A bionic joint rapid assembly robotic arm

Abstract

The present invention relates to the technical field of mechanical assembly, and particularly relates to a bionic joint rapid assembly robotic arm, which includes a base, a first arm, a second arm, a third arm, and a fourth arm. One end of the fourth arm far away from the third arm is connected with a vertically arranged assembly plate. On the side of the assembly plate far away from the fourth arm, a housing gripper, a cover gripper, a first guide rail are successively assembled from bottom to top, and a screw assembly component is slidably arranged up and down on the first guide rail. A cover grasping arm is rotatably arranged on the side surface of the assembly plate along the vertical axis. One end of the cover grasping arm far away from the assembly plate is vertically and downwardly provided with an electric telescopic rod, and a disc is installed at the lower end of the electric telescopic rod. A plurality of electric suction cups are installed on the lower side of the disc. The invention uses mechanical control for the assembly of the housing and the cover, can accurately control the time of each assembly process, and is conducive to gradually realizing full-automatic assembly of the entire assembly line.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical assembly, and particularly relates to a bionic joint rapid assembly robotic arm. Background Art

[0002] The bionic joint module integrates a high-precision dual encoder, a high-performance frameless torque motor, a high-precision harmonic reducer, a high-safety servo driver, a friction type brake retainer, temperature and torque sensors, and meets the requirements of the robot for torque output, high motion precision, and high reliability.

[0003] As an important component of the robot, the bionic joint module can quickly achieve the functional requirements and practical goals of the robot, saving the labor and time costs of selecting, designing, purchasing, and assembling hundreds of robot mechatronic devices, quickly building its own robot, and greatly reducing the R & D threshold of robot production.

[0004] Currently, for the assembly process of the bionic joint module, most rely on manual operation. The manual operation process is cumbersome and time-consuming, and it is difficult to meet the requirements of modern industrial production for efficient assembly. Especially in the step of pressing the gland on the output shaft of the bionic joint module, since the gland needs to be fixed to the housing through multiple bolts to protect and shield the components inside the housing. For traditional manual installation, it is difficult for manual operation to ensure the alignment consistency of multiple screw holes, resulting in a high rework rate and thus reducing the efficiency of the entire process. For this purpose, the present invention realizes the rapid assembly of the gland and the housing by proposing a bionic joint rapid assembly robotic arm. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic joint rapid assembly robotic arm to solve the problem in the prior art that the gland and the housing of the bionic joint module are usually assembled manually, resulting in low efficiency and accuracy of manual assembly due to the need to install multiple screws.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A bionic joint rapid assembly robotic arm includes a base. A first arm is rotatably connected to the upper side of the base along a vertical axis. One end of the first arm away from the base is rotatably connected to a second arm along a horizontal axis. One end of the second arm away from the first arm is rotatably connected to a third arm along a horizontal axis. One end of the third arm away from the second arm is rotatably connected to a fourth arm along a horizontal axis. One end of the fourth arm away from the third arm is connected to an assembly plate arranged vertically. On the side of the assembly plate away from the fourth arm, a housing gripper, a cover gripper, a first guide rail are sequentially assembled from bottom to top, and a screw assembly component slidably arranged up and down on the first guide rail. A cover grasping arm is rotatably arranged on the side surface of the assembly plate along a vertical axis. An electric telescopic rod is installed vertically downward at one end of the cover grasping arm away from the assembly plate. A disk is installed at the lower end of the electric telescopic rod. A plurality of electric suction cups are installed on the lower side of the disk.

[0008] A further technical solution is that the cover gripper includes a first left claw member and a first right claw member symmetrically arranged left and right. The assembly plate is horizontally provided with a first driving hole penetrating both sides at positions corresponding to the first left claw member and the first right claw member. On the side of the assembly plate away from the fourth arm, a second guide rail is horizontally arranged above the first driving hole. Both the first left claw member and the first right claw member are horizontally slidably connected to the second guide rail. On the side of the assembly plate facing the fourth arm, a first lead screw is horizontally arranged at a position corresponding to the first driving hole. A first driving gear is coaxially sleeved in the middle of the first lead screw. The first driving gear is driven by a first driving motor. The thread rotation directions of the first lead screw on both sides of the first driving gear are opposite. The first left driving block and the first right driving block are threadedly matched and connected to the first lead screw on the left and right sides of the first driving gear respectively. The first left driving block is connected to the first left claw member, and the first right driving block is connected to the first right claw member.

[0009] A further technical solution is that both the opposite sides of the first left claw member and the first right claw member are recessed into a first cylindrical surface. A plurality of balls are rotatably arranged on the first cylindrical surface of the first left claw member and the first right claw member along the circumference. A micro motor for driving at least one ball to rotate is arranged in the first left claw member; A plurality of downward jet nozzles are arranged above the balls on the first cylindrical surface of the first left claw member and the first right claw member. The jet nozzles are connected to an external air supply device through an air supply pipe; A first distance sensor is arranged above the balls on the first cylindrical surface of the first left claw member.

[0010] A further technical solution is that a rotating cavity is arranged inside the first left claw member. The first cylindrical surface is communicated with the rotating cavity through a rotating hole. An upper movable groove and a lower movable groove are respectively arranged on the upper cavity wall and the lower cavity wall of the rotating cavity. Upper and lower rotating shafts are coaxially arranged at the upper and lower ends of the ball respectively. The upper rotating shaft is slidably arranged in the upper movable groove, and the lower rotating shaft is slidably arranged in the lower movable groove. An upper spring is installed on the groove wall of the upper movable groove away from the first cylindrical surface. One end of the upper spring facing the first cylindrical surface is rotationally attached to the side surface of the upper rotating shaft through an upper top block. A lower spring is installed on the groove wall of the lower movable groove away from the first cylindrical surface. One end of the lower spring facing the first cylindrical surface is rotationally attached to the side surface of the lower rotating shaft through a lower top block.

[0011] A further technical solution is that a second distance sensor for aligning the ball is installed on the cavity wall of the rotating cavity on the side away from the first cylindrical surface.

[0012] A further technical solution is that the screw assembly component includes a driving plate and an assembly box installed on the side of the driving plate away from the assembly plate. Two first guide rails are arranged in parallel. A second lead screw is vertically arranged between the two first guide rails on the assembly plate. A second driving motor for driving the second lead screw to rotate is installed at the top of the assembly plate. The driving plate is slidably connected up and down with the two first guide rails through a guide rail groove. A driving screw hole penetrating through the upper and lower sides is arranged on the driving plate. The driving screw hole is in threaded matching connection with the second lead screw. An assembly cavity is arranged inside the assembly box. A circular rotating disc hole communicated with the assembly cavity is arranged at the lower side of the assembly box. An assembly disc rotating along the vertical axis is installed in the rotating disc hole. A plurality of assembly holes are arranged on the assembly disc. An electric screwdriver is installed in each assembly hole. A third driving motor for driving the assembly disc to rotate is installed in the assembly cavity. A vision sensor is installed at the center of the lower side of the assembly disc.

[0013] A further technical solution is that the electric screwdriver is installed in the assembly hole through an installation sleeve. The outer wall of the installation sleeve is fixedly connected with the hole wall of the assembly hole. The electric screwdriver is slidably arranged up and down in the installation sleeve. A nail distribution pipe is connected to the lower end of the installation sleeve below the assembly disc. A conveying hose communicated with the nail distribution pipe is installed on the side of the middle part of the nail distribution pipe. One end of the conveying hose away from the nail distribution pipe is connected with a screw vibrating disc. Two nail clamping blocks are oppositely arranged at the bottom of the nail distribution pipe. The opposite sides of the two nail clamping blocks are both arranged as a first conical surface and a second cylindrical surface connected in sequence up and down. The radius of the upper end of the first conical surface is larger than that of the lower end. The upper ends of the two nail clamping blocks are both rotationally connected with the inner wall of the nail distribution pipe through a horizontally arranged rotating rod, so that the lower ends of the two nail clamping blocks are separated from or close to each other. The separated sides of the two nail clamping blocks are both connected with the inner wall of the nail distribution pipe through a limiting spring.

[0014] A further technical solution is that a guiding ring is installed on the inner wall of the nail distribution pipe between the conveying hose and the nail clamping blocks. The inner wall of the guiding ring is arranged as an inverted second conical surface.

[0015] A further technical solution is that the conveying hose is connected to the inner wall of the nail distribution pipe through a conveying hole. The nail distribution pipe is provided with a sliding insertion plate hole penetrating through the inside and outside above the conveying hole. A sliding plate is slidably connected in the sliding insertion plate hole. One end of the sliding plate is vertically connected with a baffle plate for shielding the conveying hole inside the nail distribution pipe. A micro electric telescopic rod for driving the sliding plate to slide along the sliding insertion plate hole is installed on the outer wall of the nail distribution pipe.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. With the cooperation of the base, the first arm, the second arm, the third arm and the fourth arm, the assembly plate can be moved, so that the shell and the cover on the production line can be operated through the assembly plate; 2. Through the shell clamp, the side of the shell can be clamped so that the output end of the shell faces upward. Through the electric telescopic rod and the electric suction cup on the cover grabbing arm, the cover on the conveyor belt can be adsorbed, and the cover can be transported to the upper side of the shell and fixed by the cover clamp. At this time, the electric suction cup moves away from the upper side of the cover, and the screw assembly component moves downward by means of the first guide rail to screw the cover onto the shell; 3. The present invention adopts mechanical control for the assembly of the shell and the cover, and can accurately control the time of each assembly process, which is beneficial to gradually realizing full-automatic assembly of the whole assembly line. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall schematic diagram of a bionic joint rapid assembly robotic arm of the present invention.

[0018] Figure 2 It is a cross-sectional schematic diagram of the cover clamp of a bionic joint rapid assembly robotic arm of the present invention.

[0019] Figure 3 It is a schematic cross-sectional view of the first left claw part of a bionic joint rapid assembly robotic arm of the present invention.

[0020] Figure 4 It is a cross-sectional schematic diagram at the hole of the rotating disc of a bionic joint rapid assembly robotic arm of the present invention.

[0021] Figure 5 It is a schematic cross-sectional view of the assembly box of a bionic joint rapid assembly robotic arm of the present invention.

[0022] Figure 6 It is a schematic cross-sectional view of the nail distribution pipe of a bionic joint rapid assembly robotic arm of the present invention

[0023] Figure 7 It is a schematic diagram of the shell and the cover of the present invention.

[0024] Icon: 1 - Base, 2 - First Arm, 3 - Second Arm, 4 - Third Arm, 5 - Fourth Arm, 6 - Assembly Plate, 7 - Housing Claw, 8 - Cover Claw, 9 - First Guide Rail, 10 - Cover Grabbing Arm, 11 - Electric Telescopic Rod, 12 - Disc, 13 - First Left Claw Piece, 14 - First Right Claw Piece, 15 - First Driving Hole, 16 - Second Guide Rail, 17 - First Screw Rod, 18 - First Driving Gear, 19 - First Driving Motor, 20 - First Left Driving Block, 21 - First Right Driving Block, 22 - First Cylindrical Surface, 23 - Ball, 25 - Jet Nozzle, 26 - First Distance Sensor, 27 - Rotating Chamber, 28 - Rotating Hole, 29 - Upper Moving Slot, 30 - Lower Moving Slot, 31 - Upper Rotating Shaft, 32 - Lower Rotating Shaft, 33 - Upper Spring, 34 - Upper Top Block, 35 - Lower Spring, 36 - Lower Top Block, 37 - Second Distance Sensor, 38 - Driving Plate, 39 - Assembly Box, 40 - Second Screw Rod, 41 - Second Driving Motor, 42 - Guide Rail Slot, 43 - Driving Screw Hole, 44 - Assembly Chamber, 45 - Rotating Disc Hole, 46 - Assembly Disc, 47 - Assembly Hole, 48 - Electric Screwdriver, 49 - Third Driving Motor, 50 - Vision Sensor, 51 - Mounting Sleeve, 52 - Nail Feeding Tube, 53 - Delivery Hose, 54 - Nail Clamping Block, 55 - First Conical Surface, 56 - Second Cylindrical Surface, 57 - Rotating Rod, 58 - Limiting Spring, 59 - Guide Ring, 60 - Second Conical Surface, 61 - Delivery Hole, 62 - Sliding Insert Plate Hole, 63 - Sliding Plate, 64 - Baffle, 65 - Micro Electric Telescopic Rod, 66 - Screwdriver Bit, 67 - Screw, 68 - Housing, 69 - Cover, 70 - Magnetic Convex Block, 71 - Magnetic Groove. Detailed Implementation Manner

[0025] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] Embodiment:

[0027] As Figure 1-7As shown in the figure, a bionic joint rapid assembly robotic arm includes a base 1. A first arm 2 is rotatably connected to the upper side of the base 1 along a vertical axis. One end of the first arm 2 away from the base 1 is rotatably connected to a second arm 3 along a horizontal axis. One end of the second arm 3 away from the first arm 2 is rotatably connected to a third arm 4 along a horizontal axis. One end of the third arm 4 away from the second arm 3 is rotatably connected to a fourth arm 5 along a horizontal axis. One end of the fourth arm 5 away from the third arm 4 is connected to a vertically arranged assembly plate 6. On the side of the assembly plate 6 away from the fourth arm 5, a housing gripper 7, a cover gripper 8, a first guide rail 9, and a screw assembly component slidably arranged up and down on the first guide rail 9 are sequentially assembled from bottom to top. A cover 69 gripping arm 10 is rotatably arranged on the side of the assembly plate 6 along a vertical axis. An electric telescopic rod 11 is installed vertically downward at one end of the cover 69 gripping arm 10 away from the assembly plate 6. A disk 12 is installed at the lower end of the electric telescopic rod 11. A plurality of electric suction cups are installed on the lower side of the disk 12.

[0028] The cover body gripper 8 includes a first left claw member 13 and a first right claw member 14 which are symmetrically arranged left and right. The assembly plate 6 is horizontally provided with a first driving hole 15 penetrating through both sides at positions corresponding to the first left claw member 13 and the first right claw member 14. On the side of the assembly plate 6 away from the fourth arm portion 5, a second guide rail 16 is horizontally arranged above the first driving hole 15. Both the first left claw member 13 and the first right claw member 14 are horizontally slidably connected to the second guide rail 16. On the side of the assembly plate 6 facing the fourth arm portion 5, a first lead screw 17 is horizontally arranged at a position corresponding to the first driving hole 15. A first driving gear 18 is coaxially sleeved in the middle of the first lead screw 17. The first driving gear 18 is driven by a first driving motor 19. The thread rotation directions of the first lead screw 17 on both sides of the first driving gear 18 are opposite. The first left driving block 20 and the first right driving block 21 are threadedly and matingly connected to the first lead screw 17 on the left and right sides of the first driving gear 18 respectively. The first left driving block 20 is connected to the first left claw member 13, and the first right driving block 21 is connected to the first right claw member 14. The housing gripper 7 includes a second left claw member and a second right claw member which are symmetrically arranged left and right. The assembly plate 6 is horizontally provided with a second driving hole penetrating through both sides at positions corresponding to the second left claw member and the second right claw member. On the side of the assembly plate 6 away from the fourth arm portion 5, a third guide rail is horizontally arranged above the second driving hole. Both the second left claw member and the second right claw member are horizontally slidably connected to the third guide rail. On the side of the assembly plate 6 facing the fourth arm portion 5, a third lead screw is horizontally arranged at a position corresponding to the second driving hole. A second driving gear is coaxially sleeved in the middle of the third lead screw. The second driving gear is driven by a fourth driving motor. The thread rotation directions of the third lead screw on both sides of the second driving gear are opposite. The second left driving block and the second right driving block are threadedly and matingly connected to the third lead screw on the left and right sides of the second driving gear respectively. The second left driving block is connected to the second left claw member, and the second right driving block is connected to the second right claw member. When grasping the housing 68 by the housing gripper 7, first separate the second left claw member and the second right claw member of the housing gripper 7, then move the respective arm portions to place the second left claw member and the second right claw member on both sides of the housing 68, and then move closer to each other to clamp the housing 68.

[0029] On the opposite sides of the first left claw member 13 and the first right claw member 14, they are both recessed to form a first cylindrical surface 22. A number of ball bearings 23 are arranged to roll along the circumference on the first cylindrical surface 22 of the first left claw member 13 and the first right claw member 14. A micro motor for driving at least one ball bearing 23 to rotate is arranged inside the first left claw member 13, not shown in the figure. A number of downward jet nozzles 25 are arranged above the ball bearings 23 on the first cylindrical surfaces 22 of the first left claw member 13 and the first right claw member 14. The jet nozzles 25 are connected to an external air supply device through an air supply pipe. The jet nozzles 25 adjust the air flow pressure (0.1 - 0.5 MPa) through a PLC control module to provide a stable downward pressure to assist in positioning the cover body. A first distance sensor 26 is arranged above the ball bearings 23 on the first cylindrical surface 22 of the first left claw member 13. In order to improve the assembly efficiency and accuracy, and to adapt to mechanized processing and assembly, the present invention has made some small adjustments to the housing 68 and the cover body 69 of the bionic joint. Magnetic attraction grooves 71 and magnetic attraction bumps 70 are respectively arranged on the opposite sides of the housing 68 and the cover body 69 for positioning. When the magnetic attraction bump 70 is fitted into the magnetic attraction groove 71, all the screw mounting holes on the cover body 69 are aligned with the screw holes on the housing 68. Based on this setting, the alignment process of the present invention for the entire cover body 69 and the housing 68 is as follows: First, the cover body gripping arm 10 rotates to the side of the assembly plate 6, then the electric telescopic rod 11 is extended to place the disc 12 under the assembly plate 6. Then, through the adjustment of each arm part, the disc 12 is aligned with the cover body 69, and then the cover body 69 is adsorbed on the lower side of the disc 12 through an electric suction cup. Then, the electric telescopic rod 11 is contracted, and the cover body gripping arm 10 is rotated to enable the cover body 69 to move from above the cover body gripper 8 to the middle of the first left claw member 13 and the first right claw member 14. During the adsorption and movement of the cover body 69, a housing 68 can be grabbed by the housing gripper 7 through the movement of each arm part. The cover body 69 and the housing 68 can be respectively conveyed by two conveyor belts. In the pre-process of this robotic arm, other robotic arms can be used to adjust the postures of the cover body 69 and the housing 68, so as to facilitate the quick grasping of the housing 68 and the cover body 69 by this robotic arm. After the housing 68 is grabbed in place, the electric telescopic rod 11 is extended to place the cover body 69 on the upper side of the housing 68, and the cover body 69 is fixed by closing the first left claw member 13 and the first right claw member 14. Then, the electric telescopic rod 11 is shortened, and the cover body gripping arm 10 is moved to the outside of the assembly plate 6. When the first left claw member 13 and the first right claw member 14 clamp the cover body 69, the micro motor drives the ball bearings 23 to rotate, and the rotating ball bearings 23 drive the cover body 69 to rotate between the first left claw member 13 and the first right claw member 14, so that the magnetic attraction bump 70 on the cover body 69 can be aligned and fitted with the magnetic attraction groove 71 on the housing 68.In order to facilitate the smooth rotation of the cover body 69 driven by the ball 23 connected to the micro-motor drive, the surface of this ball 23 is set as a friction surface, and the surfaces of other balls 23 are set as smooth surfaces. At the same time, a gas with a set flow rate is ejected through the gas nozzle 25 to generate a downward thrust on the cover body 69. With the gas, the self-gravity of the cover body 69, and the magnetic attraction of the magnetic attraction protrusion 70 and the magnetic attraction groove 71, they can be fitted together instantly when the magnetic attraction protrusion 70 and the magnetic attraction groove 71 are aligned. By setting the first distance sensor 26, the distance from the upper side of the cover body 69 can be detected by the distance sensor. When the magnetic attraction protrusion 70 and the magnetic attraction groove 71 are fitted, the distance monitored by the first distance sensor 26 changes from the first distance to the second distance, so as to judge that the fitting is completed. Special note, since the magnetic attraction protrusion 70 and the magnetic attraction groove 71 are fitted when the cover body 69 is placed, and the distance monitored by the first distance sensor 26 is the second distance, the step of driving the cover body 69 to rotate by the micro-motor is directly skipped. The movement of each arm is achieved by the cooperation of the program with the vision sensor 50 and the like to realize precise movement control. In this way, when the postures of the housing 68 are the same, the positions where the second left claw member and the second right claw member clamp the housing 68 are basically the same. In this way, it is possible to judge whether the cover body 69 and the housing 68 are aligned by the first distance and the second distance.

[0030] A rotating cavity 27 is provided inside the first left claw member 13. The first cylindrical surface 22 is communicated with the rotating cavity 27 through a rotating hole 28. An upper movable groove 29 and a lower movable groove 30 are respectively provided on the upper cavity wall and the lower cavity wall of the rotating cavity 27. Upper and lower rotating shafts 31 and 32 are coaxially provided at the upper and lower ends of the ball 23 respectively. The upper rotating shaft 31 is slidably arranged in the upper movable groove 29, and the lower rotating shaft 32 is slidably arranged in the lower movable groove 30. An upper spring 33 is installed on the groove wall of the upper movable groove 29 far from the first cylindrical surface 22. One end of the upper spring 33 facing the first cylindrical surface 22 is rotationally attached to the side surface of the upper rotating shaft 31 through an upper top block 34. A lower spring 35 is installed on the groove wall of the lower movable groove 30 far from the first cylindrical surface 22. One end of the lower spring 35 facing the first cylindrical surface 22 is rotationally attached to the side surface of the lower rotating shaft 32 through a lower top block 36. With such a setting, it is possible to compress the upper spring 33 and the lower spring 35 respectively by means of the upper rotating shaft 31 and the lower rotating shaft 32 of the ball 23 to give the ball 23 a certain amount of movement space, and at the same time, it can fit well with the surface of the cover body 69. The micro motor can drive one or more balls 23 to rotate in any way such as through a transmission belt, gears, sprockets, etc. For example, a driven sprocket is sleeved on the upper rotating shaft 31 of one of the balls 23, and a driving sprocket is sleeved on the output shaft of the micro motor. The driving sprocket and the driven sprocket are driven by a chain. The position of the driven sprocket on the upper rotating shaft 31 is between the outside of the upper movable groove 29 and the upper end of the ball 23 to avoid affecting the rotation of the driven sprocket when installed in the upper movable groove 29. In addition, in order to improve the smoothness of the rotation of the upper rotating shaft 31 and the lower rotating shaft 32, a steel ball bearing can be sleeved on the outer wall of the upper rotating shaft 31, and the outer wall of the steel ball bearing is slidably attached to the groove wall of the upper movable groove 29, and a steel column bearing is sleeved on the outer wall of the lower rotating shaft 31, and the outer wall of the steel ball bearing is slidably attached to the groove wall of the lower movable groove 30. In this way, the smoothness of the rotation of the ball 23 can be improved, so that the ball can move linearly along the upper movable groove 29 and the lower movable groove 30 by means of the upper rotating shaft 31 and the lower rotating shaft 32 while maintaining the smoothness of free rotation. Therefore, both the upper top block 34 and the lower top block 36 are attached to the outer wall of the steel ball bearing to push the ball 23.

[0031] A second distance sensor 37 for aligning with the ball 23 is installed on the cavity wall of the rotating cavity 27 on the side far from the first cylindrical surface 22. When the ball 23 is not in contact with the cover body 69, with the thrust of the upper spring 33 and the lower spring 35, the upper rotating shaft 31 and the lower rotating shaft 32 are attached to the side groove walls of the upper movable groove 29 and the lower movable groove 30 facing the first cylindrical surface 22. When the ball 23 starts to contact the cover body 69, it will squeeze the ball 23, causing the ball 23 to compress the upper spring 33 and the lower spring 35 and move towards the second distance sensor 37, so that the distance detected by the second sensor is reduced. At this time, the first drive motor 19 can be stopped.

[0032] The screw assembly component includes a driving plate 38 and an assembly box 39 installed on the side of the driving plate 38 away from the assembly plate 6. There are two first guide rails 9 arranged in parallel. A second lead screw 40 is vertically arranged between the two first guide rails 9 on the assembly plate 6. A second driving motor 41 for driving the second lead screw 40 to rotate is installed at the top of the assembly plate 6. The driving plate 38 is connected to the two first guide rails 9 through a guide groove 42 and slides up and down. A driving screw hole 43 penetrating the upper and lower sides is provided on the driving plate 38. The driving screw hole 43 is threadedly matched with the second lead screw 40. An assembly cavity 44 is provided inside the assembly box 39. A circular rotating disk hole 45 communicating with the assembly cavity 44 is provided on the lower side of the assembly box 39. An assembly disk 46 rotating along the vertical axis is installed in the rotating disk hole 45. A number of assembly holes 47 are provided on the assembly disk 46. An electric screwdriver 48 is installed in each assembly hole 47. A third driving motor 49 for driving the assembly disk 46 to rotate is installed in the assembly cavity 44. A vision sensor 50 is installed at the center of the lower side of the assembly disk 46. By means of the cooperation of the second lead screw 40 and the second guide rail 16, the assembly box 39 can be moved up and down under the drive of the second driving motor 41. During the process of assembling its housing 68 and cover 69, the assembly box 39 moves to the uppermost end, leaving a moving space for the cover 69 grasping arm 10. When the cover 69 and the housing 68 are aligned, the assembly box 39 is driven by the second motor to move downward. During the movement, with the cooperation of the vision sensor 50 and the third driving motor 49, the assembly disk 46 rotates, so that each electric screwdriver 48 is aligned with the screw mounting holes on the cover 69 one by one. In this way, all the screws 67 can be sequentially screwed into the screw mounting holes and screw holes by multiple electric screwdrivers 48 at the same time, which can quickly complete the assembly process of all the screws 67 and greatly shorten the assembly time of the housing 68 and the cover 69. By adjusting the positions of the assembly holes 47 on the assembly disk 46, each electric screwdriver 48 can correspond to the screw mounting holes one by one when contacting the cover 69.

[0033] The electric screwdriver 48 is installed in the assembly hole 47 through the mounting sleeve 51. The outer wall of the mounting sleeve 51 is fixedly connected to the hole wall of the assembly hole 47. The electric screwdriver 48 is slidably arranged up and down in the mounting sleeve 51. A nail feeding tube 52 is connected to the lower end of the mounting sleeve 51 below the assembly disk 46. A conveying hose 53 communicating with the nail feeding tube 52 is installed on the side of the middle part of the nail feeding tube 52. One end of the conveying hose 53 far from the nail feeding tube 52 is connected to a screw vibrating disk. Two nail clamping blocks 54 are oppositely arranged at the bottom of the nail feeding tube 52. The opposite sides of the two nail clamping blocks 54 are respectively provided with a first conical surface 55 and a second cylindrical surface 56 which are connected in sequence up and down. The radius of the upper end of the first conical surface 55 is greater than that of the lower end. The upper ends of the two nail clamping blocks 54 are rotatably connected to the inner wall of the nail feeding tube 52 through a horizontally arranged rotating rod 57, so that the lower ends of the two nail clamping blocks 54 move away from or close to each other. The sides of the two nail clamping blocks 54 moving away from each other are connected to the inner wall of the nail feeding tube 52 through a limiting spring 58. When the assembly box 39 moves to the upper end of the assembly plate 6, a screw 67 is conveyed into the conveying hose 53 through the screw vibrating disk, and the screw 67 is made to enter the nail feeding tube 52 along the conveying hose 53 through the pneumatic system. In the nail feeding tube 52, it falls between the two nail clamping blocks 54 by gravity. The rod part of the screw 67 is placed between the second cylindrical surfaces 56 of the two nail clamping blocks 54, and the head of the screw 67 is placed between the first conical surfaces 55 of the two nail clamping blocks 54. The two first conical surfaces 55 are used to clamp the head of the screw 67 to prevent the screw 67 from falling off. When the screw 67 moves downward together with the assembly box 39 to be aligned with the screw hole 47 of the screw 67, the lifting assembly in the mounting sleeve 51, such as an electric telescopic rod or a pneumatic telescopic rod, drives the electric screwdriver 48 to move downward. After the screwdriver head 66 of the electric screwdriver 48 contacts the head of the screw 67, it will push the screw 67 downward. At this time, the two nail clamping blocks 54 will squeeze the limiting spring 58 to move away from each other, so that the screw 67 can move from between the two nail clamping blocks 54 to the screw installation hole, and under the drive of the screwdriver head 66, it is quickly screwed into the screw hole of the housing 68.

[0034] A guiding ring 59 is installed on the inner wall of the nail feeding tube 52 between the conveying hose 53 and the nail clamping block 54. The inner wall of the guiding ring 59 is set as an inverted second conical surface 60. By setting the guiding ring 59, it is possible to shield the connection between the upper part of the nail clamping block 54 and the nail feeding tube 52 and the upper part of the moving position of the nail clamping block 54 to prevent the screw 67 from falling outside and getting stuck in these positions. With the help of the second conical surface 60, when the screw 67 contacts the second conical surface 60, it can still be smoothly clamped into the second cylindrical surface 56.

[0035] The conveying hose 53 is communicated with the inner wall of the nail feeding pipe 52 through the conveying hole 61. The nail feeding pipe 52 is provided with a sliding plug hole 62 penetrating inside and outside above the conveying hole 61. A sliding plate 63 is slidably connected in the sliding plug hole 62. One end of the sliding plate 63 is vertically connected with a baffle 64 in the nail feeding pipe 52 to shield the conveying hole 61. A micro electric telescopic rod 65 for driving the sliding plate 63 to slide along the sliding plug hole 62 is installed on the outer wall of the nail feeding pipe 52. In order to improve the assembly efficiency, when other operations are carried out, a screw 67 will be pre-fed to the position at the connection of the nail feeding pipe 52 and the conveying hose 53. At this time, with the help of the baffle 64, the screw 67 can be prevented from falling into the nail feeding pipe 52. Only when the electric screwdriver 48 finishes assembling the previous screw 67 and retracts into the installation sleeve 51, the micro electric telescopic rod 11 is used to drive the sliding plate 63 to move towards the inside of the nail feeding pipe 52, so that the baffle 64 moves towards the inside of the nail feeding pipe 52, and thus the screw 67 can smoothly fall into the nail feeding pipe 52. During the falling process of the screw 67, a small amount of gas can be conveyed in the conveying hose 53 to push the screw 67 to ensure that the screw 67 can smoothly enter the nail feeding pipe 52. And with the baffle 64 blocking the advancing direction of the screw 67, it can be avoided that the screw 67 impacts too much and the excessive collision causes the attitude deviation to be too large and cannot be correctly clamped between the two staple blocks 54.

[0036] Although the present invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that the skilled person can design many other modifications and embodiments that will fall within the scope of the principles of the present disclosure and spirit. More specifically, within the scope of the present disclosure, the drawings and the claims, various variations and improvements can be made to the components and / or the layout of the subject combination layout. In addition to the variations and improvements made to the components and / or the layout, other uses will also be apparent to those skilled in the art.

Claims

1. A bionic joint rapid assembly robotic arm, comprising a base (1). The upper side of the base (1) is rotatably connected to a first arm (2) along a vertical axis. One end of the first arm (2) away from the base (1) is rotatably connected to a second arm (3) along a horizontal axis. One end of the second arm (3) away from the first arm (2) is rotatably connected to a third arm (4) along a horizontal axis. One end of the third arm (4) away from the second arm (3) is rotatably connected to a fourth arm (5) along a horizontal axis. It is characterized in that, One end of the fourth arm (5) far from the third arm (4) is connected with a vertically arranged mounting plate (6). On the side of the mounting plate (6) far from the fourth arm (5), a housing gripper (7), a cover gripper (8), a first guide rail (9), and a screw assembly component slidably arranged up and down on the first guide rail (9) are successively assembled from bottom to top. A cover (69) gripper arm (10) is rotatably arranged on the side surface of the mounting plate (6) along the vertical axis. One end of the cover (69) gripper arm (10) far from the mounting plate (6) is vertically and downwardly installed with an electric telescopic rod (11). The lower end of the electric telescopic rod (11) is installed with a disc (12), and a plurality of electric suction cups are installed on the lower side of the disc (12). The cover gripper (8) includes a first left claw member (13) and a first right claw member (14) symmetrically arranged left and right. The mounting plate (6) is horizontally provided with a first driving hole (15) penetrating both sides at positions corresponding to the first left claw member (13) and the first right claw member (14). On the side of the mounting plate (6) far from the fourth arm (5) and above the first driving hole (15), a second guide rail (16) is horizontally arranged. Both the first left claw member (13) and the first right claw member (14) are horizontally slidably connected to the second guide rail (16). On the side of the mounting plate (6) facing the fourth arm (5) and at a position corresponding to the first driving hole (15), a first lead screw (17) is horizontally arranged. A first driving gear (18) is coaxially sleeved in the middle of the first lead screw (17). The first driving gear (18) is driven by a first driving motor (19). The thread rotation directions of the first lead screw (17) on both sides of the first driving gear (18) are opposite. The first left driving block (20) and the first right driving block (21) are threadedly and matingly connected to the first lead screw (17) on the left and right sides of the first driving gear (18). The first left driving block (20) is connected to the first left claw member (13), and the first right driving block (21) is connected to the first right claw member (14).

2. The bionic joint rapid assembly robotic arm according to claim 1, characterized in that: On the opposite sides of the first left claw member (13) and the first right claw member (14), both are recessed into a first cylindrical surface (22). A plurality of balls (23) are rotatably arranged along the circumference on the first cylindrical surface (22) of the first left claw member (13) and the first right claw member (14). A micro motor for driving at least one ball (23) to rotate is arranged in the first left claw member (13). A plurality of downward jet nozzles (25) are arranged above the balls (23) on the first cylindrical surfaces (22) of the first left claw member (13) and the first right claw member (14). The jet nozzles (25) are connected to an external air supply device through an air supply pipe. A first distance sensor (26) is arranged above the balls (23) on the first cylindrical surface (22) of the first left claw member (13).

3. The bionic joint rapid assembly robotic arm according to claim 2, characterized in that: A rotating cavity (27) is arranged inside the first left claw member (13). The first cylindrical surface (22) is communicated with the rotating cavity (27) through a rotating hole (28). An upper moving groove (29) and a lower moving groove (30) are respectively arranged on the upper cavity wall and the lower cavity wall of the rotating cavity (27). Upper and lower rotating shafts (31) and (32) are coaxially arranged at the upper and lower ends of the ball (23). The upper rotating shaft (31) is slidably arranged in the upper moving groove (29), and the lower rotating shaft (32) is slidably arranged in the lower moving groove (30). A upper spring (33) is installed on the groove wall of the upper moving groove (29) far from the first cylindrical surface (22). One end of the upper spring (33) facing the first cylindrical surface (22) is rotationally attached to the side surface of the upper rotating shaft (31) through an upper top block (34). A lower spring (35) is installed on the groove wall of the lower moving groove (30) far from the first cylindrical surface (22). One end of the lower spring (35) facing the first cylindrical surface (22) is rotationally attached to the side surface of the lower rotating shaft (32) through a lower top block (36).

4. The bionic joint rapid assembly robotic arm according to claim 3, characterized in that: A second distance sensor (37) for aligning with the ball (23) is installed on the cavity wall of the rotating cavity (27) on the side far from the first cylindrical surface (22).

5. A bionic joint rapid assembly robotic arm according to claim 1, characterized in that: The screw assembly component includes a driving plate (38) and an assembly box (39) installed on the side of the driving plate (38) far from the assembly plate (6). Two first guide rails (9) are arranged in parallel. A second lead screw (40) is vertically arranged between the two first guide rails (9) on the assembly plate (6). A second driving motor (41) for driving the second lead screw (40) to rotate is installed on the top of the assembly plate (6). The driving plate (38) is slidably connected to the two first guide rails (9) up and down through a guide rail groove (42). A driving screw hole (43) penetrating through the upper and lower sides is arranged on the driving plate (38). The driving screw hole (43) is in threaded matching connection with the second lead screw (40). An assembly cavity (44) is arranged inside the assembly box (39). A rotating disc hole (45) which is circular and communicated with the assembly cavity (44) is arranged on the lower side of the assembly box (39). An assembly disc (46) rotating along the vertical axis is installed in the rotating disc hole (45). A plurality of assembly holes (47) are arranged on the assembly disc (46). An electric screwdriver (48) is installed in each assembly hole (47). A third driving motor (49) for driving the assembly disc (46) to rotate is installed in the assembly cavity (44). A vision sensor (50) is installed at the center of the lower side of the assembly disc (46).

6. The bionic joint rapid assembly robotic arm according to claim 5, characterized in that: The electric screwdriver (48) is installed in the assembly hole (47) through a mounting sleeve (51). The outer wall of the mounting sleeve (51) is fixedly connected to the hole wall of the assembly hole (47). The electric screwdriver (48) is arranged to slide up and down in the mounting sleeve (51). A nail feeding pipe (52) is connected to the lower end of the mounting sleeve (51) below the assembly disc (46). A conveying hose (53) communicating with the nail feeding pipe (52) is installed on the side of the middle part of the nail feeding pipe (52). One end of the conveying hose (53) far from the nail feeding pipe (52) is connected to a screw vibrating disc. Two nail clamping blocks (54) are oppositely arranged at the bottom of the nail feeding pipe (52). The opposite sides of the two nail clamping blocks (54) are both provided with a first conical surface (55) and a second cylindrical surface (56) which are connected in sequence up and down. The radius of the upper end of the first conical surface (55) is greater than that of the lower end. The upper ends of the two nail clamping blocks (54) are rotatably connected to the inner wall of the nail feeding pipe (52) through a horizontally arranged rotating rod (57) so that the lower ends of the two nail clamping blocks (54) move away from or close to each other. The sides of the two nail clamping blocks (54) moving away from each other are both connected to the inner wall of the nail feeding pipe (52) through a limiting spring (58).

7. A bionic joint rapid assembly robotic arm according to claim 6, characterized in that: A guiding ring (59) is installed on the inner wall of the nail feeding pipe (52) between the conveying hose (53) and the nail clamping block (54). The inner wall of the guiding ring (59) is provided with an inverted second conical surface (60).

8. The bionic joint rapid assembly robotic arm according to claim 7, wherein: The conveying hose (53) is communicated with the inner wall of the nail feeding pipe (52) through a conveying hole (61). The nail feeding pipe (52) is provided with a sliding plug hole (62) penetrating inside and outside above the conveying hole (61). A sliding plate (63) is slidably connected in the sliding plug hole (62). One end of the sliding plate (63) is vertically connected with a baffle plate (64) covering the conveying hole (61) in the nail feeding pipe (52). A micro electric telescopic rod (65) for driving the sliding plate (63) to slide along the sliding plug hole (62) is installed on the outer wall of the nail feeding pipe (52).

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