Frame butt-joint assembly mechanical arm

Abstract

The invention is suitable for the field of manipulators, and provides a frame butt-joint assembly mechanical arm which comprises a supporting base body, and two position adjusting tables are arranged on the supporting base body and driven by an adjusting unit to be close to or away from each other. A rotary table is arranged on each position adjusting table and drives a first arm rod to rotate, the first arm rod is connected with a second arm rod and the assembly bearing plate through a hinge structure, and the angle of the first arm rod is controlled by a first push-pull cylinder and a second push-pull cylinder. An adjustable rotary clamping unit is installed on the assembly bearing plate and comprises a third push-pull cylinder and a second motor, and the motor drives a sleeve to rotate and drives a guide plate and a grabbing arm rod to rotate. The grabbing arm rod is connected with the clamping jaw through a quick release assembly, and a shaft sleeve of the third push-pull cylinder is in linkage with the grabbing arm rod through a transmission connecting arm. The rotary welding device has the advantages of being flexible in adjustment, high in adaptability, stable in clamping and convenient to quickly adjust and perform rotary welding.

Description

Technical Field

[0001] The invention belongs to the field of manipulators, and in particular relates to a frame docking assembly manipulator. Background Art

[0002] In modern automotive manufacturing, frame assembly and welding are critical steps in ensuring the structural strength and safety of the vehicle. Traditionally, frame assembly has relied on manual labor or simple automated equipment. This method suffers from insufficient positioning accuracy, complex adjustments, and limited adaptability, making it difficult to meet the increasingly complex requirements of frame designs and the high standards of welding quality. This is especially true when aligning frame parts of varying sizes. Traditional methods often require significant time and labor for adjustment and calibration, resulting in low efficiency and a high risk of errors.

[0003] To address these issues, the industry is constantly exploring more intelligent and automated solutions, aiming to improve flexibility, accuracy, and production efficiency during the frame assembly and welding process. It is against this backdrop that the present invention proposes a frame docking assembly robot arm. By integrating an adjustment unit, an adjustable rotary clamping unit, and a flexible position and angle adjustment mechanism, it achieves precise positioning, stable clamping, and multi-directional adjustment of frame parts. This significantly improves the automation level and efficiency of frame assembly and welding, adapting to diverse production needs and overcoming the shortcomings of current practical applications. Summary of the Invention

[0004] The purpose of the present invention is to provide a frame docking assembly robot arm, aiming to solve the problems mentioned in the above background technology.

[0005] The present invention is implemented as follows: a frame docking assembly robot arm, comprising: A support base, wherein a plurality of anchor holes are formed on the outer side of the support base; and further comprising: Two position adjustment platforms are mounted on the support base, and an adjustment unit for driving the two position adjustment platforms to move closer to or away from each other is provided on the support base; a turntable is mounted on each of the position adjustment platforms, a first arm is fixed to the turntable, an end of the first arm away from the turntable is hinged to a second arm, an end of the second arm away from the first arm is hinged to an assembly bearing plate, and a first push-pull cylinder and a second push-pull cylinder are respectively mounted between the first arm and the second arm and between the second arm and the assembly bearing plate; An adjustable rotary clamping unit is installed on the component carrier plate, and includes a third push-pull cylinder and a second motor fixed on the component carrier plate. A sleeve is rotatably installed on the cylinder body of the third push-pull cylinder, and the second motor is transmission-connected to the sleeve. A guide plate is fixed to the end of the sleeve away from the component carrier plate, and a grab arm rod is circumferentially distributed and slidably provided on the guide plate. The end of the grab arm rod away from the guide plate is detachably connected to a clamping claw through a quick-release assembly. A shaft sleeve is rotatably installed on the end of the telescopic core shaft of the third push-pull cylinder, and the grab arm rod is connected to the shaft sleeve through a transmission connecting arm.

[0006] A further technical solution is that the adjustment unit includes a terminal connecting seat fixed at both ends of the supporting base, a double-rotation screw is rotatably installed between the two terminal connecting seats, a guide groove rail is provided on both sides of the double-rotation screw, the guide groove rail is fixedly connected to the supporting base and the terminal connecting seat, the position adjustment platform is threadedly connected to the double-rotation screw and is slidingly connected to the guide groove rail, and a first motor is fixed on the terminal connecting seat that is transmission-connected to the double-rotation screw.

[0007] According to a further technical solution, both ends of the first push-pull cylinder are hinged to the first arm and the second arm respectively, and both ends of the second push-pull cylinder are hinged to the second arm and the component supporting plate respectively.

[0008] According to a further technical solution, the output shaft of the second motor is arranged parallel to the third push-pull cylinder, and a driving wheel is fixed to the output end of the second motor. The driving wheel is connected to the driven wheel fixed on the sleeve through a transmission member, and the transmission member is a chain or a V-belt.

[0009] According to a further technical solution, a plurality of guide openings are evenly distributed on the circumference of the guide plate, guide edges are fixed on both sides of the guide openings, and the grabbing arm is arranged parallel to the third push-pull cylinder and passes through the guide plate and is slidably connected to the guide edges.

[0010] According to a further technical solution, both ends of the transmission connecting arm are hinged to the grabbing arm rod and the shaft sleeve respectively, an anti-slip pad is fixed on the inner side of the clamping jaw, and the side of the anti-slip pad away from the clamping jaw is a central arc-shaped concave structure.

[0011] According to a further technical solution, the quick-release assembly includes: An active cavity is provided at one end of the grabbing arm near the clamping claw, a plug-in column is fixed to the end of the clamping claw, a pressing column is slidably arranged in the active cavity, one end of the pressing column extends out of the surface of the grabbing arm, and a spring is provided in the active cavity for elastically supporting the pressing column; A side block is fixed on one side of the pressing column in the movable cavity, a locking head is fixed on the side of the side block close to the plug-in column, and a fixing groove is provided on the plug-in column to engage with the locking head; When the plug-in column is inserted into the grab arm and the clamping claw abuts against the grab arm, under the elastic force of the spring, the locking head is engaged in the fixing groove to lock the plug-in column.

[0012] A further technical solution is that a slot connected to the movable cavity is provided at the end of the grabbing arm rod, the end of the plug-in column away from the clamping claw is a conical structure, and a limiting block is fixed on the pressing column at the top of the movable cavity, and the side of the limiting block close to the plug-in column is parallel to the conical surface of the end of the plug-in column.

[0013] A further technical solution is that after the plug-in post is inserted into the slot, under the action of the elastic force of the spring, the limit block abuts against the top of the active cavity, and the limit block is arranged close to the side of the plug-in post and the conical surface of the end of the plug-in post; when the pressing post is pressed, the locking head is first separated from the fixed groove, and continued pressing causes the limit block to push the plug-in post out of the slot until the pressing post abuts against the bottom of the active cavity and stops.

[0014] According to a further technical solution, the locking head is a hemispherical structure, and an inner end of the pressing column is provided with a receiving groove for receiving a spring.

[0015] The present invention provides a frame docking assembly robot arm, which has the following beneficial effects: The two position adjustment tables and the components mounted thereon can be adjusted to move closer to or further away from each other through the adjustment unit, making it easier for the frame parts clamped by the two sets of clamps to be docked, facilitating subsequent welding operations.

[0016] The arrangement of the turntable, the first arm, the second arm, the component bearing plate, the first push-pull cylinder and the second push-pull cylinder can rotate and move the frame parts to meet the needs of position-shifting welding and adapt to the flexible assembly and welding of the frame.

[0017] According to the shape of the frame parts, the number of clamps can be selected as needed, and the appropriate number can be selected through quick disassembly and assembly through the quick-release assembly, which is convenient and quick; by controlling the contraction of the third push-pull cylinder, the grabbing arm can be pulled to contract through the transmission connecting arm, so that the clamps clamp and fix the frame parts. The guide plate not only plays a guiding role, but also serves as a carrier for the second motor transmission. That is, after the second motor drives the sleeve, the guide plate drives the grabbing arm to rotate, and the shaft sleeve is rotatably connected to the telescopic core shaft of the third push-pull cylinder, so that multiple clamps can stably rotate with the guide plate, thereby achieving the purpose of rotational adjustment of the clamped frame parts. It can be adapted to welding displacement and rotary welding, and is flexible and reliable.

[0018] In summary, the present invention has the advantages of flexible adjustment, strong adaptability, stable clamping, and convenience for rapid adjustment and rotation welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of a vehicle frame docking assembly robot arm provided by an embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the enlarged structure of part A; Figure 3 This is a schematic diagram of the enlarged structure of the adjustable rotary clamping unit in the frame docking assembly robot arm provided by an embodiment of the present invention; Figure 4 for Figure 3 Another perspective structural diagram; Figure 5 An axonometric view of the corresponding portion of the quick-release assembly in the frame docking assembly robot arm provided by an embodiment of the present invention; Figure 6 for Figure 5 Schematic diagram of the structure during disassembly.

[0020] In the figure: 1-support base, 2-anchor hole, 3-guide groove, 4-double-rotation screw, 5-terminal connecting seat, 6-first motor, 7-position adjustment table, 8-rotating table, 9-first arm, 10-second arm, 11-first push-pull cylinder, 12-second push-pull cylinder, 13-component bearing plate, 14-adjustable rotary clamping unit, 15-third push-pull cylinder, 16-driven wheel, 17-transmission member, 18-driving wheel, 19-second motor, 20-sleeve, 21-grabbing arm, 22-quick release assembly, 23-clamping claw, 24-anti-slip pad, 25-transmission connecting arm, 26-sleeve, 27-guide plate, 28-guide port, 29-guide edge, 30-pressing column, 31-spring, 32-side block, 33-locking head, 34-fixing groove, 35-plug column, 36-limiting block, 37-active cavity. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, 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 intended to limit the present invention.

[0022] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0023] like Figure 1-4 FIG. 1 is a diagram showing a frame docking assembly robot arm according to an embodiment of the present invention, comprising a support base 1 having a plurality of anchor holes 2 formed on the outer side of the support base 1 for facilitating fixing the support base 1 at a suitable location in a workshop; and further comprising: Position adjustment platform 7, two position adjustment platforms 7 are installed on the support base 1, and an adjustment unit for driving the two position adjustment platforms 7 to move closer to or away from each other is also installed on the support base 1; each position adjustment platform 7 is installed with a turntable 8, and a first arm 9 is fixed on the turntable 8, and the end of the first arm 9 away from the turntable 8 is hinged to the second arm 10 and the component carrier plate 13 in sequence, and a first push-pull cylinder 11 and a second push-pull cylinder 12 are respectively installed between the first arm 9 and the second arm 10, and between the second arm 10 and the component carrier plate 13; The adjustable rotary clamping unit 14 is installed on the component carrier plate 13. The adjustable rotary clamping unit 14 includes a third push-pull cylinder 15 and a second motor 19 fixed on the component carrier plate 13. A sleeve 20 is rotatably installed on the cylinder body of the third push-pull cylinder 15, and the second motor 19 is transmission-connected to the sleeve 20. A guide plate 27 is fixed to the end of the sleeve 20 away from the component carrier plate 13. A grabbing arm 21 is circumferentially distributed and slidingly provided on the guide plate 27. The end of the grabbing arm 21 away from the guide plate 27 is detachably connected to the clamping claw 23 through a quick-release assembly 22. The end of the telescopic core shaft of the third push-pull cylinder 15 is also rotatably installed with a shaft sleeve 26, and the grabbing arm 21 is also connected to the shaft sleeve 26 through a transmission connecting arm 25.

[0024] In this embodiment of the present invention, the two position adjustment platforms 7 and the components mounted thereon can be adjusted to move closer or further apart via an adjustment unit, facilitating the docking of frame components held by the two sets of clamps 23 and facilitating subsequent welding operations. The arrangement of the turntable 8, first arm 9, second arm 10, component carrier plate 13, first push-pull cylinder 11, and second push-pull cylinder 12 allows for the rotation and movement of frame components, meeting the requirements of position-shifting welding and accommodating flexible assembly and welding of the frame. According to the shape of the frame parts, the number of clamps 23 can be selected as needed, and the appropriate number can be selected through quick disassembly and assembly through the quick-release assembly 22, which is convenient and quick; by controlling the contraction of the third push-pull cylinder 15, the grabbing arm rod 21 can be pulled to contract through the transmission connecting arm 25, so that the clamping jaws 23 clamp and fix the frame parts, and the guide plate 27 not only plays a guiding role, but also serves as a carrier for the transmission of the second motor 19, that is, after the second motor 19 drives the sleeve 20, the guide plate 27 drives the grabbing arm rod 21 to rotate, and the shaft sleeve 26 is rotatably connected to the telescopic core shaft of the third push-pull cylinder 15, so that multiple clamps 23 can stably rotate with the guide plate 27, thereby achieving the purpose of rotational adjustment of the clamped frame parts, and can be adapted to welding displacement and rotary welding, and is flexible and reliable.

[0025] In summary, the present invention has the advantages of flexible adjustment, strong adaptability, stable clamping, and convenience for rapid adjustment and rotation welding.

[0026] like Figure 3-6As shown in FIG. 1 , as a preferred embodiment of the present invention, the output shaft of the second motor 19 is arranged parallel to the third push-pull cylinder 15. A driving wheel 18 is fixed to the output end of the second motor 19. The driving wheel 18 is connected to the driven wheel 16 fixed to the sleeve 20 through a transmission member 17. The driven wheel 16 and the driving wheel 18 can be sprockets or pulleys, and the transmission member 17 can be a chain or a V-belt.

[0027] The guide plate 27 is provided with a plurality of guide openings 28 evenly distributed on the circumference thereof, and guide edges 29 are fixed on both sides of the guide openings 28. The grabbing arm 21 is arranged parallel to the third push-pull cylinder 15 and passes through the guide plate 27. The grabbing arm 21 is slidably connected to the guide edges 29 fixed on both sides of the guide openings 28, thereby ensuring the stability of the movement of the grabbing arm 21.

[0028] The transmission connecting arm 25 is hinged at both ends to the grabbing arm 21 and the shaft sleeve 26, respectively, so that the transmission connecting arm 25 can reliably transmit power to the grabbing arm 21. A non-slip pad 24 is also fixed to the inner side of the clamping jaw 23. The side of the non-slip pad 24 away from the clamping jaw 23 has a central arc-shaped concave structure, which can reliably clamp and secure the frame parts.

[0029] Regarding the structure of the quick-release assembly 22, as shown in FIG. Figure 5-6 As shown, the grab arm 21 has an active cavity 37 at one end near the clamping jaw 23. A plug-in post 35 that can be inserted into the grab arm 21 is fixed to the end of the clamping jaw 23. A pressing post 30 is slidably provided in the active cavity 37. One end of the pressing post 30 extends from the surface of the grab arm 21. A spring 31 for elastically supporting the pressing post 30 is also provided in the active cavity 37. A side block 32 is fixed to one side of the pressing post 30 in the active cavity 37. A locking head 33 is fixed to the side of the side block 32 near the plug-in post 35. The plug-in post 35 has a fixing groove 34 for engaging the locking head 33. When the plug-in post 35 is inserted into the grab arm 21 and the clamping jaw 23 abuts against the grab arm 21, the locking head 33 is engaged with the fixing groove 34 under the elastic force of the spring 31, thereby locking the plug-in post 35.

[0030] Preferably, the end of the grab arm 21 is provided with a slot for the plug-in column 35 to be plugged in and connected to the movable cavity 37; the end of the plug-in column 35 away from the clamping claw 23 is a tapered structure, which is conducive to the plug-in and fixation of the plug-in column 35.

[0031] A limit block 36 for pushing the plug post 35 is fixed on the top of the movable cavity 37 on the pressing post 30 . A side of the limit block 36 close to the plug post 35 is parallel to the tapered surface of the end of the plug post 35 .

[0032] After the plug-in column 35 is inserted into the slot, under the elastic force of the spring 31, the limit block 36 also abuts against the top of the movable cavity 37, and the side of the limit block 36 close to the plug-in column 35 is spaced a certain distance from the conical surface of the end of the plug-in column 35.

[0033] After pressing the pressing post 30, the locking head 33 is first completely separated from the fixing groove 34. Then, the pressing post 30 is continued to be pressed, and the limit block 36 abuts against the end of the plug post 35, and the plug post 35 is pushed out of the slot until the pressing post 30 abuts against the bottom of the movable cavity 37, thus separating the plug post 35 from the slot and facilitating the quick removal of the plug post 35. After removal, the pressing post 30 is released, and the elastic force of the spring 31 returns it to its original position, facilitating subsequent re-insertion and installation.

[0034] Preferably, the locking head 33 adopts a hemispherical structure, which is conducive to the positioning and locking of the locking head 33 and the fixing groove 34. The inner end of the pressing column 30 is provided with a receiving groove for accommodating the spring 31 to prevent the spring 31 from being pressed beyond the limit and improve reliability.

[0035] like Figure 1-2 As shown, as a preferred embodiment of the present invention, the adjustment unit includes a terminal connecting seat 5 fixed at both ends of the supporting base 1, and a double-rotation screw 4 is rotatably installed between the two terminal connecting seats 5. A guide groove rail 3 is provided on both sides of the double-rotation screw 4, and the guide groove rail 3 is fixedly connected to the supporting base 1. The two ends of the guide groove rail 3 are also fixedly connected to the terminal connecting seat 5. The position adjustment platform 7 is threadedly connected to the double-rotation screw 4, and the position adjustment platform 7 is also slidably connected to the guide groove rail 3. A first motor 6 that is transmission-connected to the double-rotation screw 4 is fixed on the terminal connecting seat 5. When the first motor 6 drives the double-rotation screw 4 to rotate, the two position adjustment platforms 7 approach or move away synchronously.

[0036] In addition, as long as the turntable 8 can rotate stably, the power mode can be electric drive, etc. The two ends of the first push-pull cylinder 11 are respectively hinged to the first arm 9 and the second arm 10, and the two ends of the second push-pull cylinder 12 are respectively hinged to the second arm 10 and the component carrier plate 13. Through the arrangement of the two push-pull cylinders, not only the relative position of the two component carrier plates 13 can be adjusted, but also the angle of the component carrier plate 13 can be adjusted to meet the requirements of welding, which is flexible and reliable.

[0037] The above embodiment of the present invention provides a frame docking assembly robot arm, which fixes the support base 1 in a suitable position, and the first motor 6 in the adjustment unit drives the double-rotation screw 4 to rotate, and under the guidance of the guide groove rail 3, drives the two position adjustment platforms 7 to move closer or farther away synchronously, thereby adjusting the distance between the two sets of jaws 23 clamping the frame parts to achieve precise docking.

[0038] The turntable 8 can drive the first arm 9 to rotate. The first push-pull cylinder 11 and the second push-pull cylinder 12 are respectively hinged between the first arm 9, the second arm 10 and the component carrier plate 13. The position and angle of the component carrier plate 13 are adjusted through pushing and pulling actions to meet the welding displacement requirements.

[0039] In the adjustable rotary clamping unit 14, the third push-pull cylinder 15 drives the grab arm 21 to move through the transmission connecting arm 25, so that the clamping claw 23 clamps the frame parts; at the same time, the second motor 19 drives the sleeve 20 to rotate through the driving wheel 18 and the driven wheel 16, and the guide plate 27 rotates accordingly. The grab arm 21 slides in the guide mouth 28 through the guide edge 29 to ensure stable movement, thereby driving the clamping claw 23 and the frame parts to rotate synchronously, adapting to the multi-angle requirements during the welding process.

[0040] The number of the clamping claws 23 can be flexibly adjusted according to the shape of the frame, and can be quickly replaced through the quick-release assembly 22. Pressing the pressing column 30 can release the lock between the locking head 33 and the plug-in column 35, and the plug-in column 35 can be pushed out by the limit block 36 to complete the disassembly. The operation is convenient and reliable.

[0041] In summary, the overall structure of the present invention realizes flexible positioning, stable clamping and multi-directional adjustment of frame parts, and is suitable for efficient welding operations under complex working conditions.

[0042] The control of each component can be carried out using a PLC controller disclosed in the prior art. The model and circuit connection of each component are not specifically limited and can be flexibly set in actual application.

[0043] Furthermore, the support base 1, first arm 9, and second arm 10 are constructed from aircraft-grade aluminum alloy (e.g., 7075-T6) with a density ≤ 2.8g / cm³ and a tensile strength ≥ 500MPa, ensuring structural rigidity while maintaining lightweight construction. The anti-slip pad 24 of the gripper 23 is made from a polyurethane-rubber composite material with a Shore A hardness of 70±5A and a coefficient of friction ≥ 0.8, suitable for operating environments ranging from -20°C to 120°C.

[0044] To improve adaptability, the adjustable rotary clamping unit 14 can be optionally equipped with a force sensor (not shown) to monitor the clamping force in real time and feed it back to the PLC controller. When the clamping force deviates from the set value (such as 50-200N), the stroke of the third push-pull cylinder 15 is automatically adjusted to avoid deformation of parts.

[0045] The first motor 6 and the second motor 19 are preferably stepping motors or the like; the first push-pull cylinder 11 , the second push-pull cylinder 12 , and the third push-pull cylinder 15 are preferably hydraulic cylinders or the like.

[0046] The circuits, electronic components and modules involved are all existing technologies and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0047] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A vehicle frame docking assembly robot arm, comprising a support base (1), wherein a plurality of anchor holes (2) are provided on the outer side of the support base (1), characterized in that: Also includes: Two position adjustment platforms (7) are installed on the support base (1), and the support base (1) is provided with an adjustment unit for driving the two position adjustment platforms (7) to move closer to or farther away from each other; each position adjustment platform (7) is installed with a turntable (8), and a first arm (9) is fixed on the turntable (8); an end of the first arm (9) away from the turntable (8) is hinged to a second arm (10), and an end of the second arm (10) away from the first arm (9) is hinged to a component bearing plate (13); and a first push-pull cylinder (11) and a second push-pull cylinder (12) are respectively installed between the first arm (9) and the second arm (10) and between the second arm (10) and the component bearing plate (13); An adjustable rotary clamping unit (14) is mounted on the component carrier plate (13), and comprises a third push-pull cylinder (15) and a second motor (19) fixed on the component carrier plate (13); a sleeve (20) is rotatably mounted on the cylinder body of the third push-pull cylinder (15); the second motor (19) is transmission-connected to the sleeve (20); a guide plate (27) is fixed to one end of the sleeve (20) away from the component carrier plate (13); a grabbing arm (21) is circumferentially distributed and slidably provided on the guide plate (27); the end of the grabbing arm (21) away from the guide plate (27) is detachably connected to a clamping claw (23) via a quick-release assembly (22); a shaft sleeve (26) is rotatably mounted on the end of the telescopic core shaft of the third push-pull cylinder (15); and the grabbing arm (21) is connected to the shaft sleeve (26) via a transmission connecting arm (25).

2. The frame docking assembly robot arm according to claim 1, characterized in that: The adjustment unit comprises terminal connection seats (5) fixed to both ends of the support base (1), and a double-rotation screw (4) is rotatably mounted between the two terminal connection seats (5); A guide groove (3) is provided on each side of the birotatory screw (4), and the guide groove (3) is fixedly connected to the support base (1) and the terminal connection seat (5); The position adjustment platform (7) is threadedly connected to the double-rotation screw (4) and slidably connected to the guide rail (3); a first motor (6) in transmission connection with the double-rotation screw (4) is fixed on the terminal connection seat (5).

3. The frame docking assembly robot arm according to claim 1, characterized in that: Both ends of the first push-pull cylinder (11) are hinged to the first arm (9) and the second arm (10) respectively; Both ends of the second push-pull cylinder (12) are hinged to the second arm (10) and the component bearing plate (13) respectively.

4. The frame docking assembly robot arm according to claim 1, characterized in that: The output shaft of the second motor (19) is arranged in parallel with the third push-pull cylinder (15). A driving wheel (18) is fixed to the output end of the second motor (19). The driving wheel (18) is connected to a driven wheel (16) fixed on the sleeve (20) through a transmission member (17). The transmission member (17) is a chain or a V-belt.

5. The frame docking assembly robot arm according to claim 4, characterized in that: The guide plate (27) is provided with a plurality of guide openings (28) evenly distributed on the circumference thereof, and guide edges (29) are fixed on both sides of the guide openings (28). The grabbing arm (21) is arranged parallel to the third push-pull cylinder (15) and passes through the guide plate (27), and is slidably connected to the guide edges (29).

6. The frame docking assembly robot arm according to claim 1, characterized in that: The two ends of the transmission connecting arm (25) are respectively hinged to the grabbing arm rod (21) and the shaft sleeve (26); An anti-slip pad (24) is fixed on the inner side of the clamping jaw (23), and the side of the anti-slip pad (24) away from the clamping jaw (23) is a central arc-shaped concave structure.

7. The frame docking assembly robot arm according to any one of claims 1 to 6, characterized in that: The quick-release assembly (22) comprises: An active cavity (37) is provided at one end of the grabbing arm (21) near the clamping claw (23), a plug-in column (35) is fixed to the end of the clamping claw (23), a pressing column (30) is slidably arranged in the active cavity (37), one end of the pressing column (30) extends out of the surface of the grabbing arm (21), and a spring (31) for elastically supporting the pressing column (30) is provided in the active cavity (37); A side block (32) is fixed on one side of the pressing column (30) in the movable cavity (37), a locking head (33) is fixed on one side of the side block (32) close to the plug-in column (35), and a fixing groove (34) is provided on the plug-in column (35) to engage with the locking head (33); When the plug-in column (35) is inserted into the grab arm (21) and the clamping claw (23) abuts against the grab arm (21), under the elastic force of the spring (31), the locking head (33) is engaged in the fixing groove (34) to lock the plug-in column (35).

8. The frame docking assembly robot arm according to claim 7, characterized in that: The end of the grabbing arm (21) is provided with a slot communicating with the active cavity (37); The end of the plug-in column (35) away from the clamping claw (23) is a tapered structure; A limiting block (36) is fixed on the top of the movable cavity (37) on the pressing column (30), and the side surface of the limiting block (36) close to the plug-in column (35) is parallel to the conical surface of the end of the plug-in column (35).

9. The frame docking assembly robot arm according to claim 8, characterized in that: After the plug-in column (35) is inserted into the slot, the limit block (36) abuts against the top of the movable cavity (37) under the elastic force of the spring (31), and the side surface of the limit block (36) close to the plug-in column (35) is spaced apart from the conical surface of the end of the plug-in column (35); When the pressing column (30) is pressed, the locking head (33) is first separated from the fixing groove (34), and the pressing is continued so that the limit block (36) pushes the plug-in column (35) out of the slot until the pressing column (30) abuts against the bottom of the movable cavity (37) and stops.

10. The frame docking assembly robot arm according to claim 9, characterized in that: The locking head (33) is a hemispherical structure, and the inner end of the pressing column (30) is provided with an accommodating groove for accommodating the spring (31).

Images