Multi-joint flexible arm robot for installation of refrigeration equipment

Abstract

The invention relates to the technical field of assembly robots, in particular to a multi-joint flexible arm robot for mounting refrigeration equipment, which comprises a base, supporting legs are fixedly mounted at the top of the base at equal intervals in an annular arrangement manner, a top seat is fixedly mounted at the tops of the supporting legs, and an outer ring rail is fixedly mounted on the outer side of the top seat; and a plurality of displacement mechanisms are movably connected to the interior of the outer ring rail. By arranging the transverse moving module, the longitudinal moving module and the angle adjusting module, the transverse moving module drives the mechanical arm to transversely move, the longitudinal moving module achieves height adjustment, the angle adjusting module adjusts the operation angle, and the rotating disc and the universal balls assist in angle adjustment more smoothly. The posture of the mechanical arm can be flexibly adjusted in the use period, and all assembly areas of equipment are covered. Therefore, the effect that the mechanical arm flexibly adapts to the assembly requirement in multiple dimensions is achieved, and the problems that in the prior art, the position of a robot manipulator is fixed, posture adjustment is limited, and the robot manipulator cannot adapt to different assembly parts are solved.

Description

Technical Field

[0001] The present application relates to the technical field of assembly robots, and in particular to a multi-joint flexible arm robot for installing refrigeration equipment. Background Art

[0002] Among the current refrigeration equipment assembly technologies, the traditional manual assembly model has significant shortcomings. Due to the large number of refrigeration equipment parts and complex connections, precise manual operations are required for tasks such as docking the compressor with the pipeline and fixing the condenser. This requires extremely high worker proficiency, resulting in high training costs and inconsistent assembly accuracy due to differences in manual operation, which affects the stability of equipment performance. Furthermore, manual assembly relies on continuous physical output, and fatigue can lead to decreased efficiency after long hours of work. The daily assembly volume is limited, and 24-hour continuous production cannot be achieved, making it difficult to adapt to large-scale production needs. Furthermore, labor costs continue to rise with industry development, significantly increasing companies' production costs in the long run. The robot-assisted assembly technology used by some companies also has obvious limitations. The manipulators of current robotic assembly equipment are mostly fixed in specific workstations, and their range of motion is limited by the mechanical structure. When it is necessary to assemble components in different positions of the refrigeration equipment, such as connecting the side pipes of the evaporator and installing the top circuit plug-in, the equipment body needs to be frequently moved or the assembly station needs to be changed. This not only increases the complexity of the process, but also easily affects the assembly accuracy due to equipment positioning deviation. In addition, most auxiliary equipment is only equipped with a single robotic arm. When faced with the need to assemble multiple components simultaneously, such as fixing the compressor and pre-installing the pipes at the same time, these operations can only be performed sequentially, resulting in a longer assembly cycle and limited improvement in production efficiency. In addition, existing assembly technology is insufficient in adaptability. Different models of refrigeration equipment have differences in component sizes and installation positions. Traditional manual assembly requires re-familiarization with the process, and robot-assisted equipment requires a lot of time to debug the program, making it difficult to quickly switch production specifications. At the same time, the assembly process lacks real-time detection and feedback mechanisms. For example, the sealing performance of the pipeline needs to be tested through a special process after the assembly is completed. If problems are found, the pipeline needs to be disassembled and reworked, which further increases production costs and time costs. These defects make it difficult for existing technologies to meet the efficient, precise and flexible assembly needs of refrigeration equipment. Summary of the Invention

[0003] In order to improve the assembly convenience and efficiency during the application of existing technologies, the present application provides a multi-joint flexible arm robot for installing refrigeration equipment.

[0004] The present application provides a multi-joint flexible arm robot for refrigeration equipment installation, which adopts the following technical solution: it includes a base, support legs are fixedly installed on the top of the base in a ring-shaped arrangement at equal intervals, a top seat is fixedly installed on the top of the support legs, an outer ring rail is fixedly installed on the outside of the top seat, and a plurality of displacement mechanisms are movably connected to the inside of the outer ring rail, an adjustable mechanical arm is fixedly installed on the top of the displacement mechanism, a clamping mechanism is fixedly installed on the end of the adjustable mechanical arm, and an equipment positioning mechanism is fixedly installed on the top of the top seat; The adjustable robotic arm includes a transverse movement module, which is fixedly installed on the top of the displacement mechanism. A longitudinal movement module is fixedly installed on the top of the moving end of the transverse movement module. An angle adjustment module is fixedly installed on the moving end of the longitudinal movement module. The clamping mechanism is fixedly installed on the outer end of the angle adjustment module.

[0005] Optionally, the displacement mechanism includes a slider, which is slidably connected to the inside of the outer ring rail, a driving component is fixedly installed on the outside of the slider, a base is fixedly installed on the top of the driving component, and the transverse module is fixedly installed on the top of the base.

[0006] Optionally, the driving assembly includes a supporting plate and a gear ring, the supporting plate is fixedly mounted on the outside of the slider, a base frame is fixedly mounted on the top of the supporting plate, the base frame is fixedly mounted on the top of the supporting plate, a first motor is fixedly mounted inside the base frame, the output end of the first motor passes through the base frame and a gear is fixedly mounted, the gear ring is fixedly mounted on the bottom of the outer ring rail, the gear and the gear ring are meshed and connected, and the transverse movement module is fixedly mounted on the top of the base frame.

[0007] Optionally, the transverse movement module includes a rail frame, which is fixedly mounted on the top of the base frame, and both ends of the inner part of the rail frame are rotatably connected to transmission wheels, and a second motor is fixedly mounted on one end of the outer side of the rail frame, and the output end of the second motor is fixedly connected to one side of a transmission wheel, and the transmission wheels are connected via a transmission belt. A movable frame is fixedly mounted on the top of the rail frame, and the movable frame is fixedly mounted on the top of the rail frame. A movable block is slidably connected to the inside of the movable frame, and the bottom of the movable block is fixedly connected to the top of the transmission belt, and the longitudinal movement module is fixedly mounted on the top of the movable block.

[0008] Optionally, the longitudinal movement module includes a fixed seat, which is fixedly installed on the top of the movable block, a third motor is fixedly installed inside the fixed seat, a turntable is fixedly installed on the output end of the third motor, a longitudinal movement component is fixedly installed on the top of the turntable, and legs are fixedly installed on the bottom of the turntable in a ring shape with equal intervals, and the bottom of the leg is rotatably connected to a universal ball, and the bottom of the universal ball and the top of the fixed seat are in a rolling connection.

[0009] Optionally, the longitudinal movement assembly includes a vertical rail, which is fixedly mounted on the top of the turntable, and a fourth motor is fixedly mounted on the top of the vertical rail. The output end of the fourth motor passes through the vertical rail and is fixedly mounted with a first screw rod, the outer surface of the first screw rod is threadedly connected to a sliding block, and the sliding block is slidably connected to the inside of the vertical rail, a connecting frame is fixedly mounted on one side of the sliding block, and the angle adjustment module is fixedly mounted on the outer end of the connecting frame.

[0010] Optionally, the angle adjustment module includes a mounting frame, which is fixedly mounted on the outer end of the connecting frame, a fifth motor is fixedly mounted on one side of the mounting frame, the internal rotation of the mounting frame is connected to the first electric push rod, the output end of the fifth motor passes through the mounting frame and is fixedly connected to one side of the first electric push rod, and the clamping mechanism is fixedly mounted on the output end of the first electric push rod.

[0011] Optionally, the clamping mechanism includes a sleeve, which is fixedly mounted on the output end of the first electric push rod, and a sixth motor is fixedly mounted inside the sleeve, and a guide rail is fixedly mounted on the bottom output end of the sixth motor, and the guide rail is fixedly mounted on the bottom output end of the first electric push rod, and a seventh motor is fixedly mounted on one end of the interior of the guide rail, and a second screw rod is fixedly mounted on the output end of the seventh motor through the guide rail, and the second screw rod is rotatably connected to the interior of the guide rail, and the threads at both ends of the second screw rod have opposite rotation directions, and both ends of the second screw rod are threadedly connected to displacement blocks, and the displacement block is slidably connected to the internal ends of the guide rail, and a clamping plate is fixedly mounted on the bottom of the displacement block, and the inner side of the clamping plate is provided with anti-slip grooves arranged linearly at equal intervals.

[0012] Optionally, the equipment positioning mechanism includes a bearing seat, which is fixedly installed in the middle of the top of the top seat. A groove is opened in the middle of the top of the bearing seat, and a second electric push rod is fixedly installed inside the groove. The output end of the second electric push rod passes through the bearing seat and is fixedly installed with a connecting plate, and a placement plate for the equipment to be assembled is fixedly installed on the top of the connecting plate.

[0013] Optionally, fixing plates are fixedly installed on both sides of the top of the bearing seat, a third electric push rod is fixedly installed on the upper end of the fixing plate, and a positioning clamp of the equipment to be assembled is fixedly installed on the output end of the third electric push rod.

[0014] In summary, this application has the following beneficial technical effects: 1. The technical solution is applied during the period, through the setting of the equipment positioning mechanism, with the help of the telescopic movement of the second electric push rod, the connecting plate and the equipment to be assembled plate are moved forward and backward, the equipment is moved, at the same time, the third electric push rod pushes the equipment to be assembled positioning clamp plate, the equipment is clamped and fixed from both sides, the bearing seat provides a stable foundation for the whole positioning mechanism, and the fixed plate ensures the installation firmness and stable transmission of the third electric push rod, so that the equipment to be assembled can be accurately moved to the specified assembly position during use, and the equipment is clamped and fixed to avoid displacement or shaking during assembly process, thereby achieving the effect of greatly improving the equipment positioning accuracy and stability, solving the problem of low assembly precision and high rework rate caused by equipment positioning depending on experience in manual assembly in the prior art; 2. The technical solution is applied during the period, through the setting of the horizontal movement module, the vertical movement module, the angle adjustment module and the displacement mechanism, the horizontal movement module relies on the second motor to drive the transmission wheel, which drives the movable block to slide horizontally along the rail frame, realizing the left and right position adjustment of the mechanical arm; the vertical movement module drives the first screw to rotate through the fourth motor, so that the sliding block moves up and down along the vertical rail, completing the height adjustment; the angle adjustment module is driven by the fifth motor to rotate the first electric push rod, which cooperates with the support of the mounting frame to realize the angle adjustment of the clamping mechanism, and the cooperation of the turntable and the universal ball can also reduce the friction resistance during angle adjustment; the displacement mechanism drives the gear and the gear ring to mesh through the first motor, which drives the sliding block to slide in the annular rail, realizing the rotary adjustment of the adjustable mechanical arm around the top seat, so that the transverse position, vertical height, working angle and surrounding track of the mechanical arm can be flexibly adjusted during use, covering all assembly areas of the refrigeration equipment, and even realizing the cooperative work of multiple mechanical arms, thereby achieving the effect of multi-dimensional and full-range flexible adaptation of the mechanical arm to different assembly parts, solving the problem of limited position and limited posture adjustment range of the robot manipulator in the prior art, which is difficult to adapt to different assembly positions of the equipment; 3. The technical solution is applied during the period, through the setting of the clamping mechanism, the seventh motor drives the second screw to rotate, since the thread directions of the screw at both ends are opposite, the displacement block and the clamping plate can be accurately opened and closed, the sleeve seat provides stable installation support for the components of the clamping mechanism, and the anti-skid groove on the inner side of the clamping plate can increase the friction force with the parts, preventing the parts from falling off during grabbing, so that different sizes of parts can be accurately grabbed during use, and can be kept stable during movement, and can be accurately loosened for installation during assembly, thereby achieving the effect of firm part grabbing, stable movement and accurate assembly positioning, solving the problem of large installation position deviation affecting equipment assembly quality caused by part falling off during assembly in the prior art; 4. During the application of this technical solution, it is possible to coordinate the work by setting up multiple adjustable robotic arms. Each robotic arm can move along the outer ring rail driven by the displacement mechanism, cooperate with the movement of the lateral, longitudinal and angle adjustment modules, and assemble different areas of the equipment at the same time. After completing the operation, each mechanism can quickly reset through forward and reverse movement to prepare for the next assembly. The base and support legs provide stable support for the entire device to ensure that the overall structure does not shake during the operation, so that the assembly of multiple devices can be completed continuously during use, greatly shortening the assembly time of a single device, thereby achieving the effect of significantly improving assembly efficiency and meeting the needs of large-scale production, and solving the problems of low efficiency and inability to work continuously in manual assembly in the existing technology, as well as poor continuity in single robotic arm assisted assembly, which is difficult to adapt to mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of the embodiment of the present application; Figure 2 This is a schematic diagram of the structure when viewed from above in an embodiment of the present application; Figure 3 This is a schematic diagram of the top view of the device positioning mechanism in the expanded state in the embodiment of the present application; Figure 4 This is a bottom-up structural diagram of the device positioning mechanism in the expanded state in an embodiment of the present application; Figure 5 This is a schematic diagram of the top view of the adjustable robotic arm in an embodiment of the present application; Figure 6 This is a schematic diagram of the upward-looking structure of the adjustable robotic arm in an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of the transverse movement module in the split state in the embodiment of the present application; Figure 8 It is a schematic diagram of the structure of the equipment positioning mechanism in the embodiment of the present application.

[0016] Figure numerals: 1, base; 2, supporting legs; 3, top seat; 4, outer ring rail; 5, displacement mechanism; 51, slider; 52, driving assembly; 521, bearing plate; 522, gear ring; 523, bottom frame; 524, first motor; 525, gear; 53, base frame; 6, adjustable robotic arm; 61, transverse movement module; 611, rail frame; 612, transmission wheel; 613, second motor; 614, transmission belt; 615, movable frame; 616, movable block; 62, longitudinal movement module; 621, fixed seat; 622, third motor; 623, turntable; 624, longitudinal movement assembly; 6241, vertical rail; 6242, fourth motor; 6243, first Screw rod; 6244, sliding block; 6245, connecting frame; 625, support leg; 626, universal ball; 63, angle adjustment module; 631, mounting frame; 632, fifth motor; 633, first electric push rod; 7, clamping mechanism; 71, sleeve; 72, sixth motor; 73, guide rail; 74, seventh motor; 75, second screw rod; 76, displacement block; 77, clamping plate; 78, anti-slip groove; 8, equipment positioning mechanism; 81, bearing seat; 82, trough body; 83, second electric push rod; 84, connecting plate; 85, placement plate for equipment to be assembled; 86, fixing plate; 87, third electric push rod; 88, positioning splint for equipment to be assembled. DETAILED DESCRIPTION

[0017] The following is combined with Figure 1-8 This application is described in further detail.

[0018] The present application discloses a multi-joint flexible arm robot for installing refrigeration equipment. Figure 1-8 As shown, it includes a base 1, support legs 2 are fixedly installed on the top of the base 1 in a ring shape at equal intervals, a top seat 3 is fixedly installed on the top of the support legs 2, an outer ring rail 4 is fixedly installed on the outside of the top seat 3, and a plurality of displacement mechanisms 5 are movably connected inside the outer ring rail 4, an adjustable mechanical arm 6 is fixedly installed on the top of the displacement mechanism 5, a clamping mechanism 7 is fixedly installed on the end of the adjustable mechanical arm 6, and an equipment positioning mechanism 8 is fixedly installed on the top of the top seat 3; The adjustable robotic arm 6 includes a transverse movement module 61, which is fixedly installed on the top of the displacement mechanism 5. A longitudinal movement module 62 is fixedly installed on the top of the moving end of the transverse movement module 61, and an angle adjustment module 63 is fixedly installed on the moving end of the longitudinal movement module 62. The clamping mechanism 7 is fixedly installed on the outer end of the angle adjustment module 63. During the application of this device, its base 1 provides stable support for the top seat 3 through the support legs 2, and the outer ring rail 4 outside the top seat 3 provides a movable track for the displacement mechanism 5. The displacement mechanism 5 can drive the adjustable robotic arm 6 to move along the outer ring rail 4, thereby adjusting the surrounding position of the adjustable robotic arm 6, so that multiple adjustable robotic arms 6 can respectively correspond to different assembly areas of the refrigeration equipment, thereby improving the operation coverage range. When the adjustable robotic arm 6 is working, the transverse movement module 61 can drive the longitudinal movement module 62, the angle adjustment module 63 and the clamping mechanism 7 to move laterally to adjust the water The working position in the horizontal direction; the longitudinal movement module 62 can drive the angle adjustment module 63 and the clamping mechanism 7 to move longitudinally on the basis of the transverse movement module 61 to change the working height; the angle adjustment module 63 can adjust the working angle of the clamping mechanism 7 so that the clamping mechanism 7 can dock the assembly part at a suitable angle. The clamping mechanism 7 is used to grab the parts to be assembled and move the parts to the designated assembly position under the coordinated action of each module to complete the installation operation. The equipment positioning mechanism 8 can fix the refrigeration equipment to be assembled to avoid the equipment shifting during the assembly process affecting the accuracy. Through the cooperation of the displacement mechanism 5 and the modules of the adjustable robotic arm 6, it can flexibly adapt to the assembly requirements of different positions of the refrigeration equipment and reduce the limitations brought by the fixed position of the robotic arm. The simultaneous operation of multiple adjustable robotic arms 6 can also improve the assembly efficiency, solving the problems of poor adaptability and low efficiency of existing assembly equipment.

[0019] Please refer to Figures 1-4 and Figure 8The equipment positioning mechanism 8 includes a bearing seat 81, which is fixedly installed in the middle of the top of the top seat 3. A groove body 82 is opened in the middle of the top of the bearing seat 81, and a second electric push rod 83 is fixedly installed inside the groove body 82. The output end of the second electric push rod 83 passes through the bearing seat 81 and is fixedly installed with a connecting plate 84. The top of the connecting plate 84 is fixedly installed with a placement plate 85 for the equipment to be assembled. Fixed plates 86 are fixedly installed on both sides of the top of the bearing seat 81, and a third electric push rod 87 is fixedly installed on the upper end of the fixing plate 86. The output end of the third electric push rod 87 is fixedly installed with a positioning clamping plate 88 for the equipment to be assembled. During the application of this device, its equipment positioning mechanism 8 realizes the precise transfer and firm fixation of the refrigeration equipment to be assembled through a series of coordinated actions. When the equipment to be assembled needs to be placed, the second electric push rod 83 inside the groove body 82 of the bearing seat 81 is started and extended, and its output end drives the placement plate 85 for the equipment to be assembled to move outward through the connecting plate 84, so that the operator can place the equipment smoothly After the equipment is properly placed on the placement plate, the second electric push rod 83 retracts, and the connecting plate 84 drives the placement plate and the equipment to move inward until the equipment reaches the assembly position in the middle of the top of the top seat 3, ensuring that the equipment is in the preset assembly reference point. At this time, the third electric push rod 87 on the upper end of the fixed plates 86 on both sides of the top of the support seat 81 is started, and its output end pushes the positioning clamping plate 88 of the equipment to be assembled to move inward. The two positioning clamping plates gradually approach from both sides of the equipment and fit tightly against the outer wall of the equipment to achieve clamping and fixing of the equipment. This combination of transfer and fixation can ensure that the equipment is always in a stable state during the entire assembly process and will not be displaced or shaken due to external forces. At the same time, through the precise drive of the electric push rod, the precise control of the equipment transfer position can be achieved, avoiding positioning deviations caused by experience differences during manual placement, providing a reliable position reference for the subsequent assembly operations of each robotic arm, effectively reducing assembly errors caused by inaccurate equipment positioning, and improving overall assembly accuracy and efficiency.

[0020] Please refer to Figure 5-Figure 7The traverse module 61 includes a rail frame 611, which is fixedly mounted on the top of the base frame 53. Both ends of the rail frame 611 are rotatably connected to transmission wheels 612. A second motor 613 is fixedly mounted on the outer end of the rail frame 611. The output end of the second motor 613 is fixedly connected to one side of a transmission wheel 612. The transmission wheels 612 are connected through a transmission belt 614. A movable frame 615 is fixedly mounted on the top of the rail frame 611. The movable frame 615 is fixedly mounted on the top of the rail frame 611. The inner portion of the movable frame 615 is fixedly mounted on the outer end of the rail frame 611. The sliding connection is provided with a movable block 616, the bottom of the movable block 616 is fixedly connected to the top of the transmission belt 614, and the longitudinal movement module 62 is fixedly installed on the top of the movable block 616. During the application of this device, its transverse movement module 61 starts to operate when it is necessary to adjust the transverse position of the adjustable robot arm 6. After the second motor 613 is started, its output end drives the transmission wheel 612 connected thereto to rotate. Since the two transmission wheels 612 are connected through the transmission belt 614, the other transmission wheel 612 rotates synchronously therewith, so that the transmission belt 614 rotates on the rail frame 611. Internal circular motion, the bottom of the movable block 616 is fixedly connected to the transmission belt 614, and the movable block 616 is slidably connected to the inside of the movable frame 615. The movement of the transmission belt 614 drives the movable block 616 to slide horizontally along the movable frame 615, thereby driving the longitudinal movement module 62 installed on the top of the movable block 616 to move synchronously. The rail frame 611 provides installation and movement space for the transmission wheel 612 and the transmission belt 614, and the movable frame 615 plays a guiding and limiting role for the sliding of the movable block 616, ensuring that the movement process of the movable block 616 is smooth and accurate. This method of achieving lateral movement through transmission by the transmission belt 614 can enable the longitudinal movement module 62 and the subsequent angle adjustment module 63 and the clamping mechanism 7 to flexibly adjust their positions in the lateral direction, and can be accurately aligned according to the assembly requirements of different lateral positions of the refrigeration equipment, further expanding the operating coverage of the robot arm, avoiding the problem of being unable to adapt to different assembly points due to fixed lateral positions, and cooperating with the circumferential movement of the displacement mechanism 5, making the position adjustment of the robot arm more flexible, which helps to improve the accuracy and efficiency of assembly.

[0021] Please refer to Figure 5-Figure 6The longitudinal moving module 62 comprises a fixed seat 621 fixedly installed on the top of the movable block 616, the inside of the fixed seat 621 is fixedly installed with a third motor 622, the output end of the third motor 622 is fixedly installed with a rotating disc 623, the top of the rotating disc 623 is fixedly installed with a longitudinal moving assembly 624, the bottom of the rotating disc 623 is fixedly installed with supporting legs 625 in a ring shape at equal intervals, the bottom of the supporting leg 625 is rotatably connected with a universal ball 626, the bottom of the universal ball 626 is rollingly connected with the top of the fixed seat 621, the longitudinal moving assembly 624 comprises an upright rail 6241 fixedly installed on the top of the rotating disc 623, the top of the upright rail 6241 is fixedly installed with a fourth motor 6242, the output end of the fourth motor 6242 penetrates through the upright rail 6241 and is fixedly installed with a first lead screw 6243, the outer surface of the first lead screw 6243 is threadedly connected with a sliding block 6244, the sliding block 6244 is slidably connected in the inside of the upright rail 6241, one side of the sliding block 6244 is fixedly installed with a connecting frame 6245, and the angle adjusting module 63 is fixedly installed on the outer end of the connecting frame 6245. During the application of the device, when it is necessary to adjust the longitudinal angle and height of the mechanical arm, the longitudinal moving module 62 starts to work, when it is necessary to adjust the horizontal angle, the third motor 622 starts to work, the output end of the third motor 622 drives the rotating disc 623 to rotate, the supporting legs 625 at the bottom of the rotating disc 623 rotate at the same time, the universal ball 626 at the bottom of the supporting leg 625 rolls on the top of the fixed seat 621, which reduces the friction resistance when the rotating disc 623 rotates, so that the rotating process is more stable and smooth, and then the longitudinal moving assembly 624 at the top and the angle adjusting module 63 are synchronously adjusted in angle to adapt to the assembly requirements in different directions, when it is necessary to adjust the height, the fourth motor 6242 in the longitudinal moving assembly 624 starts to work, the output end of the fourth motor 6242 drives the first lead screw 6243 to rotate, since the sliding block 6244 is threadedly connected with the first lead screw 6243 and slidably connected in the inside of the upright rail 6241, the rotation of the first lead screw 6243 will be converted into the up-and-down sliding of the sliding block 6244 along the upright rail 6241, the connecting frame 6245 on one side of the sliding block 6244 moves synchronously, so as to drive the angle adjusting module 63 and the clamping mechanism 7 to realize the adjustment in height, the upright rail 6241 provides stable guidance for the sliding of the sliding block 6244, and ensures that the height adjustment is accurate and controllable. The double adjustment functions in angle and height enable the longitudinal moving module 62 to drive the subsequent mechanisms to flexibly adapt to the assembly parts of the refrigeration equipment in different heights and angles, cooperate with the horizontal movement of the horizontal moving module 61 and the surrounding movement of the displacement mechanism 5, further expand the working range of the mechanical arm, improve the adaptation ability to complex assembly scenes, help to improve the precision and efficiency of assembly, and avoid the problem that a specific part cannot be assembled due to fixed angle or height.

[0022] Please refer to Figures 1-6The displacement mechanism 5 includes a slider 51, which is slidably connected to the inside of the outer ring rail 4. A driving component 52 is fixedly installed on the outside of the slider 51, and a base frame 53 is fixedly installed on the top of the driving component 52. The transverse module 61 is fixedly installed on the top of the base frame 53. The driving component 52 includes a bearing plate 521 and a gear ring 522. The bearing plate 521 is fixedly installed on the outside of the slider 51, and a base frame 523 is fixedly installed on the top of the bearing plate 521. The base frame 523 is fixedly installed on the top of the bearing plate 521. The inside of the base frame 523 A first motor 524 is fixedly installed, and a gear 525 is fixedly installed on the output end of the first motor 524 through the base frame 523. The gear ring 522 is fixedly installed at the bottom of the outer ring rail 4, and the gear 525 and the gear ring 522 are meshed and connected. The transverse module 61 is fixedly installed on the top of the base frame 523. During the application of this device, its displacement mechanism 5 is connected to the outer ring rail 4 through the cooperation of the slider 51. When the surrounding position of the adjustable robot arm 6 needs to be adjusted, the driving component 52 starts to operate. After the first motor 524 is started, its output end The gear 525 is driven to rotate. Since the gear 525 and the gear ring 522 are meshed with each other, and the gear ring 522 is fixed to the bottom of the outer ring rail 4, the rotation of the gear 525 is converted into the sliding of the slider 51 along the inner part of the outer ring rail 4, thereby driving the bearing plate 521, the base frame 523 and the top transverse movement module 61 to move synchronously. In this process, the bearing plate 521 provides a stable installation foundation for the base frame 523 and the first motor 524, and the base frame 523 further strengthens the stability of the overall structure, ensuring that the transverse movement module 61 does not shake when moving with the displacement mechanism 5. This method of transmission through the meshing of the gear 525 and the gear ring 522 can enable the adjustable robotic arm 6 to achieve accurate and smooth circular movement along the outer ring rail 4, allowing multiple adjustable robotic arms 6 to be flexibly distributed at different positions outside the top base 3 according to assembly requirements, corresponding to different assembly areas of the refrigeration equipment, effectively expanding the operation coverage and avoiding the problem of being unable to reach certain assembly parts due to the fixed position of the robotic arm. At the same time, it also creates conditions for multiple robotic arms to work together, which helps to improve the overall assembly efficiency.

[0023] Please refer to Figures 1-6The angle adjustment module 63 includes a mounting frame 631, which is fixedly mounted on the outer end of the connecting frame 6245. A fifth motor 632 is fixedly mounted on one side of the mounting frame 631. The interior of the mounting frame 631 is rotatably connected to a first electric push rod 633. The output end of the fifth motor 632 passes through the mounting frame 631 and is fixedly connected to one side of the first electric push rod 633. The clamping mechanism 7 is fixedly mounted on the output end of the first electric push rod 633. The clamping mechanism 7 includes a sleeve 71, which is fixedly mounted on the output end of the first electric push rod 633. A sixth motor 72 is fixedly mounted on the interior of the sleeve 71. A guide rail 73 is fixedly mounted on the bottom output end of the sixth motor 72. The rail 73 is fixedly mounted on the bottom output end of the first electric push rod 633, and a seventh motor 74 is fixedly mounted on one end of the inner part of the guide rail 73. The output end of the seventh motor 74 passes through the guide rail 73 and is fixedly mounted with a second screw rod 75. The second screw rod 75 is rotatably connected to the inner part of the guide rail 73. The threads at both ends of the second screw rod 75 are rotated in opposite directions. Both ends of the second screw rod 75 are threadedly connected to displacement blocks 76. The displacement blocks 76 are slidably connected to the inner ends of the guide rail 73. A clamping plate 77 is fixedly mounted on the bottom of the displacement block 76. The inner side of the clamping plate 77 is linearly arranged with anti-slip grooves 78 at equal intervals. During the application of this device, its angle adjustment module 63 and the clamping mechanism 7 work together to complete the grasping of parts. To adapt to the angle, when it is necessary to adjust the working angle of the clamping mechanism 7, the fifth motor 632 on one side of the mounting frame 631 is started, and its output end drives the first electric push rod 633 inside the mounting frame 631 to rotate, so that the first electric push rod 633 and the clamping mechanism 7 at the end change the angle accordingly, thereby adapting to the assembly position of the refrigeration equipment with different tilt angles, ensuring that the parts can dock with the assembly point in the correct posture. When the clamping mechanism 7 is working, the sixth motor 72 inside the sleeve 71 can drive the guide rail 73 to adjust its direction so that the clamping plate 77 is aligned with the parts to be grasped; then the seventh motor 74 inside the guide rail 73 is started, driving the second screw rod 75 to rotate. Since the threads at both ends of the second screw rod 75 rotate in opposite directions, The displacement blocks 76 at both ends will drive the clamping plates 77 to move toward each other to achieve clamping of the parts. The anti-slip grooves 78 on the inner side of the clamping plates 77 can increase the friction with the parts to prevent the parts from slipping during the grasping process. If the parts need to be loosened, the seventh motor 74 will run in the opposite direction, and the second screw rod 75 will drive the displacement blocks 76 and the clamping plates 77 to move in opposite directions. The coordination of this angle adjustment and clamping action allows the robotic arm to flexibly respond to the installation requirements of parts of different shapes and different assembly angles, and cooperate with the longitudinal movement module 62, the transverse movement module 61, etc. to further improve the accuracy and flexibility of assembly, avoid assembly errors caused by angle mismatch or unstable clamping, and effectively improve the overall assembly efficiency.

[0024] The implementation principle of the multi-joint flexible arm robot for installing refrigeration equipment in the embodiment of the present application is as follows: when the device is used, the second electric push rod 83 of the equipment positioning mechanism 8 is first started, and the output end of the second electric push rod 83 drives the placement plate 85 of the equipment to be assembled to move forward through the connecting plate 84. The supporting seat 81 serves as the basis of the entire positioning mechanism, providing a stable support for this translation action, ensuring that the placement plate is stable and without shaking during the movement process. At this time, the operator can place the refrigeration equipment to be assembled steadily on the top of the placement plate 85 of the equipment to be assembled. After the equipment is in place, the second electric push rod 83 is started again to retract it, and the connecting plate 84 then drives the placement plate to reset backward, and the refrigeration equipment is accurately moved to the top middle position of the top seat 3 for subsequent assembly operations. The industry finds the benchmark, and then starts the third electric push rod 87. The output end of the third electric push rod 87 pushes the positioning clamping plate 88 of the equipment to be assembled to move inward. The fixed plate 86 serves as the installation carrier of the third electric push rod 87 to ensure its stable thrust transmission. The positioning clamping plate 88 of the equipment to be assembled gradually approaches and fits from both sides of the equipment, thereby realizing auxiliary clamping and fixing of the refrigeration equipment, effectively avoiding the displacement of the equipment due to external force during the assembly process, and providing a basic guarantee for the assembly accuracy. Next, the first motor 524 of the displacement mechanism 5 is started, and the first motor 524 drives the gear 525 to rotate. The gear 525 engages with the gear ring 522 for transmission, and assists in driving the slider 51 to slide on the inner side of the annular rail, thereby flexibly adjusting each adjustable mechanical arm 6 to rotate around the top seat 3. The mechanical arm 6 itself can also rotate, which further improves the overall assembly adaptation performance and efficiency. On this basis, the transverse movement module 61 is adjusted to move outward to the outermost position. The rail frame 611 provides a guide track for the movable block 616 of the transverse movement module 61. The movable block 616 slides smoothly along the movable frame 615 to ensure that the transverse movement process is accurate and controllable. After that, the third motor 622 is started, and the third motor 622 drives the turntable 623 to start rotating. The support legs 625 at the bottom of the turntable 623 rotate synchronously with it, and the universal ball 626 at the bottom of the support legs 625 rolls in contact with the top of the fixed seat 621, reducing the friction resistance during rotation, so that the turntable 623 drives the top longitudinal movement component 624 and the angle adjustment module 63 to move smoothly to the outer area, reserving enough space for subsequent picking up of parts. The operating space is set to avoid interference between the robot arm and the equipment. After the adjustment is completed, the fourth motor 6242 of the longitudinal movement module 62 is started, and the output end of the fourth motor 6242 drives the first screw rod 6243 to rotate. Since the sliding block 6244 is threadedly connected to the first screw rod 6243 and is limited by the vertical rail 6241, the sliding block 6244 moves vertically downward along the vertical rail 6241, and the connecting frame 6245 moves synchronously with the sliding block 6244. At the same time, the first electric push rod 633 of the angle adjustment module 63 is started to extend it. The two work together to drive the clamping mechanism 7 to move downward until the clamping mechanism 7 reaches the placement of the parts to be assembled. At this time, the seventh motor 74 of the clamping mechanism 7 drives the second screw rod 75 to rotate. Since the threads at both ends of the second screw rod 75 rotate in opposite directions,The displacement block 76 drives the clamping plates 77 to move toward each other. The sleeve 71 provides a stable installation base for the various components of the clamping mechanism 7. The anti-slip groove 78 on the inner side of the clamping plate 77 enhances the friction with the parts, achieving accurate grasping of the parts and ensuring that the parts will not fall off during the transfer process. After picking up the parts, start the transverse movement module 61 and the longitudinal movement module 62 to reset, the second motor 613 of the transverse movement module 61 runs in reverse, drives the transmission wheel 612 to rotate in reverse, and the movable block 616 moves back inward along the movable frame 615; the fourth motor 6242 of the longitudinal movement module 62 rotates in reverse, and the first screw rod 6243 rotates in reverse accordingly, and the sliding block 6244 moves upward along the vertical rail 6241, and the parts clamped by the clamping mechanism 7 are smoothly transferred to the top area of ​​the equipment positioning mechanism 8. At the same time, the displacement mechanism 5 can operate again, and the first motor 524 drives the gear 525 to engage with the gear ring 522, driving the slider 51 to slide in the annular rail, and the adjustable The rotation position of the robot arm 6 around the top seat 3 is coordinated with the rotation of the robot arm itself, so that the parts can be more accurately aligned with the assembly point, and the fifth motor 632 of the angle adjustment module 63 is started. The output end of the fifth motor 632 drives the first electric push rod 633 to rotate, and the mounting frame 631 provides a stable support for this rotation action. By adjusting the angle of the first electric push rod 633, the clamping mechanism 7 is driven to rotate synchronously, so that the installation surface of the parts and the assembly position of the refrigeration equipment are completely matched. At this time, in conjunction with the height fine-tuning of the longitudinal movement module 62 and the lateral displacement of the transverse movement module 61, the fourth motor 6242 of the longitudinal movement module 62 rotates forward or reversely to drive the sliding block 6244 to fine-tune up and down , the second motor 613 of the transverse movement module 61 rotates forward or reverse to drive the movable block 616 to fine-tune left and right, flexibly adjust the spatial position of the parts, and accurately dock them to the assembly point, then start the seventh motor 74 to run in the reverse direction, drive the second screw rod 75 to rotate in the opposite direction, and the displacement block 76 drives the two clamping plates 77 to move outward to release the clamping of the parts. At this time, the installation operation can be completed. After the assembly operation is completed, the third electric push rod 87 is started to retract it. The output end of the third electric push rod 87 drives the positioning clamping plate 88 of the equipment to be assembled to move outward to release the clamping of the equipment; then start the second electric push rod 83, and its output end drives the equipment to be assembled through the connecting plate 84 The placement plate 85 moves forward to the outside, and the operator can remove the assembled refrigeration equipment. The entire assembly process is completed at this point. During the entire process, the base 1 provides stable support for the top seat 3 and all the components above it through the support legs 2 at the bottom, ensuring that the overall structure is not shaken when each mechanism is in operation. The flexible adjustment of the displacement mechanism 5 cooperates with the forward and reverse movements of the multiple adjustable robotic arms 6, and works together according to the preset program, which not only realizes the precise grasping and installation of parts, but also completes the reset of each mechanism through reverse movement, preparing for the next assembly, greatly shortening the assembly time of a single device, effectively improving the assembly efficiency, and meeting the needs of large-scale production.

[0025] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A multi-joint flexible arm robot for refrigeration equipment installation, characterized in that; The invention comprises a base (1), support legs (2) are fixedly mounted on the top of the base (1) in a circular arrangement at equal intervals, a top seat (3) is fixedly mounted on the top of the support legs (2), an outer ring rail (4) is fixedly mounted on the outside of the top seat (3), a plurality of displacement mechanisms (5) are movably connected inside the outer ring rail (4), an adjustable mechanical arm (6) is fixedly mounted on the top of the displacement mechanism (5), a clamping mechanism (7) is fixedly mounted on the end of the adjustable mechanical arm (6), and an equipment positioning mechanism (8) is fixedly mounted on the top of the top seat (3); The adjustable robotic arm (6) includes a transverse movement module (61), the transverse movement module (61) is fixedly mounted on the top of the displacement mechanism (5), a longitudinal movement module (62) is fixedly mounted on the top of the moving end of the transverse movement module (61), an angle adjustment module (63) is fixedly mounted on the moving end of the longitudinal movement module (62), and the clamping mechanism (7) is fixedly mounted on the outer end of the angle adjustment module (63).

2. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 1, characterized in that: The displacement mechanism (5) comprises a slider (51), the slider (51) being slidably connected to the inside of the outer ring rail (4), a driving assembly (52) being fixedly mounted on the outside of the slider (51), a base frame (53) being fixedly mounted on the top of the driving assembly (52), and the transverse movement module (61) being fixedly mounted on the top of the base frame (53).

3. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 2, characterized in that: The driving assembly (52) includes a supporting plate (521) and a gear ring (522), wherein the supporting plate (521) is fixedly mounted on the outside of the slider (51), a base frame (523) is fixedly mounted on the top of the supporting plate (521), the base frame (523) is fixedly mounted on the top of the supporting plate (521), a first motor (524) is fixedly mounted inside the base frame (523), an output end of the first motor (524) passes through the base frame (523) and is fixedly mounted with a gear (525), the gear ring (522) is fixedly mounted on the bottom of the outer ring rail (4), the gear (525) and the gear ring (522) are meshed and connected, and the transverse movement module (61) is fixedly mounted on the top of the base frame (523).

4. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 3, characterized in that: The transverse movement module (61) includes a rail frame (611), the rail frame (611) is fixedly mounted on the top of the base frame (53), both ends of the rail frame (611) are rotatably connected to transmission wheels (612), a second motor (613) is fixedly mounted on the outer end of the rail frame (611), the output end of the second motor (613) is fixedly connected to one side of a transmission wheel (612), and the transmission wheels (612) are connected to each other through a transmission belt (614), a movable frame (615) is fixedly mounted on the top of the rail frame (611), the movable frame (615) is fixedly mounted on the top of the rail frame (611), a movable block (616) is slidably connected to the inside of the movable frame (615), the bottom of the movable block (616) is fixedly connected to the top of the transmission belt (614), and the longitudinal movement module (62) is fixedly mounted on the top of the movable block (616).

5. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 4, characterized in that: The longitudinal movement module (62) includes a fixed seat (621), the fixed seat (621) is fixedly mounted on the top of the movable block (616), a third motor (622) is fixedly mounted inside the fixed seat (621), a turntable (623) is fixedly mounted on the output end of the third motor (622), a longitudinal movement component (624) is fixedly mounted on the top of the turntable (623), and legs (625) are fixedly mounted on the bottom of the turntable (623) in a circular arrangement at equal intervals, a universal ball (626) is rotatably connected to the bottom of the leg (625), and the bottom of the universal ball (626) is in contact and rolling connection with the top of the fixed seat (621).

6. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 5, characterized in that: The longitudinal movement assembly (624) includes a vertical rail (6241), the vertical rail (6241) is fixedly mounted on the top of the turntable (623), a fourth motor (6242) is fixedly mounted on the top of the vertical rail (6241), an output end of the fourth motor (6242) passes through the vertical rail (6241) and is fixedly mounted with a first screw rod (6243), an outer surface of the first screw rod (6243) is threadedly connected to a sliding block (6244), the sliding block (6244) is slidably connected to the inside of the vertical rail (6241), a connecting frame (6245) is fixedly mounted on one side of the sliding block (6244), and the angle adjustment module (63) is fixedly mounted on the outer end of the connecting frame (6245).

7. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 6, characterized in that: The angle adjustment module (63) includes a mounting frame (631), the mounting frame (631) is fixedly mounted on the outer end of the connecting frame (6245), a fifth motor (632) is fixedly mounted on one side of the mounting frame (631), the interior of the mounting frame (631) is rotatably connected to a first electric push rod (633), an output end of the fifth motor (632) passes through the mounting frame (631) and is fixedly connected to one side of the first electric push rod (633), and the clamping mechanism (7) is fixedly mounted on the output end of the first electric push rod (633).

8. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 7, characterized in that: The clamping mechanism (7) includes a sleeve (71), the sleeve (71) is fixedly mounted on the output end of the first electric push rod (633), a sixth motor (72) is fixedly mounted inside the sleeve (71), a guide rail (73) is fixedly mounted on the bottom output end of the sixth motor (72), the guide rail (73) is fixedly mounted on the bottom output end of the first electric push rod (633), a seventh motor (74) is fixedly mounted on one end inside the guide rail (73), and the output end of the seventh motor (74) passes through The guide rail (73) is fixedly mounted with a second screw rod (75), which is rotatably connected to the inside of the guide rail (73), and the threads at both ends of the second screw rod (75) are rotated in opposite directions. Both ends of the second screw rod (75) are threadedly connected to displacement blocks (76), and the displacement blocks (76) are slidably connected to the inner ends of the guide rail (73). A clamping plate (77) is fixedly mounted on the bottom of the displacement block (76), and anti-slip grooves (78) are arranged linearly at equal intervals on the inner side of the clamping plate (77).

9. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 1, characterized in that: The equipment positioning mechanism (8) includes a bearing seat (81), the bearing seat (81) is fixedly installed in the middle of the top of the top seat (3), a slot body (82) is opened in the middle of the top of the bearing seat (81), a second electric push rod (83) is fixedly installed inside the slot body (82), the output end of the second electric push rod (83) passes through the bearing seat (81) and is fixedly installed with a connecting plate (84), and a device placement plate (85) to be assembled is fixedly installed on the top of the connecting plate (84).

10. The multi-joint flexible arm robot for refrigeration equipment installation according to claim 9, characterized in that: Fixed plates (86) are fixedly mounted on both sides of the top of the bearing seat (81), a third electric push rod (87) is fixedly mounted on the upper end of the fixed plate (86), and a positioning clamp (88) of the equipment to be assembled is fixedly mounted on the output end of the third electric push rod (87).

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