Mechanical arm for disassembling and assembling metal plate

Abstract

The invention provides a mechanical arm for disassembling and assembling a metal plate, and relates to the technical field of mechanical arms, the mechanical arm comprises a mechanical arm body, and a connecting base is fixedly installed at the final execution end of the mechanical arm body; a pushing type pressure applying guide plate is fixedly mounted at the front end of the connecting base; a detachable dismounting base is mounted on the pushing type pressing guide plate in a sleeving and sliding manner; the detachable dismounting base is further fixedly installed on the connecting base through bolts. The front side of the detachable dismounting base is fixedly provided with a dismounting quick-cutting guide frame; and guide sliding rods are fixedly mounted on the upper side and the lower side of the disassembly and assembly quick-cutting guide frame. According to the method, one operation link is directly omitted, the efficiency of replacing, disassembling and assembling tools through the mechanical arm is greatly improved, higher convenience and timeliness are brought to actual application, and the problems that the overall time consumption of mechanical arm tool replacing operation is long, and the high requirements of modern production for quick response and efficient operation are difficult to meet are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a robotic arm for disassembling and assembling sheet metal. Background Art

[0002] In the disassembly and assembly of sheet metal parts, in order to achieve efficient automated operations, it is usually necessary to use a robotic arm to complete the automated disassembly and assembly of sheet metal parts. The robotic arm, with its high precision and programmable characteristics, can accurately locate and perform actions such as grasping, moving, disassembly and assembly, replacing manual operations, effectively improving efficiency and quality, and reducing labor costs and operational risks. For example, the patent application number is: CN201610500006.4, which discloses a method for installing a lightweight screw-locking robot. The entire installation process is relatively simple, the workload of personnel is small, the loading and unloading speed of each component is fast, the production cost is low, and the installation accuracy of each robotic arm is high, with few redundant mechanisms, while ensuring the safety of the robot during subsequent operation.

[0003] When replacing disassembly and assembly tools with existing robotic arms such as the one mentioned above, it is usually necessary to first loosen the old tool through a specific mechanism or procedure, remove it from the robotic arm's end effector or disassembly and assembly interface, then select a suitable new tool, and install it to the specified position manually or automatically. Finally, the new tool is positioned to match the robotic arm control system and operation requirements to ensure the subsequent disassembly and assembly accuracy and stability. However, this series of operations is time-consuming as a whole and is difficult to meet the high requirements of modern production for rapid response and efficient operation. Summary of the Invention

[0004] The present invention relates to a sheet metal disassembly and assembly robot arm, which rotates and switches a transmission screw to move the disassembly and assembly quick-cut slide to the right, so that the damaged disassembly and assembly tool moves to the right and disengages from the middle position of the disassembly and assembly quick-cut guide frame, and the new disassembly and assembly tool moves to the right and enters the middle position of the disassembly and assembly quick-cut guide frame. At this time, the limit plug plate used to fix the damaged disassembly and assembly tool is no longer pushed by the pushing transmission protrusion, so that the limit plug plate is restored under the action of the restoring spring B and disengages from the disassembly and assembly slot of the damaged disassembly and assembly tool. On the contrary, the limit plug plate used to fix the new disassembly and assembly tool is pushed by the pushing transmission protrusion, so that the limit plug plate is forced to be inserted into the disassembly and assembly slot of the new disassembly and assembly tool. In this way, the fixed installation of the new disassembly and assembly tool can be completed simultaneously during the process of disassembling the damaged disassembly and assembly tool. Compared with the traditional method of first disassembling the damaged tool and then installing the new tool, one operation step is directly omitted, thereby improving the replacement efficiency of the disassembly and assembly tool of the present robot arm.

[0005] The first aspect of the present invention provides a sheet metal disassembly and assembly robot arm, specifically comprising: a robot arm body, a connecting base fixedly mounted on the final execution end of the robot arm body; a push-type pressure guide plate fixedly mounted on the front end of the connecting base; a detachable disassembly and assembly base slidably mounted on the push-type pressure guide plate; the detachable disassembly and assembly base is also fixedly mounted on the connecting base by bolts; a disassembly and assembly quick-cut guide frame is fixedly mounted on the front side of the detachable disassembly and assembly base; a disassembly and assembly quick-cut slide is slidably mounted on the interior of the disassembly and assembly quick-cut guide frame; guide slide bars are fixedly mounted on the upper and lower sides of the disassembly and assembly quick-cut guide frame; the guide A push transmission slide is slidably installed on the slide rod; a push transmission protrusion is fixedly installed on the inner end of the push transmission slide; a force conversion inclined groove is provided on the top rear side of the push transmission slide; a switching transmission screw is rotatably installed on the right side of the disassembly and assembly quick-cut guide frame; two mounting slots are symmetrically provided on the front side of the disassembly and assembly quick-cut slide; contraction slides are provided at the upper and lower ends of the interior of the mounting slot; a limit plug-in plate is slidably installed inside the contraction slide; an embedded push plate is fixedly installed on the outer wall of the limit plug-in; a disassembly tool is inserted into the interior of the mounting slot; a disassembly slot is provided at the tail end of the disassembly tool.

[0006] Furthermore, the volume of the disassembly and assembly quick-cut slide is equal to two-thirds of the interior of the disassembly and assembly quick-cut guide frame; and connecting slide grooves are provided at the center positions of the upper and lower sides of the disassembly and assembly quick-cut guide frame.

[0007] Furthermore, a limit stop plate is fixedly mounted on the outer end of the guide slide rod; and the inner end of the push transmission protrusion is in an inclined structure.

[0008] Furthermore, the push transmission protrusion is also slidably installed inside the connecting slide groove; one end of the return spring A is embedded and installed on the inner side of the push transmission slide plate; the other end of the return spring A is embedded and installed on the outer wall of the disassembly and assembly quick-cut guide frame.

[0009] Furthermore, the bottom of the force conversion inclined groove is an inclined structure; the left end of the switching transmission screw is rotatably connected to the right end of the disassembly and assembly quick-cut slide.

[0010] Furthermore, an installation clip groove is opened at the inner front end of the installation slot; an elastic anti-falling splint is fixedly installed inside the installation clip groove; the elastic anti-falling splint has an inclined structure; and the outer end of the limiting plug has an inclined structure.

[0011] Furthermore, the embedded push plate is also slidably installed inside the contraction chute; one end of the return spring B is embedded and installed on the outer side of the embedded push plate; the other end of the return spring B is embedded and installed inside the contraction chute.

[0012] Furthermore, when the disassembly and assembly tool is inserted into the installation slot, it will preferentially push and pass through the elastic anti-falling splint; after the tail end of the disassembly and assembly tool passes through the elastic anti-falling splint, the elastic anti-falling splint will clamp the tail end of the disassembly and assembly tool.

[0013] Furthermore, the inner end of the limit plug plate located between the two push transmission protrusions is inserted into the interior of the disassembly and assembly slot; the switching transmission screw rotates to move the disassembly and assembly quick-cut slide to the right.

[0014] Furthermore, after the disassembly and assembly quick-cut slide moves to the right, the pushing transmission protrusion will push the left limit plugboard while canceling the pushing of the right limit plugboard.

[0015] The present invention provides a sheet metal disassembly and assembly robotic arm, which has the following beneficial effects: (1) The present invention can simultaneously and securely install a new disassembly and assembly tool when disassembling a damaged disassembly and assembly tool. Compared with the cumbersome steps of first removing the damaged tool and then installing the new tool in the traditional operation process, the present invention directly omits one of the operation links, greatly improving the efficiency of the robot arm in replacing the disassembly and assembly tool, and bringing higher convenience and timeliness to practical applications.

[0016] (2) When performing the separation operation of the detachable disassembly and assembly base and the robotic arm body, the present invention will simultaneously trigger the release of the positioning state of the disassembly and assembly tool, thereby realizing the linked separation of the detachable disassembly and assembly base and the disassembly and assembly tool, and completing the disassembly of the two components at the same time in a single operation step, which significantly simplifies the disassembly and assembly process, reduces the operation steps and time cost, and improves the convenience and efficiency of the robotic arm in tool replacement and maintenance scenarios, and has outstanding practicality and technological advancement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments are briefly introduced below.

[0018] The drawings described below only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0019] In the attached figure: Figure 1 A schematic diagram showing the overall structure of the present invention; Figure 2 It shows a schematic structural diagram of the detachable base of the present invention in a disassembled state; Figure 3 The present invention shows Figure 2 A schematic diagram of the enlarged structure of part A; Figure 4 It shows a schematic structural diagram of the detachable disassembly base and the connection base in the disassembled state of the present invention; Figure 5 It shows a schematic diagram of a half-section structure of a disassembly and assembly quick-cut slide according to the present invention; Figure 6 It shows a schematic diagram of the structure of the quick-cutting slide and the push transmission protrusion of the present invention; Figure 7 The present invention shows Figure 6 The enlarged structural diagram of part B in the middle; Figure 8 Shows a schematic structural diagram of the disassembly and assembly tool and the push transmission slide plate of the present invention; Reference Signs List 1. Robotic arm body; 2. Connecting base; 3. Push-type pressure guide plate; 4. Detachable disassembly base; 5. Disassembly of quick-cut guide frame; 6. Connecting slide; 7. Guide slide; 8. Push transmission slide plate; 9. Push transmission bump; 10. Restoring spring A; 11. Force conversion inclined groove; 12. Switching transmission screw; 13. Disassembly of quick-cut slide; 14. Mounting slot; 15. Mounting clamping groove; 16. Elastic anti-falling clamping plate; 17. Retraction slide; 18. Limiting plug-in plate; 19. Embedded push plate; 20. Restoring spring B; 21. Disassembly and assembly tool; 22. Disassembly and assembly slot. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] Please refer to Figures 1 to 8 :Example 1: The metal plate dismounting mechanical arm comprises a mechanical arm body 1, a connecting base 2 fixedly installed on the final execution end of the mechanical arm body 1, a push type pressing guide plate 3 fixedly installed at the front end of the connecting base 2, a detachable dismounting base 4 sleeved and slidably installed on the push type pressing guide plate 3, and a restoring spring A 10, wherein the push type pressing guide plate 3 no longer pushes the inclined surface of the stress conversion inclined chute 11 after the detachable dismounting base 4 is separated from the connecting base 2; the push transmission lug 9 is driven by the restoring spring A 10 to move outward, so that the push transmission lug 9 is separated from the inner region of the dismounting quick cutting guide frame 5, thereby no longer pushing any one limiting plug plate 18; the process realizes the separation of the detachable dismounting base 4 from the mechanical arm body 1, cancels the positioning of the dismounting tool 21, realizes the double dismounting, and further improves the dismounting convenience; the detachable dismounting base 4 is further fixedly installed on the connecting base 2 through bolts; the front side of the detachable dismounting base 4 is fixedly installed with the dismounting quick cutting guide frame 5; the inner region of the dismounting quick cutting guide frame 5 is slidably installed with the dismounting quick cutting sliding seat 13; the upper and lower sides of the dismounting quick cutting guide frame 5 are fixedly installed with the guide sliding rod 7; the push transmission sliding plate 8 is sleeved and slidably installed on the guide sliding rod 7; the inner end of the push transmission sliding plate 8 is fixedly installed with the push transmission lug 9; the top rear side of the push transmission sliding plate 8 is provided with the stress conversion inclined chute 11; the right side of the dismounting quick cutting guide frame 5 is rotatably installed with the switching transmission screw rod 12; the switching transmission screw rod 12 is rotated to drive the dismounting quick cutting sliding seat 13 to move rightward, so that the damaged tool moves rightward and is separated from the middle position of the dismounting quick cutting guide frame 5, while the new tool moves rightward into the middle position of the dismounting quick cutting guide frame 5; at this time, the limiting plug plate 18 for fixing the damaged tool is reset under the action of the restoring spring B 20 due to the loss of the push of the push transmission lug 9, and is separated from the inner region of the dismounting clamping groove 22 of the damaged tool, while the limiting plug plate 18 for fixing the new tool is pushed by the push transmission lug 9 and is inserted into the dismounting clamping groove 22 of the new tool, thereby completing the fixed installation of the new tool; the process realizes the installation of the new tool while the damaged tool is dismounted, omits a step in the traditional operation, and improves the replacement efficiency; the front side of the dismounting quick cutting sliding seat 13 is symmetrically provided with two installation insertion grooves 14; the inner region of the installation insertion groove 14 is provided with the contraction sliding groove 17 at the upper and lower ends; the limiting plug plate 18 is slidably installed in the contraction sliding groove 17; the outer wall of the limiting plug plate 18 is fixedly installed with the embedded push plate 19; the dismounting tool 21 is inserted into the installation insertion groove 14; the tail end of the dismounting tool 21 is provided with the dismounting clamping groove 22; the execution end of the mechanical arm body 1 is started to make the execution end control the dismounting tool 21 to contact the screw of the metal plate and to tighten or loosen the screw by rotation, thereby realizing the dismounting of the metal plate; in the case that the dismounting tool 21 is damaged, a new dismounting tool 21 is preferentially inserted into the idle installation insertion groove 14 on one side, and the elastic anti-falling clamp 16 can be used to basically clamp the dismounting tool 21 by using the elasticity of the elastic anti-falling clamp 16, thereby avoiding the dismounting tool 21 from falling off.

[0022] The second embodiment is based on the first embodiment. The volume of the disassembly and assembly quick-cut slide 13 is equal to two-thirds of the interior of the disassembly and assembly quick-cut guide frame 5; a connecting slide 6 is opened at the center position of the upper and lower sides of the disassembly and assembly quick-cut guide frame 5; the outer end of the guide slide 7 is fixedly installed with a limit stop plate; the inner end of the push transmission protrusion 9 is an inclined structure; the push transmission protrusion 9 is also slidably installed in the interior of the connecting slide 6; the inner side of the push transmission slide plate 8 is embedded with one end of the return spring A10; the other end of the return spring A10 is embedded and installed on the outer wall of the disassembly and assembly quick-cut guide frame 5; the bottom of the force conversion inclined groove 11 is an inclined structure; the left end of the switching transmission screw 12 is rotatably connected to the right end of the disassembly and assembly quick-cut slide 13; the internal front end of the installation slot 14 is provided with a mounting clamping groove 15; the interior of the mounting clamping groove 15 is fixedly installed with an elastic anti-falling splint 16; the elastic anti-falling splint 16 is an inclined structure; the outer end of the limit plug 18 is an inclined structure, and the rotation switching transmission screw 12, The new disassembly tool 21 is then released from the original position and the new disassembly tool 21 is released from the original position.

[0023] Embodiment 3, on the basis of embodiment 2, the embedded push plate 19 is also slidably installed in the inside of the contraction slide 17; one end of the restoring spring B20 is embedded in the outer side of the embedded push plate 19; the other end of the restoring spring B20 is embedded in the inside of the contraction slide 17; when the disassembly and assembly tool 21 is inserted into the inside of the installation slot 14, it will preferentially push and pass through the elastic anti-falling splint 16; after the tail end of the disassembly and assembly tool 21 passes through the elastic anti-falling splint 16, the elastic anti-falling splint 16 will clamp the tail end of the disassembly and assembly tool 21; the inner end of the limit plug plate 18 located between the two pushing transmission protrusions 9 is inserted into the inside of the disassembly and assembly slot 22; the switching transmission screw 12 rotates to move the disassembly and assembly quick-cut slide 13 to the right, and after the disassembly and assembly quick-cut slide 13 moves to the right, the pushing transmission protrusion 9 will cancel the right limit plug plate When the detachable disassembly base 4 needs to be disassembled from the robot arm body 1, it is only necessary to loosen the bolts locking the detachable disassembly base 4 and then slide the detachable disassembly base 4 outward along the pushing pressure guide plate 3. After the detachable disassembly base 4 is separated from the connecting base 2, the pushing pressure guide plate 3 will also cancel the pushing of the inclined surface of the force conversion inclined groove 11, so that the pushing transmission slide plate 8 moves outward with the pushing transmission protrusion 9 under the action of the return spring A10, so that the pushing transmission protrusion 9 is separated from the internal area of ​​the disassembly quick-cut guide frame 5 by moving outward, thereby not continuing to push any limit plate 18, so that when the detachable disassembly base 4 is separated from the robot arm body 1, the positioning of the disassembly tool 21 will also be canceled at the same time.

[0024] The working principle of the embodiment is as follows: the execution end of the mechanical arm body 1 is started, the execution end drives the disassembling tool 21 to contact with the screw of the sheet metal part, the screw is tightened or loosened through the rotating action, so that the disassembling work of the sheet metal part is completed, when the disassembling tool 21 is damaged, the new tool is inserted into the idle installation slot 14 first, the elastic anti-falling clamping plate 16 preliminarily clamps the new tool by using the elasticity of the elastic anti-falling clamping plate 16, so as to prevent the new tool from falling off, then the rotating switching transmission screw 12 is rotated, the disassembling quick switching sliding seat 13 is driven to move to the right, so that the damaged tool moves to the right and is separated from the middle position of the disassembling quick switching guide frame 5, at the same time, the new tool moves to the right and enters the middle position of the disassembling quick switching guide frame 5, at this time, the limiting plate 18 for fixing the damaged tool is reset from the inside of the disassembling clamping groove 22 of the damaged tool under the action of the restoring spring B 20, and the limiting plate 18 for fixing the new tool is pushed by the pushing transmission protrusion 9 and is inserted into the disassembling clamping groove 22 of the new tool, so that the fixing and installation of the new tool are completed, when it is needed to disassemble the detachable disassembling base 4 from the mechanical arm body 1, only the bolt for locking the detachable disassembling base 4 is loosened, then the detachable disassembling base 4 is slid outward along the pushing type pressure guide plate 3, after the detachable disassembling base 4 is separated from the connecting base 2, the pushing type pressure guide plate 3 no longer pushes the inclined surface of the stress conversion inclined groove 11, the pushing transmission sliding plate 8 moves outward under the action of the restoring spring A 10, so that the pushing transmission protrusion 9 is separated from the inner region of the disassembling quick switching guide frame 5, so that the pushing of any limiting plate 18 is cancelled, and the positioning of the disassembling tool 21 is cancelled.

[0025] In this paper, the following points need to be noted: 1. The drawings of the embodiment of the present application only relate to the structures involved in the embodiment of the present application, and other structures can refer to the general design.

[0026] 2. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined to obtain new embodiments.

[0027] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A sheet metal disassembly and assembly robotic arm, comprising: The mechanical arm body is fixedly installed with a connecting base on the final execution end of the mechanical arm body; the front end of the connecting base is fixedly installed with a push-type pressure guide plate; the push-type pressure guide plate is slidably installed with a detachable disassembly base; the detachable disassembly base is also fixedly installed on the connecting base by bolts; it is characterized in that the front side of the detachable disassembly base is fixedly installed with a disassembly quick-cut guide frame; the interior of the disassembly quick-cut guide frame is slidably installed with a disassembly quick-cut slide; the upper and lower sides of the disassembly quick-cut guide frame are fixedly installed with guide slides; a push-type pressure guide plate is slidably installed on the guide slide Transmission slide; a pushing transmission protrusion is fixedly installed on the inner end of the pushing transmission slide; a force conversion inclined groove is provided on the top rear side of the pushing transmission slide; a switching transmission screw is rotatably installed on the right side of the disassembly and assembly quick-cut guide frame; two installation slots are symmetrically provided on the front side of the disassembly and assembly quick-cut slide; contraction slides are provided at the upper and lower ends of the interior of the installation slot; a limit plug-in plate is installed in the inner sliding of the contraction slide; an embedded push plate is fixedly installed on the outer wall of the limit plug-in; a disassembly tool is inserted into the interior of the installation slot; a disassembly slot is provided at the tail end of the disassembly tool.

2. A sheet metal disassembly and assembly robotic arm according to claim 1, characterized in that: The volume of the disassembly and assembly quick-cut slide is equal to two-thirds of the interior of the disassembly and assembly quick-cut guide frame; a connecting slide groove is provided at the center position of the upper and lower sides of the disassembly and assembly quick-cut guide frame.

3. The sheet metal disassembly and assembly robot according to claim 2, characterized in that: The outer end of the guide slide bar is fixedly mounted with a limit stop plate; the inner end of the push transmission protrusion is in an inclined structure.

4. A sheet metal disassembly and assembly robotic arm according to claim 3, characterized in that: The push transmission protrusion is also slidably installed inside the connecting slide; one end of the return spring A is embedded and installed on the inner side of the push transmission slide; the other end of the return spring A is embedded and installed on the outer wall of the disassembly and assembly quick-cut guide frame.

5. The sheet metal disassembly and assembly robot according to claim 4, characterized in that: The bottom of the force conversion inclined groove is in an inclined structure; the left end of the switching transmission screw is rotatably connected to the right end of the disassembly and assembly quick-cut slide.

6. The sheet metal disassembly and assembly robot according to claim 5, characterized in that: The front end of the mounting slot is provided with a mounting clip groove; an elastic anti-falling splint is fixedly installed inside the mounting clip groove; the elastic anti-falling splint is an inclined structure; the outer end of the limiting plug plate is an inclined structure.

7. The sheet metal disassembly and assembly robot according to claim 6, characterized in that: The embedded push plate is also slidably installed inside the contraction chute; one end of the restoring spring B is embedded and installed on the outer side of the embedded push plate; the other end of the restoring spring B is embedded and installed inside the contraction chute.

8. The sheet metal disassembly and assembly robot according to claim 7, characterized in that: When the disassembly tool is inserted into the installation slot, it will first push and pass through the elastic anti-falling splint; after the tail end of the disassembly tool passes through the elastic anti-falling splint, the elastic anti-falling splint will clamp the tail end of the disassembly tool.

9. The sheet metal disassembly and assembly robot according to claim 8, characterized in that: The inner end of the limit plug plate located between the two push transmission protrusions is inserted into the inside of the disassembly and assembly slot; the switching transmission screw rotates and drives the disassembly and assembly quick-cut slide to move to the right.

10. The sheet metal disassembly and assembly robot according to claim 9, characterized in that: After the disassembling and assembling quick-cutting slide moves to the right, the pushing transmission protrusion will push the left limit plugging plate while canceling the pushing of the right limit plugging plate.

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