Double-mechanical-arm collaborative embedded part equipment

Abstract

The invention relates to the technical field of automation, and discloses double-mechanical-arm collaborative embedded part equipment which comprises a supporting frame, a clamping jaw and a mounting mechanism arranged at the bottom of the supporting frame and used for embedded part mounting of the equipment. The moving mechanism is installed in the supporting frame and used for controlling the clamping jaw to move, and a sliding column is slidably connected to the interior of the moving mechanism; the scrap blowing mechanism is mounted in the moving mechanism and used for blowing away scraps on the surfaces of the objects; the fixing mechanism is mounted in the sliding column and is used for mounting the clamping jaw; the fixing mechanism comprises a sliding ring. According to the clamping device, firstly, the sliding ring is controlled to slide, the wedge-shaped ring can be driven to slide, the clamping ball loses limitation, and therefore the clamping jaw can be inserted into the inserting groove, then the sliding ring is loosened, the wedge-shaped ring pushes the clamping ball to be inserted into the clamping groove in the outer wall of the clamping jaw, and therefore the clamping jaw is fixed into the sliding column, and the problem that the clamping jaw is inconvenient to replace is solved; and the clamping jaw replacement and installation convenience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, in particular to a double-robot arm cooperative embedding device. BACKGROUND

[0002] The robot arm embedding device refers to a series of embedded components and devices specially used for the installation and fixation of robot arms. These devices usually include foundation anchors embedded in the ground, support structures, connecting parts, and related fasteners. Their main function is to provide a stable and reliable installation foundation for robot arms, ensuring the stability and accuracy of the robot arms during operation.

[0003] The current robot arm embedding device has many inconveniences in actual operation, especially when it needs to be replaced. Due to design limitations or structural complexity, the replacement process of the clamping jaw is tedious and time-consuming, which seriously affects the maintenance efficiency of the device and the smoothness of the overall work process. This problem not only increases the labor intensity of the operators, but also may cause device failure due to untimely replacement or improper operation, thereby affecting production efficiency and product quality. SUMMARY

[0004] (I) Technical problems solved

[0005] In view of the shortcomings of the prior art, the present application provides a double-robot arm cooperative embedding device, which solves the problem of inconvenient replacement of the clamping jaw of the existing robot arm embedding device.

[0006] (II) Technical solutions

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a double-robot arm cooperative embedding device, comprising a support frame and a clamping jaw, an installation mechanism arranged at the bottom of the support frame for embedding installation of the device; a moving mechanism installed inside the support frame for controlling the movement of the clamping jaw, a sliding column is slidably connected inside the moving mechanism; a scrap blowing mechanism is installed inside the moving mechanism for blowing off the surface debris of the object; a fixing mechanism is installed inside the sliding column for installation of the clamping jaw; the fixing mechanism comprises a sliding ring, the sliding ring is slidably connected to the outer wall of the sliding column, a spring is sleeved on the outer wall of the sliding column, the spring is arranged inside the sliding ring, a wedge-shaped ring is fixedly connected to the inner wall of the sliding ring, a bowl-shaped groove is formed in the inside of the sliding column, a clamping ball is slidably connected in the inside of the bowl-shaped groove, an insertion slot is formed in the inside of the sliding column, the clamping jaw is slidably connected in the inside of the insertion slot, a clamping groove is formed in the outer wall of the clamping jaw, and the clamping ball can be clamped into the inside of the clamping groove.

[0008] Preferably, the moving mechanism comprises a sliding rod fixedly installed inside the support frame, a sliding frame slidingly connected to the outer wall of the sliding rod, and an electric sliding rail fixedly connected to the outer wall of the sliding frame.

[0009] Preferably, the top of the sliding frame is rotationally connected with a lead screw, the outer wall of the sliding frame is slidingly connected with a movable frame, the movable frame is threadedly connected with the lead screw, the top of the sliding frame is fixedly connected with an electric motor, and the output end of the electric motor is fixedly connected with the lead screw.

[0010] Preferably, the inner part of the movable frame is fixedly connected with an air cylinder, the output end of the air cylinder is fixedly connected with a connecting rod, and the bottom of the connecting rod is fixedly connected to the top of the sliding column.

[0011] Preferably, the blowing mechanism comprises a connecting plate and a blowing pipe, the blowing pipe is installed on one side of the inner part of the connecting plate, and the other side of the connecting plate is fixedly connected to the outer wall of the sliding column.

[0012] Preferably, the inner part of the blowing pipe is fixedly connected with a connecting air pipe, one end of the connecting air pipe is fixedly connected with a piston pipe, and the piston pipe is fixedly connected to the outer wall of the movable frame.

[0013] Preferably, the inner part of the piston pipe is slidingly connected with a piston plate, the top of the piston plate is fixedly connected with a push-pull rod, the top of the push-pull rod is fixedly connected with a side plate, and one side of the side plate is fixedly connected to the outer wall of the connecting rod.

[0014] Preferably, the mounting mechanism comprises a mounting plate fixedly connected to the bottom of the support frame and a mounting block fixedly connected to the inner part of the mounting plate.

[0015] Preferably, the inner part of the mounting block is rotationally connected with a rotating shaft, the outer wall of the rotating shaft is fixedly connected with a worm wheel, the inner part of the mounting block is rotationally connected with a worm, one end of the worm is fixedly connected with an internal hexagonal head, and the worm wheel is engaged with the worm.

[0016] Preferably, the outer wall of the rotating shaft is fixedly connected with a rotating disc, the inner part of the rotating disc is provided with an arc-shaped groove, the inner part of the mounting block is fixedly connected with a sliding frame rod, the outer wall of the sliding frame rod is slidingly connected with a sliding block, the top of the sliding block is fixedly connected with a limiting groove, the limiting groove is slidingly connected inside the arc-shaped groove, and the outer wall of the sliding block is fixedly connected with an insertion block.

[0017] (Three) beneficial effects

[0018] Compared with the prior art, the present application provides a double-robot arm cooperative part embedding device, which has the following beneficial effects:

[0019] 1. The invention, first by controlling the sliding ring sliding, can drive the wedge ring sliding, so that the ball is lost, so that the jaw can be inserted into the slot, then loosen the sliding ring, the wedge ring pushes the ball into the jaw of the outer wall of the card slot, so that the jaw is fixed in the slide column, solve the problem of jaw replacement, improve the convenience of jaw replacement installation.

[0020] 2. The invention, by the driving of the air cylinder, the connecting rod and the side plate can be connected to drive the push-pull rod, so that the push-pull rod pushes the piston plate, and the piston plate can make the air in the piston tube blow out through the blowpipe, so as to blow off the debris on the surface of the object before burying, improve the convenience of removing the residual debris on the surface of the object.

[0021] 3. The invention, by the electric slide rail, the sliding frame can be controlled to move transversely on the slide rod, and the motor can be used to control the movable frame to move longitudinally on the sliding frame through the screw rod, in addition, the slide column can be controlled to move vertically by the air cylinder through the connecting rod, improve the convenience of jaw position adjustment.

[0022] 4. The invention, by the internal hexagonal head, the worm can be controlled to rotate, then the worm can drive the worm gear, then the worm gear can drive the rotating disc to rotate, and the inner wall of the arc-shaped groove pushes the limiting groove, so that the limiting groove drives the sliding block to slide along the sliding frame rod, so that the plug is clamped into the preset clamping groove, so that the device is fixed, improve the convenience of the device installation. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 The overall structure of a double mechanical arm cooperative embedding device is provided.

[0024] Figure 2 The sliding frame structure of a double mechanical arm cooperative embedding device is provided.

[0025] Figure 3 The movable frame structure of a double mechanical arm cooperative embedding device is provided.

[0026] Figure 4 The slide column cross-section of a double mechanical arm cooperative embedding device is provided.

[0027] Figure 5 The installation block cross-section of a double mechanical arm cooperative embedding device is provided.

[0028] Figure 6 The sliding frame rod structure of a double mechanical arm cooperative embedding device is provided.

[0029] In the diagram: 1. Support frame; 2. Mounting plate; 3. Slide rod; 4. Electric slide rail; 5. Sliding frame; 6. Movable frame; 7. Slide column; 8. Clamp; 9. Lead screw; 10. Electric motor; 11. Connecting rod; 12. Cylinder; 13. Sliding ring; 14. Spring; 15. Wedge ring; 16. Ball clamp; 17. Bowl-shaped groove; 18. Slot; 19. Slot; 20. Mounting block; 21. Blowpipe; 22. Piston tube; 23. Push-pull rod; 24. Side plate; 25. Piston plate; 26. Connecting air pipe; 27. Connecting plate; 28. Rotating shaft; 29. ​​Worm gear; 30. Worm; 31. Hex socket head cap; 32. Rotating disk; 33. Arc groove; 34. Limiting groove; 35. Slider; 36. Insert block; 37. Slide rod. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] See Figure 1 - Figure 3 The equipment is equipped with two sets of grippers 8. Through the coordinated operation of these two sets of grippers 8, it can efficiently perform embedded part operations, improve the efficiency of embedded parts, and reduce the need for manual intervention. In the process of controlling the movement of grippers 8, the connecting rod 11 can be controlled by the cylinder 12, so that the connecting rod 11 can drive the sliding column 7 on which grippers 8 are installed to slide up and down, thereby realizing the control of the up and down movement of grippers 8. At the same time, the rotation of the lead screw 9 can be controlled by the motor 10. The rotation of the lead screw 9 will drive the movable frame 6 to slide smoothly on the sliding frame 5, thereby driving the grippers 8 to move longitudinally. In addition, the equipment is also equipped with electric slide rails 4 on both sides, which independently control the two sets of sliding frames 5, so that the sliding frames 5 can slide laterally on the slide rod 3. The dual-rail independent drive design can realize differentiated operation of the two sets of grippers, greatly improving the adaptability of complex embedded part scenarios.

[0032] See Figure 2 and Figure 3, the side plate 24 on the side wall of the connecting rod 11 will also move synchronously while the connecting rod 11 controls the sliding column 7 to slide, the movement of the side plate 24 will push the push-pull rod 23, and then make the push-pull rod 23 push the piston plate 25 to slide inside the piston pipe 22, so that the piston plate 25 pushes the gas inside the piston pipe 22, and the gas is introduced into the blowing pipe 21 through the connecting gas pipe 26, and is blown out by the blowing pipe 21, the blowing pipe 21 is connected with the sliding column 7 through the connecting plate 27, and can move with the position adjustment of the clamping jaw 8, so that the debris attached to the material can be effectively blown off. The linkage design saves the additional power source, makes the equipment structure more compact, and ensures the synchronization of debris cleaning and clamping jaw action.

[0033] Referring to Figure 3 and Figure 4 In the device, the clamping jaw 8 is designed to be detachable, which can be easily removed from the sliding column 7 and replaced, significantly reducing the maintenance cost of the device downtime. When installing the clamping jaw 8, first push the sliding ring 13 to slide upward against the elastic force of the spring 14, so as to drive the wedge-shaped ring 15 to move correspondingly. At this time, the clamping ball 16 will retract into the sliding column 7 to provide space for the insertion of the clamping jaw 8. After the clamping jaw 8 is inserted into the pre-set slot 19 inside the sliding column 7, the sliding ring 13 can be released and reset under the action of the spring 14, driving the wedge-shaped ring 15 to reset. The reset of the wedge-shaped ring 15 will extrude and push the clamping ball 16, so that it is clamped into the clamping groove 18 on the outer wall of the clamping jaw 8, thereby firmly installing the clamping jaw 8 inside the sliding column 7.

[0034] Referring to Figure 1 , Figure 5 and Figure 6 When installing and fixing the device, the inner hexagonal head 31 can be controlled, the rotation of the inner hexagonal head 31 will drive the worm 30 to rotate, and the rotation of the worm 30 will further drive the worm wheel 29 to rotate. During the rotation of the worm wheel 29, the rotating shaft 28 connected therewith will also rotate, driving the rotating disc 32 to rotate. The arc-shaped groove 33 inside the rotating disc 32 will change position, and through the pushing action of the inner wall of the arc-shaped groove 33, the limiting groove 34 will drive the sliding block 35 to slide along the sliding frame rod 37. Finally, the insert block 36 on the outer wall of the sliding block 35 can be inserted into the pre-set hole slot, realizing the stable fixation of the device.

[0035] The working principle is that the device is provided with two sets of clamping jaws 8, and the two sets of clamping jaws 8 can be used for cooperative workpiece operation. When the clamping jaws 8 are controlled to move, the connecting rod 11 can be controlled by the air cylinder 12 to drive the slide column 7 provided with the clamping jaws 8 to slide up and down, so as to control the clamping jaws 8 to move up and down. Meanwhile, the screw rod 9 can be controlled by the motor 10 to rotate, so as to drive the sliding frame 6 to slide on the sliding frame 5, thereby driving the clamping jaws 8 to move longitudinally. In addition, the two sets of sliding frames 5 can be controlled by the two electric sliding rails 4 on the two sides respectively, so as to drive the sliding frames 5 to slide on the slide rod 3, thereby controlling the clamping jaws 8 to move transversely.

[0036] When the connecting rod 11 controls the slide column 7 to slide, the side plate 24 on the side wall of the connecting rod 11 moves synchronously, so as to push the push-pull rod 23, and then push the piston plate 25 to slide in the piston pipe 22, thereby pushing the gas in the piston pipe 22 by the piston plate 25. The gas in the piston pipe 22 is guided into the blowing pipe 21 through the connecting pipe 26, and is blown out by the blowing pipe 21. Meanwhile, the blowing pipe 21 is connected to the slide column 7 through the connecting plate 27, so as to be adjusted in position with the clamping jaws 8, thereby blowing off the debris attached to the material.

[0037] In the device, the clamping jaws 8 can be removed from the slide column 7 for replacement. When the clamping jaws 8 are installed, the sliding ring 13 is first pushed to slide upward against the force of the spring 14, thereby driving the wedge-shaped ring 15 to move, so that the clamping ball 16 is retracted into the slide column 7. Then, the clamping jaws 8 are inserted into the insertion slot 19 provided in the slide column 7. After the clamping jaws 8 are inserted into the insertion slot 19, the sliding ring 13 is released, and the sliding ring 13 is reset by the force of the spring 14, thereby driving the wedge-shaped ring 15 to reset. The wedge-shaped ring 15 presses and pushes the clamping ball 16, so that the clamping ball 16 is clamped into the clamping groove 18 provided on the outer wall of the clamping jaws 8, thereby enabling the clamping jaws 8 to be installed in the slide column 7.

[0038] When the device is installed and fixed, the inner hexagonal head 31 can be controlled to drive the worm 30 to rotate, so that the worm 30 drives the worm wheel 29 to rotate. When the worm wheel 29 rotates, the rotating shaft 28 connected to the worm wheel 29 rotates, thereby driving the rotating disc 32 to rotate. Meanwhile, the arc-shaped groove 33 in the rotating disc 32 moves in position, so as to push the limiting groove 34 in the inner wall of the arc-shaped groove 33, and drive the sliding block 35 to slide along the sliding frame rod 37. Thus, the insertion block 36 on the outer wall of the sliding block 35 can be inserted into the pre-set hole slot for fixation.

[0039] It is to be noted that, as used in this specification and the appended claims, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" can include a combination of two or more components. Additionally, the terms "comprise," "comprises," and "comprising," or any variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, unless otherwise indicated herein, the terms "first," "second," "third," etc., are used herein merely as labels, and are not intended to impose ordinal import.

Claims

1. A dual robot cooperative fastener embedding apparatus comprising a support frame (1) and a gripper (8), characterized in that, Also include: mounting mechanism, set in the support frame (1) bottom, for the installation of the device embedded parts; moving mechanism, installed in the support frame (1) inside, for the control of the jaw (8) movement, the moving mechanism inside the sliding connection with the slide (7); blowing mechanism, installed in the moving mechanism inside, for the blowing of the object surface debris; the fixed mechanism, installed in the slide (7) inside, for the installation of the jaw (8); the fixed mechanism includes sliding ring (13), the sliding ring (13) is connected with the slide (7) outer wall, the slide (7) outer wall is provided with spring (14), the spring (14) is arranged in the sliding ring (13) inside, the sliding ring (13) inner wall is fixedly connected with the wedge ring (15), the slide (7) inside is provided with bowl shaped groove (17), the slide (7) is provided with the ball (16), the ball (16) is connected with the bowl shaped groove (17) inside, the slide (7) inside is provided with the slot (19), the jaw (8) is connected with the slot (19) inside, the jaw (8) outer wall is provided with the ball (16), the ball (16) can be inserted into the slot (18) inside.

2. The dual robot collaborative component embedding apparatus of claim 1, wherein: The moving mechanism includes slide rod (3), the slide rod (3) is fixedly installed in the support frame (1) inside, the slide rod (3) outer wall is connected with the sliding frame (5), the support frame (1) outer wall is fixedly connected with the electric slide rail (4), the electric slide rail (4) output end and the sliding frame (5) outer wall fixedly connected.

3. The dual robot collaborative component embedding apparatus of claim 2, wherein: The sliding frame (5) top rotationally connected with the lead screw (9), the sliding frame (5) outer wall is connected with the movable frame (6), the movable frame (6) and the lead screw (9) are threadedly connected, the sliding frame (5) top fixedly connected with the motor (10), the motor (10) output end and the lead screw (9) fixedly connected.

4. The dual robot collaborative component embedding apparatus of claim 3, wherein: The movable frame (6) inside fixedly connected with the cylinder (12), the cylinder (12) output end fixedly connected with the connecting rod (11), the connecting rod (11) bottom fixedly connected in the slide (7) top.

5. The dual robot collaborative component embedding apparatus of claim 1, wherein: The blowing mechanism includes connecting plate (27) and blowpipe (21), the blowpipe (21) is installed in the connecting plate (27) inside one side, the other side of the connecting plate (27) is fixedly connected in the slide (7) outer wall.

6. The dual robot collaborative component embedding apparatus of claim 5, wherein: The blowpipe (21) inside fixedly connected with the connecting air pipe (26), the connecting air pipe (26) one end fixedly connected with the piston pipe (22), the piston pipe (22) fixedly connected in the movable frame (6) outer wall.

7. The dual robot collaborative component embedding apparatus of claim 6, wherein: The piston pipe (22) inside slidingly connected with the piston plate (25), the piston plate (25) top fixedly connected with the push-pull rod (23), the push-pull rod (23) top fixedly connected with the side plate (24), the side plate (24) one side fixedly connected in the connecting rod (11) outer wall.

8. The dual robot collaborative component embedding apparatus of claim 1, wherein: The mounting mechanism includes mounting plate (2), the mounting plate (2) is fixedly connected in the support frame (1) bottom, the mounting plate (2) inside fixedly connected with the mounting block (20).

9. The dual robot collaborative component embedding apparatus of claim 8, wherein: The rotating shaft (28) is fixedly connected with a rotating disc (32) on the outer wall, an arc-shaped slot (33) is formed in the rotating disc (32), a sliding block (35) is slidingly connected with a sliding rod (37) fixedly connected in the mounting block (20) on the outer wall of the sliding block (35), a limiting slot (34) is fixedly connected with the top of the sliding block (35), the limiting slot (34) is slidingly connected in the arc-shaped slot (33), and an insertion block (36) is fixedly connected with the outer wall of the sliding block (35).

10. The dual robot collaborative component embedding apparatus of claim 9, wherein: The rotating shaft (28) is fixedly connected with a rotating disc (32) on the outer wall, an arc-shaped slot (33) is formed in the rotating disc (32), a sliding block (35) is slidingly connected with a sliding rod (37) fixedly connected in the mounting block (20) on the outer wall of the sliding block (35), a limiting slot (34) is fixedly connected with the top of the sliding block (35), the limiting slot (34) is slidingly connected in the arc-shaped slot (33), and an insertion block (36) is fixedly connected with the outer wall of the sliding block (35).

Images