the fixed parts can be rotated (vertical direction). At this time, the above operation can ensure that when the fixed parts are lifted and moved, the lifting and moving parts can be rotated synchronously, reducing the vibration force when the parts are initially adjusted in position, making the initial adjustment of the parts more stable, and the grabbed parts will not fall off. At the same time, the threaded shaft can also rotate independently (without driving the connecting rod to rotate), and the lifting and moving operations of the parts can be performed independently, which is more practical and suitable for the assembly requirements of parts in various different situations;

[0051] 2. In the robot hand model processing and assembly line, when the grasped and fixed parts are automatically assembled, the driving motor can drive the output end to rotate the transfer seat (vertical direction), the first steering motor drives the first steering block at the output end to rotate (horizontal direction), the second steering motor drives the second steering block at the output end to rotate (horizontal direction), and the electric push rod and hydraulic cylinder drive the parts to move (longitudinal direction). The parts can be driven to rotate and move at multiple angles to ensure that the grasped parts can be moved to different positions inside the mold base, thereby improving the efficiency of assembling the robot hand model;

[0052] 3. In the robot hand model processing and assembly line, when assembling the parts of the robot hand model, the DC motor can be used to drive the two sliding clamping blocks to move toward each other, so as to clamp and fix the parts set inside the sliding clamping blocks, ensuring that the parts are more stable when moving and installing. At the same time, the sliding clamping blocks that grab and fix the parts of the robot hand model can be replaced according to the structural shape of the parts to be grabbed and fixed, ensuring that the parts of different shapes and structures are grabbed more firmly, further reducing the problem of parts falling during movement and installation;

[0053] 4. In the robot prototype model processing and assembly line, when the lifting sliding seat is lifted and moved due to the rotation of the threaded shaft, the second gear installed on its inner bottom can be lifted and moved inside the groove on the outer side of the connecting rod, ensuring that the connecting rod can always be connected to the second gear when the lifting sliding seat is lifted and moved, ensuring that there is no conflict or interference between the two when driving the parts to be lifted, moved and rotated, and can effectively reduce the overall footprint and assembly weight of the device, reduce the manufacturing cost of the device, enhance operability and reduce subsequent maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0055] In addition, the terms "installed", "set", "provided with", "connected", "connected", and "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0057] Figure 2 It is a schematic structural diagram of the overall side view of the present invention;

[0058] Figure 3 It is a schematic diagram of the structure of the present invention as a whole viewed from above;

[0059] Figure 4 is a schematic diagram of the structure of the mechanical grasping assembly of the present invention;

[0060] Figure 5 It is a schematic diagram of the structure of the explosion of the mechanical grab assembly of the present invention;

[0061] Figure 6 It is a structural schematic diagram of the integrated lifting and transporting mechanism of the present invention;

[0062] Figure 7 It is a structural schematic diagram of the screw lifting assembly of the present invention;

[0063] Figure 8 It is a structural schematic diagram of the connection between the DC motor and the docking transfer assembly of the present invention;

[0064] Fig. 9 The present invention Figure 8 A schematic diagram of the structure of the enlarged area in the middle A;

[0065] Fig.10 It is a structural schematic diagram of the cross-section of the main shaft and the docking transfer assembly of the present invention;

[0066] Fig.11 It is a schematic diagram of the structure in which the extension arm of the present invention is connected via a telescopic steering assembly and a mechanical grabbing assembly;

[0067] Fig.12 It is a schematic diagram of the structure in which the extension arms of the present invention are connected via a telescopic steering assembly;

[0068] In the figure:

[0069] 10. Mechanical base; 20. Integrated lifting and handling mechanism;

[0070] 30. Mechanical grabbing assembly; 301. Grasping support; 302. DC motor; 303. Rotating disk; 304. Side protrusion; 305. Movable arm; 306. Sliding clamping block; 3061. Sliding block; 3062. Sliding groove;

[0071] 40. Screw lifting assembly; 400. Lifting sliding seat; 401. Vertical guide rod; 402. Upper support plate; 403. Upper base; 404. DC motor; 405. Main shaft; 406. First gear; 407. Threaded shaft; 408. Partition plate; 409. Threaded assembly block;

[0072] 50. Docking transfer assembly; 501. Inner groove; 502. Lifting slide bar; 503. Extending protrusion; 504. Lifting assembly block; 505. Telescopic cylinder; 506. Coupling rod; 507. Gear transmission component; 5071. Side groove; 5072. Second gear; 5073. Transmission gear; 5074. Transmission shaft; 5075. Transmission belt; 5076. Rotating support; 5077. Extension arm; 5078. Driving motor; 5079. Transfer seat;

[0073] 60. Telescopic steering assembly; 601. First steering motor; 602. First steering block; 603. Horizontal slide; 6031. Lower mounting seat; 6032. Second steering motor; 6033. Second steering block; 604. Electric push rod; 605. Hydraulic cylinder. DETAILED DESCRIPTION

[0074] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0075] See also Figure 1-Figure 12 The robot hand model processing and assembly line includes a plurality of assembly mechanical claws, which include a mechanical base 10, an integrated lifting and handling mechanism 20 and a mechanical grabbing component 30. The mechanical base 10 is installed on the top of the processing and assembly line by screws. The top of the mechanical base 10 is installed with an integrated lifting and handling mechanism 20. Mechanical grabbing components 30 are installed on both sides of the bottom of the integrated lifting and handling mechanism 20. The bottom of the mechanical grabbing component 30 grabs and fixes robot hand parts, wherein the integrated lifting and handling mechanism 20 includes a screw lifting component 40, and the screw lifting component 40 is installed on the bottom of the mechanical grabbing component 30. The component 40 is installed on the top of the mechanical base 10, and a lifting sliding seat 400 is arranged on the outer side of the screw lifting component 40, and a docking transfer component 50 is arranged inside the lifting sliding seat 400, and the docking transfer component 50 extends to the outer side of the screw lifting component 40, wherein the interior of the lifting sliding seat 400 is arranged to be hollow; a telescopic steering component 60, which is installed on the outer side of the bottom of the docking transfer component 50, and the telescopic steering component 60 is located below the lifting sliding seat 400, and mechanical grasping components 30 are installed on both sides of the bottom of the telescopic steering component 60.

[0076] The above working principle: when assembling the various parts of the robot hand model, the mechanical grasping assembly 30 can grasp and fix the parts, and then the screw lifting assembly 40 is started to operate, driving the grasped and fixed parts to move up and down. At the same time, when the screw lifting assembly 40 is in operation, it can drive or not drive the telescopic steering assembly 60 and the parts to rotate through the design of the docking transfer assembly 50, thereby driving the grasped and fixed parts to rotate. Among them, when the screw lifting assembly 40 drives the docking transfer assembly 50 to operate, the vibration force when the parts are operated (preliminary adjustment) can be reduced, and the stability and safety of the parts in lifting, moving and rotating (vertical direction) can be ensured. And the operation of the telescopic steering assembly 60 can drive the multi-angle rotation after the preliminary adjustment, and accurately move the grasped parts to different positions, thereby improving the efficiency of assembling the robot hand model.

[0077] Specific reference Figure 4 and Figure 5 The mechanical grabbing assembly 30 includes a grabbing support 301, which is installed on the outside of the telescopic steering assembly 60. A DC motor 302 is installed at the top center of the grabbing support 301. The output end of the DC motor 302 runs through the grabbing support 301. The bottom of the output end of the DC motor 302 is connected to a rotating disk 303, wherein the rotating disk 303 is rotatably connected to the bottom of the grabbing support 301; side protrusions 304, which are installed on both sides of the bottom of the rotating disk 303, and the outer side of the side protrusions 304 is rotatably connected to a movable arm 305, and the movable arm 305 is movably arranged at the bottom of the rotating disk 303; a sliding clamping block 306, which is rotatably connected to the outer side of the movable arm 305, and the side of the sliding clamping block 306 clamps and fixes the robot hand plate parts.

[0078] In this embodiment, the top of the sliding clamping block 306 protrudes outward and constitutes a sliding block 3061 , and the sliding block 3061 is slidably connected to the inside of the sliding groove portion 3062 , wherein the sliding groove portion 3062 is opened at the center of the bottom of the grab support 301 .

[0079] In the robot hand model processing and assembly line of the present invention, when the parts of the robot hand model are grabbed and fixed, the DC motor 302 is started to operate, driving the rotating disk 303 connected to the output end of the DC motor 302 to rotate. At this time, when the rotating disk 303 rotates, the movable arm 305 connected to the eccentric part of the bottom through the side protrusion 304 is moved, so that the sliding clamping block 306 connected to the outer side of the movable arm 305 is operated to clamp and fix the robot hand parts set on the side of the sliding clamping block 306. The sliding clamping block 306 can slide inside the slide groove part 3062 through the design of the top sliding block 3061, ensuring that the sliding clamping block 306 only moves in the horizontal direction.

[0080] In the present invention, the sliding clamping block 306 can be replaced according to the structural shape of the grasping and fixing parts.

[0081] Specific reference Figure 6 , Figure 7 and Figure 8 The screw lifting assembly 40 includes a vertical guide rod 401, which is fixedly mounted on the top of the mechanical base 10. Four vertical guide rods 401 are provided, and an upper support plate 402 is installed and supported on the top of the vertical guide rod 401; an upper base 403, which is installed at the center of the top of the upper support plate 402, and a DC motor 404 is supported on the top of the upper base 403. The output end of the DC motor 404 is connected to a main shaft 405 that passes through the upper support plate 402, wherein a docking transfer assembly 50 is installed on the outer side of the main shaft 405; a first gear 406, which is provided with two first gears 406, which are meshed and connected, and one first gear 406 is installed on the outer side of the main shaft 405, and the two first gears 406 are rotatably connected to the top of the upper support plate 402.

[0082] In this embodiment, a threaded shaft 407 is connected to the bottom of another first gear 406, and the threaded shaft 407 is rotatably connected to the top of the mechanical base 10, wherein the threaded shaft 407 and the vertical guide rod 401 are arranged through a partition 408, and the partition 408 is located below the upper support plate 402, and the outer side of the threaded shaft 407 is threadedly connected to a threaded assembly block 409, and the threaded assembly block 409 is installed inside the lifting sliding seat 400, wherein the lifting sliding seat 400 and the vertical guide rod 401 are slidably connected.

[0083] In the above embodiment, when the other first gear 406 rotates, the threaded shaft 407 connected to the bottom thereof also rotates, so that the threaded assembly block 409 threadedly connected to the outer side of the threaded shaft 407 can operate. When the threaded assembly block 409 operates, the lifting sliding seat 400 disposed on the outer side thereof can be lifted and moved on the outer side of the vertical guide rod 401, thereby realizing the lifting and moving operation of grabbing parts.

[0084] In the robot hand model processing and assembly line of the present invention, when the grasped parts are driven to move up and down, the DC motor 404 is started to operate, driving the main shaft 405 connected to the output end of the DC motor 404 to rotate, so that a first gear 406 installed on the outer side of the main shaft 405 can rotate. When the first gear 406 rotates, another first gear 406 meshed with the side surface thereof can rotate synchronously.

[0085] Specific reference Figure 8 , Fig. 9 and Fig.10 The docking transfer assembly 50 includes an inner groove 501, which is opened at the inner bottom of the main shaft 405. The inner groove 501 is slidably connected with a lifting slide bar 502. The lifting slide bar 502 extends to the outside of the inner groove 501. One side of the lifting slide bar 502 protrudes outward and forms an extension protrusion 503, wherein the extension protrusion 503 matches the inner groove 501; a lifting assembly block 504, which is movably arranged on the outside of the lifting slide bar 502. A plurality of telescopic cylinders 505 are installed at the eccentric top of the lifting assembly block 504. The cylinder 505 is installed at the bottom of the upper base 403, and multiple telescopic cylinders 505 are arranged on the outside of the main shaft 405; the connecting rod 506, the connecting rod 506 is arranged below the lifting slide bar 502, the lifting slide bar 502 extends to the inside of the connecting rod 506, the connecting rod 506 is rotatably connected to the center of the top of the mechanical base 10, the connecting rod 506 is arranged through the lifting sliding seat 400, the inner top of the connecting rod 506 matches the extended protrusion 503, wherein the outer side of the connecting rod 506 is installed with a gear transmission component 507 located inside the lifting assembly block 504.

[0086] In this embodiment, the gear transmission component 507 includes a side groove 5071, which is opened on one side of the connecting rod 506, and the inside of the side groove 5071 is slidably connected with a second gear 5072 installed on the outside of the connecting rod 506, and the second gear 5072 is rotatably connected to the inner bottom of the lifting sliding seat 400; a transmission gear 5073, which is meshed and connected to the side of the second gear 5072, and the transmission gear 5073 is rotatably connected to the inner bottom of the lifting sliding seat 400, and the top of the transmission gear 5073 is connected with a transmission shaft 5074, and the transmission shaft 5074 is rotatably connected to the inside of the lifting sliding seat 400; a transmission belt 5075, which is connected to the outside of the transmission shaft 5074 through a synchronous wheel key arranged on the inside, and the transmission belt 5075 is movably arranged on the inner top of the lifting sliding seat 400, and the inner side of the transmission belt 5075 is connected to a rotating support 5076 through a synchronous wheel key.

[0087] In the above embodiment, when the coupling rod 506 rotates, the second gear 5072 connected to the outer side through the side groove 5071 can rotate, so that the transmission gear 5073 meshed with the side of the second gear 5072 can rotate. When the transmission gear 5073 rotates, the transmission shaft 5074 connected to the top can rotate, so that the synchronous wheel and the transmission belt 5075 connected to the outer key of the transmission shaft 5074 can operate, and the rotating support 5076 connected to the inner side of the transmission belt 5075 through the synchronous wheel key can rotate.

[0088] In another embodiment, the transmission belt 5075 is located at the top of the transmission gear 5073, and the transmission belt 5075 is located on the side of the vertical guide rod 401, wherein the rotating support 5076 is rotatably connected to the inside of the lifting sliding seat 400, and the rotating support 5076 extends to the bottom of the lifting sliding seat 400, and the side of the rotating support 5076 is rotatably connected to the extension arm 5077, wherein a driving motor 5078 is installed at the top of the extension arm 5077, and the output end of the driving motor 5078 is connected to a transfer seat 5079, and the transfer seat 5079 is rotatably connected to the bottom of the extension arm 5077, and the side of the transfer seat 5079 is installed with a telescopic steering assembly 60.

[0089] In the above embodiment, when the components are rotated at multiple angles to complete the assembly operation at different positions of the components, the drive motor 5078 can be started to operate, driving the transfer seat 5079 connected to the output end of the drive motor 5078 to rotate (vertically), thereby realizing the assembly operation at different positions of the components.

[0090] In the robot hand model processing and assembly line of the present invention, when the main shaft 405 rotates, the lifting slide bar 502 assembled on the inner side through the side groove 5071 can rotate, so that the connecting rod 506 installed on the outer side of the bottom of the lifting slide bar 502 can rotate. When it is necessary to release the connection state of the connecting rod 506 and the main shaft 405, multiple telescopic cylinders 505 can be operated to drive the lifting assembly block 504 and the lifting slide bar 502 connected to the output end of the telescopic cylinder 505 to move up and down, and move the bottom of the lifting slide bar 502 out of the inner top of the connecting rod 506. When the main shaft 405 rotates, its lifting slide bar 502 can rotate on the inner side of the lifting assembly block 504, ensuring that the lifting movement and rotation of the lifting slide bar 502 will not conflict.

[0091] In the present invention, when the lifting sliding seat 400 is lifted and moved, the second gear 5072 rotatably connected to its inner bottom can slide in the side groove 5071 outside the connecting rod 506, ensuring that the lifting and moving operation of the lifting sliding seat 400 will not affect the rotation operation of the second gear 5072.

[0092] Specific reference Fig.11 and Fig.12 The telescopic steering assembly 60 includes a first steering motor 601, which is installed on one side of the transfer seat 5079. The output end of the first steering motor 601 is connected to the first steering block 602, and the first steering block 602 is rotatably connected to the inner side of the transfer seat 5079; a horizontal slide 603, which is slidably connected to the side of the first steering block 602, and the horizontal slide 603 extends to the side of the first steering block 602. The side of the horizontal slide 603 is connected to the output end of the electric push rod 604, and the electric push rod 604 is installed inside the first steering motor 601, wherein a hydraulic cylinder 605 is installed on the top of the first steering block 602, and the output end of the hydraulic cylinder 605 is connected to the top of the horizontal slide 603.

[0093] In this embodiment, a lower mounting seat 6031 is installed at the bottom of the horizontal slide 603, a second steering motor 6032 is installed on one side of the lower mounting seat 6031, and the output end of the second steering motor 6032 is connected to a second steering block 6033, wherein the second steering block 6033 is rotatably connected to the inner side of the lower mounting seat 6031, and mechanical grasping components 30 are installed on the left and right sides of the second steering block 6033.

[0094] In the above embodiment, when it is necessary to drive the parts to rotate to realize the automatic assembly operation of the robot prototype model, the second steering motor 6032 is started to operate, driving the second steering block 6033 connected to the output end of the second steering motor 6032 to rotate, thereby realizing the steering operation of grabbing and fixing the parts.

[0095] In the robot hand model processing and assembly line of the present invention, when it is necessary to drive the parts to rotate, the first steering motor 601 can be started to operate, driving the first steering block 602 connected to the output end of the first steering motor 601 to rotate, so as to realize the steering operation of grabbing and fixing the parts. When the parts are actually assembled, the electric push rod 604 and the hydraulic cylinder 605 can be started to operate, driving the grabbed and fixed parts to move (horizontally) and adjusting the position of each group of parts during assembly.

[0096] Without limitation, any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent substitutions or changes according to the technical solution and inventive concept of the present invention, should be covered by the protection scope of the present invention.

Claims

1. A robot prototype model processing assembly line, including multiple assembly mechanical claws, characterized in that: The assembled mechanical claw comprises a mechanical base (10), an integrated lifting and transporting mechanism (20) and a mechanical grasping component (30). The mechanical base (10) is mounted on the top of the processing assembly line by means of screws; an integrated lifting and transporting mechanism (20) is mounted on the top of the mechanical base (10); mechanical gripping components (30) are mounted on both sides of the bottom of the integrated lifting and transporting mechanism (20); robot handboard components are gripped and fixed at the bottom of the mechanical gripping components (30); Wherein, the integrated lifting and transporting mechanism (20) comprises: A screw lifting assembly (40), wherein the screw lifting assembly (40) is mounted on the top of the mechanical base (10), a lifting sliding seat (400) is arranged on the outside of the screw lifting assembly (40), a docking transfer assembly (50) is arranged inside the lifting sliding seat (400), and the docking transfer assembly (50) extends to the outside of the screw lifting assembly (40), Wherein, the interior of the lifting sliding seat (400) is arranged to be hollow; A telescopic steering assembly (60), the telescopic steering assembly (60) being mounted on the outside of the bottom of the docking transfer assembly (50), the telescopic steering assembly (60) being located below the lifting sliding seat (400), and mechanical grabbing assemblies (30) being mounted on both sides of the bottom of the telescopic steering assembly (60).

2. The robot prototype model processing and assembly line according to claim 1 is characterized by: The mechanical grasping assembly (30) comprises: A grabbing support (301), the grabbing support (301) being mounted on the outside of the telescopic steering assembly (60), a DC motor (302) being mounted at the top center of the grabbing support (301), an output end of the DC motor (302) being arranged to penetrate the grabbing support (301), and a rotating disk (303) being connected to the bottom of the output end of the DC motor (302), Wherein, the rotating disk (303) is rotatably connected to the bottom of the grabbing support (301); Side protrusions (304), the side protrusions (304) being mounted on both sides of the bottom of the rotating disk (303), the outer sides of the side protrusions (304) being rotatably connected to movable arms (305), the movable arms (305) being movably arranged at the bottom of the rotating disk (303); A sliding clamping block (306) is rotatably connected to the outside of the movable arm (305), and robot hand plate parts are clamped and fixed on the side of the sliding clamping block (306).

3. The robot prototype model processing and assembly line according to claim 2 is characterized by: The top of the sliding clamping block (306) protrudes outward and forms a sliding block (3061). The sliding block (3061) is slidably connected inside the sliding groove portion (3062). Wherein, the slide groove portion (3062) is opened at the center of the bottom of the grab support (301).

4. The robot prototype model processing and assembly line according to claim 1 is characterized by: The screw lifting assembly (40) comprises: A vertical guide rod (401), the vertical guide rod (401) being mounted and fixed on the top of the mechanical base (10), four vertical guide rods (401) being provided, and an upper support plate (402) being mounted and supported on the top of the vertical guide rod (401); an upper base (403), the upper base (403) being mounted at the center of the top of the upper support plate (402), the top of the upper base (403) supporting a DC motor (404), the output end of the DC motor (404) being connected to a main shaft (405) penetrating the upper support plate (402), Wherein, a docking transfer assembly (50) is installed on the outer side of the main shaft (405); A first gear (406), wherein two first gears (406) are provided, the two first gears (406) are meshedly connected, one first gear (406) is installed on the outside of the main shaft (405), and the two first gears (406) are rotatably connected to the top of the upper support plate (402).

5. The robot prototype model processing and assembly line according to claim 4 is characterized by: A threaded shaft (407) is connected to the bottom of the other first gear (406), and the threaded shaft (407) is rotatably connected to the top of the mechanical base (10). The threaded shaft (407) and the vertical guide rod (401) are arranged to pass through a partition (408), the partition (408) is located below the upper support plate (402), the outer side of the threaded shaft (407) is threadedly connected to a threaded assembly block (409), and the threaded assembly block (409) is installed inside the lifting sliding seat (400). Wherein, the lifting sliding seat (400) and the vertical guide rod (401) are slidably connected.

6. The robot prototype model processing and assembly line according to claim 4, characterized in that: The docking transfer component (50) comprises: an inner groove (501), the inner groove (501) being disposed at the inner bottom of the main shaft (405), a lifting slide bar (502) being slidably connected inside the inner groove (501), the lifting slide bar (502) extending to the outside of the inner groove (501), one side of the lifting slide bar (502) protruding outward and forming an extending protrusion (503), Wherein, the extended protrusion (503) and the inner groove (501) match each other; A lifting assembly block (504), the lifting assembly block (504) being movably arranged on the outside of the lifting slide bar (502), a plurality of telescopic cylinders (505) being installed at an eccentric position on the top of the lifting assembly block (504), the telescopic cylinders (505) being installed at the bottom of the upper base (403), and the plurality of telescopic cylinders (505) being arranged on the outside of the main shaft (405); A connecting rod (506), wherein the connecting rod (506) is arranged below the lifting slide rod (502), the lifting slide rod (502) extends to the inside of the connecting rod (506), the connecting rod (506) is rotatably connected to the center of the top of the mechanical base (10), the connecting rod (506) passes through the lifting slide seat (400), and the inner top of the connecting rod (506) matches the extension protrusion (503), Wherein, a gear transmission component (507) located inside the lifting assembly block (504) is installed on the outer side of the connecting rod (506).

7. The robot prototype model processing and assembly line according to claim 6, characterized in that: The gear transmission component (507) comprises: a side groove (5071), the side groove (5071) being opened on one side of the connecting rod (506), the interior of the side groove (5071) being slidably connected to a second gear (5072) installed on the outside of the connecting rod (506), the second gear (5072) being rotatably connected to the inner bottom of the lifting sliding seat (400); a transmission gear (5073), the transmission gear (5073) being meshedly connected to a side surface of the second gear (5072), the transmission gear (5073) being rotatably connected to an inner bottom of the lifting sliding seat (400), the top of the transmission gear (5073) being connected to a transmission shaft (5074), and the transmission shaft (5074) being rotatably connected to the interior of the lifting sliding seat (400); A transmission belt (5075), wherein the transmission belt (5075) is connected to the outer side of the transmission shaft (5074) via a synchronous wheel key arranged on the inner side, the transmission belt (5075) is movably arranged on the inner top of the lifting sliding seat (400), and the inner side of the transmission belt (5075) is connected to a rotating support (5076) via a synchronous wheel key.

8. The robot prototype model processing and assembly line according to claim 7, characterized in that: The transmission belt (5075) is located on the top of the transmission gear (5073), and the transmission belt (5075) is located on the side of the vertical guide rod (401). The rotating support (5076) is rotatably connected to the inside of the lifting sliding seat (400), the rotating support (5076) extends to the bottom of the lifting sliding seat (400), and the side of the rotating support (5076) is rotatably connected to an extension arm (5077). A driving motor (5078) is installed on the top of the extension arm (5077), the output end of the driving motor (5078) is connected to a transfer seat (5079), the transfer seat (5079) is rotatably connected to the bottom of the extension arm (5077), and a telescopic steering assembly (60) is installed on the side of the transfer seat (5079).

9. The robot prototype model processing and assembly line according to claim 8, characterized in that: The telescopic steering assembly (60) comprises: a first steering motor (601), the first steering motor (601) being mounted on one side of the transfer seat (5079), the output end of the first steering motor (601) being connected to a first steering block (602), the first steering block (602) being rotatably connected to the inner side of the transfer seat (5079); a horizontal slide (603), the horizontal slide (603) being slidably connected to a side surface of the first steering block (602), the horizontal slide (603) extending to the side surface of the first steering block (602), the side surface of the horizontal slide (603) being connected to an output end of an electric push rod (604), and the electric push rod (604) being installed inside the first steering motor (601), Wherein, a hydraulic cylinder (605) is installed on the top of the first steering block (602), and the output end of the hydraulic cylinder (605) is connected to the top of the horizontal slide seat (603).

10. The robot prototype model processing and assembly line according to claim 9, characterized in that: A lower mounting seat (6031) is mounted at the bottom of the horizontal sliding seat (603), a second steering motor (6032) is mounted on one side of the lower mounting seat (6031), and an output end of the second steering motor (6032) is connected to a second steering block (6033). The second steering block (6033) is rotatably connected to the inner side of the lower mounting seat (6031), and mechanical grabbing components (30) are installed on the left and right sides of the second steering block (6033).

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