Part assembling device of intelligent robot

Abstract

The invention belongs to the technical field of robot assembling, and particularly relates to an intelligent robot part assembling device which comprises an assembling table, a conveying belt is arranged at the top end of the assembling table, a support is arranged on one side of the assembling table, a motor is arranged at the top end of the support, and a first hydraulic cylinder is arranged at the output end of the motor. A bearing plate is arranged at the output end of the first hydraulic cylinder; according to the part assembling device of the intelligent robot, the tightening head is arranged; the tightening head automatically tightens the screw; specifically, when the screw is tightened to the standard meshing torque, the friction plate can rotate relative to the rotating shaft, so that the screw cannot be continuously driven to rotate, and the tightening process of the screw is stopped; the tightening force of the screw is stable; the condition of excessive tightening or insufficient tightening force of the screw cannot occur; and the assembling effect of the robot is prevented from being influenced by tightening of the screw.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot assembly, and specifically relates to a component assembly device for an intelligent robot. Background Art

[0002] A robot is an automated machine. What differentiates it is that this machine has some intelligent capabilities similar to those of humans or living organisms, such as sensing capabilities, planning capabilities, motion capabilities, and cooperation capabilities. It is a highly flexible automated machine; robots can assist or even replace humans in performing dangerous, heavy, and complex tasks, improving work efficiency and quality, serving human life, and expanding and extending the scope of human activities and capabilities; Existing robots need to assemble different components together during production; and screws are required for reinforcement during assembly; there are slots and buckles in some robot component assemblies; the slots and buckles can pre-assemble the robot components; and then screws are used for reinforcement; for parts of the robot without slots and buckles, the robot parts can be aligned manually or by a manipulator; and then screws are installed for reinforcement; currently, the process of installing and tightening screws requires a screw automatic tightening device; this device can automatically tighten the screws into the threaded holes; however, when actually tightening the screws, it is difficult for the tightening device to accurately control the tightening force, resulting in over-tightening or insufficient tightening force of the screws; affecting the assembly effect of the robot.

[0003] Therefore, the present invention provides a component assembly device for an intelligent robot. Summary of the Invention

[0004] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows: A component assembly device for an intelligent robot according to the present invention includes an assembly table. A conveyor belt is provided at the top of the assembly table. A bracket is provided on one side of the assembly table. A motor is provided at the top of the bracket. A first hydraulic cylinder is provided at the output end of the motor. A receiving plate is provided at the output end of the first hydraulic cylinder; A pair of connecting rods are provided on the side of the receiving plate. The end of the connecting rod away from the receiving plate is provided with a receiving frame. A rotating shaft is inserted into the receiving frame. A pair of friction plates are provided on the side of the rotating shaft. A connecting member is provided on the side of the friction plate away from the rotating shaft; One end of the rotating shaft away from the receiving frame is provided with a tightening head; A feeding assembly is provided at the end of the tightening head. A fixing assembly is provided above the conveyor belt.

[0006] Preferably, the connecting member includes a push rod, one end of the push rod is fixedly connected to the side surface of the friction plate, and the other end penetrates to the outside of the receiving frame; a pair of air boxes are fixedly connected to both sides of the receiving frame, and the end of the push rod away from the friction plate is inserted into the inside of the air box; an air plate is slidably connected inside the air box; the end of the push rod is fixedly connected to the side surface of the air plate; an annular box is communicated with one end of the air box away from the receiving frame, the annular box is fixedly connected to the side surface of the receiving plate, and a conduit is communicated between the annular box and the air box; an air pump and a pressure relief valve are fixedly connected to one side of the receiving plate away from the annular box; both the air pump and the pressure relief valve are communicated with the annular box.

[0007] Preferably, the rotating shaft includes a first shaft body and a second shaft body; the first shaft body is restricted and fixed by the friction plate; a rectangular guide rod is fixedly connected to one end of the first shaft body away from the friction plate, and a plug-in groove is opened at the end of the second shaft body close to the first shaft body; the end of the rectangular guide rod away from the first shaft body is inserted into the plug-in groove; a plurality of limiting springs are arranged between the first shaft body and the second shaft body.

[0008] Preferably, the feeding assembly includes a feeding box, a connecting frame is fixedly connected to the bottom end of the feeding box, and the end of the connecting frame away from the feeding box is sleeved on the surface of the rotating shaft; the connecting frame is made of a magnet; a magnetic ring that repels the connecting frame is fixedly connected to one end of the surface of the rotating shaft away from the connecting frame.

[0009] Preferably, a pair of brake plates are symmetrically inserted on both sides of the feeding box, and a pair of second hydraulic cylinders are fixedly connected to both sides of the feeding box and above the brake plates; a fixing frame is fixedly connected between the output end of the second hydraulic cylinder and the brake plate.

[0010] Preferably, the fixing component is used to fix the position of the parts to be assembled.

[0011] The beneficial effects of the present invention are as follows: 1. For the parts assembly device of an intelligent robot described in the present invention, by setting the tightening head; the tightening head automatically tightens the screw; specifically, when the screw is tightened to the standard engagement torque, the friction plate will rotate relative to the rotating shaft, so that the screw cannot be driven to rotate continuously, so the tightening process of the screw stops; the tightening force of the screw is stable; there will be no situation of over-tightening or insufficient tightening force of the screw; it is avoided that the assembly effect of the robot is affected due to the tightening of the screw.

[0012] 2. The component assembly device of an intelligent robot according to the present invention is provided with a first shaft body and a second shaft body; when tightening a screw, the friction plate drives the first shaft body to rotate through friction, the first shaft body drives the rectangular guide rod to rotate, and the rectangular guide rod is inserted into the insertion slot at the end of the second shaft body; thus, the second shaft body is driven to rotate; during the process of tightening the screw, the distance between the first shaft body and the second shaft body can be automatically adjusted by the limiting spring; therefore, for screws of different lengths, it is not necessary to synchronously adjust the output speed and output volume of the first hydraulic cylinder; it is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention will be further described below with reference to the accompanying drawings.

[0014] Figure 1 is a perspective view of the present invention; Figure 2 is a schematic structural view of the receiving plate of the present invention; Figure 3 is a schematic side view of the connecting structure of the receiving plate of the present invention; Figure 4 is an exploded schematic view of the rotating shaft of the present invention; Figure 5 is a schematic structural view of the connection structure of the feeding box of the present invention; Figure 6 is a schematic structural view of the connection structure of the ejector rod of the present invention.

[0015] In the figure: 1, assembly table; 11, conveyor belt; 2, bracket; 21, motor; 22, first hydraulic cylinder; 23, receiving plate; 24, connecting rod; 25, receiving frame; 3, rotating shaft; 30, first shaft body; 301, rectangular guide rod; 302, second shaft body; 31, friction plate; 32, ejector rod; 33, air plate; 34, air box; 35, conduit; 36, annular box; 37, air pump; 38, pressure relief valve; 4, tightening head; 5, feeding box; 51, brake plate; 52, fixing frame; 53, second hydraulic cylinder; 6, connecting frame; 7, magnetic ring; 8, fixing component. DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0017] As Figures 1 to 6As shown in the figure, a component assembly device for an intelligent robot according to an embodiment of the present invention includes an assembly table 1. A conveyor belt 11 is provided at the top of the assembly table 1. A bracket 2 is provided on one side of the assembly table 1. A motor 21 is provided at the top of the bracket 2. The output end of the motor 21 is provided with a first hydraulic cylinder 22. The output end of the first hydraulic cylinder 22 is provided with a receiving plate 23; A pair of connecting rods 24 are provided on the side of the receiving plate 23. The end of the connecting rod 24 away from the receiving plate 23 is provided with a receiving frame 25. A rotating shaft 3 is inserted into the receiving frame 25. A pair of friction plates 31 are provided on the side of the rotating shaft 3. A connecting member is provided on the side of the friction plate 31 away from the rotating shaft 3; One end of the rotating shaft 3 away from the receiving frame 25 is provided with a tightening head 4; A feeding assembly is provided at the end of the tightening head 4; A fixing assembly 8 is provided above the conveyor belt 11; When assembling existing robot components, a screw automatic tightening device is used; this device can automatically tighten screws into threaded holes; however, when actually tightening the screws, it is difficult for the tightening device to precisely control the tightening force, resulting in the screws being over-tightened or under-tightened; this affects the assembly effect of the robot; to solve the above problems, the embodiments of the present invention provide multiple structures such as a conveyor belt 11 and a friction plate 31; the specific usage process is as follows; when in use, one of the components of the robot to be assembled is placed on the conveying surface of the conveyor belt 11; then the conveyor belt 11 control component is started, and the conveyor belt 11 transfers the component to the lower part of the fixing component 8, and the component is fixed by the fixing component 8; then another component of the robot to be assembled is attached to the robot component on the conveyor belt 11 by a manipulator or manually; then the first hydraulic cylinder 22 is started, and the first hydraulic cylinder 22 drives the bearing plate 23 to move towards the direction of the component fixed on the conveyor belt 11. The bearing plate 23 drives the bearing frame 25 to move through the connecting rod 24, and the bearing frame 25 drives the connecting piece to move synchronously. The friction plate 31 connected to the connecting piece fixes the rotating shaft 3. The friction plate 31 drives the rotating shaft 3 to move through friction as it moves with the connecting piece. The rotating shaft 3 drives the tightening head 4 to move synchronously. Screws are placed between the tightening head 4 and the robot component fixed on the conveyor belt 11 through a feeding component; and the end of the tightening head 4 is embedded in the nut of the screw; at the same time, the screw is inserted into the threaded hole of the combined robot component; then the motor 21 is started, and the motor 21 drives the first hydraulic cylinder 22 to rotate. The first hydraulic cylinder 22 drives the bearing plate 23 to rotate. The bearing plate 23 drives the bearing frame 25 to rotate through a pair of connecting rods 24; the bearing frame 25 drives the connecting piece to rotate, and the connecting piece drives the friction plate 31 to rotate synchronously. The friction plate 31 drives the rotating shaft 3 to rotate through friction, and the rotating shaft 3 drives the tightening head 4 to rotate. The tightening head 4 drives the screw to rotate in the threaded hole of the component; so that the screw meshes with the threaded hole, and at the same time, the first hydraulic cylinder 22 synchronously increases the output; so that the tightening head 4 moves synchronously with the screw. It should be noted that the standard engagement torque of the screw is the same as the frictional force between the friction plate 31 and the rotating shaft 3; therefore, when the screw is tightened to the standard engagement torque, the friction plate 31 will rotate relative to the rotating shaft 3, making it impossible for the screw to be driven to rotate continuously. Therefore, the tightening process of the screw stops; the tightening force of the screw is stable; there will be no situation of over-tightening or under-tightening of the screw; avoiding affecting the robot assembly effect due to the tightening of the screw.

[0018] The connecting piece includes a push rod 32. One end of the push rod 32 is fixedly connected to the side surface of the friction plate 31, and the other end penetrates to the outside of the receiving frame 25. A pair of air boxes 34 are fixedly connected to both sides of the receiving frame 25. The end of the push rod 32 away from the friction plate 31 is inserted into the inside of the air box 34. A sliding air plate 33 is connected inside the air box 34. The end of the push rod 32 is fixedly connected to the side surface of the air plate 33. An annular box 36 is connected and arranged at one end of the air box 34 away from the receiving frame 25. The annular box 36 is fixedly connected to the side surface of the receiving plate 23. A conduit 35 is connected and arranged between the annular box 36 and the air box 34. An air pump 37 and a pressure relief valve 38 are fixedly connected to one side of the receiving plate 23 away from the annular box 36. Both the air pump 37 and the pressure relief valve 38 are connected to the annular box 36. During the robot assembly process, the air pump 37 continuously inflates the annular box 36, and the annular box 36 remains connected to the air box 34 through the conduit 35. Therefore, the gas pressure inside the air box 34 is the same as the gas pressure inside the annular box 36. So when the internal pressure of the annular box 36 reaches the set value, the annular box 36 exhausts gas through the pressure relief valve 38. Therefore, the internal gas pressure of the annular box 36 remains constant, making the internal pressure of the air box 34 remain constant. Based on the principle that the action force and the reaction force of force are the same, the internal pressure of the air box 34 is the same as the extrusion force of the push rod 32 on the rotating shaft 3 through the friction plate 31. Therefore, the extrusion force of the friction plate 31 on the rotating shaft 3 is constant, and the friction force between the friction plate 31 and the rotating shaft 3 is constant. Furthermore, the force with which the rotating shaft 3 drives the tightening head 4 to tighten the screw is constant, eliminating the error caused by the wear of the friction plate 31 or the rotating shaft 3. Specifically, when the position of the friction plate 31 remains unchanged, after the friction plate 31 or the rotating shaft 3 wears, the extrusion force between the friction plate 31 or the rotating shaft 3 decreases, thereby causing the friction force to decrease.

[0019] The rotating shaft 3 includes a first shaft body 30 and a second shaft body 302. The first shaft body 30 is restricted and fixed by the friction plate 31. One end of the first shaft body 30 away from the friction plate 31 is fixedly connected with a rectangular guide rod 301. A plug-in groove is opened at the end of the second shaft body 302 close to the first shaft body 30. The end of the rectangular guide rod 301 away from the first shaft body 30 is inserted into the plug-in groove. A plurality of limiting springs are arranged between the first shaft body 30 and the second shaft body 302. When tightening the screw, the friction plate 31 drives the first shaft body 30 to rotate through the friction force. The first shaft body 30 drives the rectangular guide rod 301 to rotate. The rectangular guide rod 301 is inserted into the plug-in groove at the end of the second shaft body 302. Therefore, the second shaft body 302 is driven to rotate. During the process of tightening the screw, the distance between the first shaft body 30 and the second shaft body 302 can be automatically adjusted by the limiting spring. Therefore, for screws of different lengths, it is not necessary to synchronously adjust the output speed and output volume of the first hydraulic cylinder 22, which is convenient to use. It should be noted that the rectangular guide rod 301 and the plug-in groove are respectively opened at the centers of the ends of the first shaft body 30 and the second shaft body 302.

[0020] The feeding component includes a feeding box 5. A connecting frame 6 is fixedly connected to the bottom end of the feeding box 5. The end of the connecting frame 6 away from the feeding box 5 is sleeved on the surface of the rotating shaft 3. The connecting frame 6 is made of a magnet. A magnetic ring 7 that repels the connecting frame 6 is fixedly connected to one end of the surface of the rotating shaft 3 away from the connecting frame 6. A pair of brake plates 51 are symmetrically inserted on both sides of the feeding box 5. A pair of second hydraulic cylinders 53 are fixedly connected to both sides of the feeding box 5 and above the brake plates 51. A fixing frame 52 is fixedly connected between the output end of the second hydraulic cylinder 53 and the brake plate 51. The bottom opening of the feeding box 5 is at the same height and aligned with the tightening head 4. The screws are stored inside the feeding box 5, and the width and length of the feeding box 5 are adapted to the screws. That is, the screws can be stably stacked vertically inside the feeding box 5. When stacking the screws, the screws are stacked vertically inside the feeding box 5, and the lowermost screw is clamped and fixed by a pair of brake plates 51. It should be noted that a plurality of rubber protrusions (not shown in the accompanying drawings of the specification) are provided on the side of the brake plate 51 facing the screws. When stacking the screws, the screws will be received by the two pairs of rubber protrusions. When using the screws, the second hydraulic cylinder 53 drives the brake plate 51 to move out of the feeding box 5 through the fixing frame 52, so that the lowermost screw drops down to the same height as the tightening head 4. Then, control the tightening head 4 to move towards the threaded hole of the robot component. When the feeding box 5 is blocked by the robot component, the feeding box 5 drives the connecting frame 6 to slide on the rotating shaft 3, and the opening of the feeding box 5 is for the passage of the tightening head 4, so there will be no interference. The screw on the feeding box 5 is pushed into the threaded hole by the tightening head 4, and then the tightening operation is carried out. After the screw tightening is completed, control the tightening head 4 to move away from the robot component. The magnetic ring 7 drives the feeding box 5 at the end of the connecting frame 6 to reset through the magnetic force on the connecting frame 6. Then repeat the above operations to realize the automatic feeding of the screws and improve the overall assembly efficiency of the robot.

[0021] The fixing component 8 is used to fix the position of the parts to be assembled. When assembling the robot components, the position is fixed by the fixing component 8. The fixing component 8 can be fixed by airbag inflation or clamped by a fixture. Specifically, it needs to be determined based on the type and size of the robot, etc.

[0022] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A component assembly device for an intelligent robot, characterized in that: It includes an assembly table (1). A conveyor belt (11) is arranged at the top of the assembly table (1). A bracket (2) is arranged on one side of the assembly table (1). A motor (21) is arranged at the top of the bracket (2). A first hydraulic cylinder (22) is arranged at the output end of the motor (21). A receiving plate (23) is arranged at the output end of the first hydraulic cylinder (22); A pair of connecting rods (24) are arranged on the side of the receiving plate (23). A receiving frame (25) is arranged at the end of the connecting rod (24) far from the receiving plate (23). A rotating shaft (3) is inserted into the receiving frame (25). A pair of friction plates (31) are arranged on the side of the rotating shaft (3). A connecting piece is arranged on the side of the friction plate (31) far from the rotating shaft (3); One end of the rotating shaft (3) far from the receiving frame (25) is provided with a tightening head (4); A feeding assembly is arranged at the end of the tightening head (4). A fixing assembly (8) is arranged above the conveyor belt (11).

2. The component assembly device of an intelligent robot according to claim 1, characterized in that: The connecting piece includes a push rod (32). One end of the push rod (32) is fixedly connected to the side of the friction plate (31), and the other end penetrates to the outside of the receiving frame (25); A pair of air boxes (34) are fixedly connected to both sides of the receiving frame (25). The end of the push rod (32) far from the friction plate (31) is inserted into the air box (34); An air plate (33) is slidably connected inside the air box (34); The end of the push rod (32) is fixedly connected to the side of the air plate (33); An annular box (36) is connected and arranged at one end of the air box (34) far from the receiving frame (25). The annular box (36) is fixedly connected to the side of the receiving plate (23). A conduit (35) is connected and arranged between the annular box (36) and the air box (34); An air pump (37) and a pressure relief valve (38) are fixedly connected to one side of the receiving plate (23) far from the annular box (36); Both the air pump (37) and the pressure relief valve (38) are connected to the annular box (36).

3. The component assembly device of an intelligent robot according to claim 1, wherein: The rotating shaft (3) includes a first shaft body (30) and a second shaft body (302); The first shaft body (30) is restricted and fixed by the friction plate (31); A rectangular guide rod (301) is fixedly connected to one end of the first shaft body (30) far from the friction plate (31). A plugging groove is opened at the end of the second shaft body (302) close to the first shaft body (30); The end of the rectangular guide rod (301) far from the first shaft body (30) is inserted into the plugging groove; A plurality of limiting springs are arranged between the first shaft body (30) and the second shaft body (302).

4. The component assembly device of an intelligent robot according to claim 3, characterized in that: The feeding assembly includes a feeding box (5). A connecting frame (6) is fixedly connected to the bottom end of the feeding box (5). The end of the connecting frame (6) far from the feeding box (5) is sleeved on the surface of the rotating shaft (3); The connecting frame (6) is made of a magnet; A magnetic ring (7) that repels the connecting frame (6) is fixedly connected to the surface of the rotating shaft (3) and at the end far from the connecting frame (6).

5. The component assembly device of an intelligent robot according to claim 4, characterized in that: A pair of brake plates (51) are symmetrically inserted on both sides of the feeding box (5), and a pair of second hydraulic cylinders (53) are fixedly connected on both sides of the feeding box (5) and above the brake plates (51); A fixing frame (52) is fixedly connected between the output end of the second hydraulic cylinder (53) and the brake plate (51).

6. The component assembly device of an intelligent robot according to claim 1, characterized in that: The fixing component (8) is used to fix the position of the parts to be assembled.

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