Industrial robot for assembling sports equipment

Abstract

The invention relates to the technical field of industrial robots, in particular to an industrial robot for assembling sports equipment. Comprising an electric rotating disc and a mechanical arm, and a movable material guiding table used for guiding and conveying bolts of a specified model is installed on the electric rotating disc; a plurality of groups of bolt loading assemblies for carrying out single progressive conveying on bolts are arranged on the side wall of the movable guide table; the inclination angles of the linkage block in the horizontal direction and the vertical direction are adjusted through a second gear motor and a third gear motor correspondingly, so that the detection values of the multiple sets of distance measuring sensors are equal and all equal to preset values, and at the moment, the linkage block is parallel to the surface of the to-be-assembled part; the electric clamping jaw is arranged on the surface of the to-be-assembled part, so that the bolt clamped by the electric clamping jaw is kept perpendicular to the surface of the to-be-assembled part, the bolt can vertically enter a mounting hole formed in the surface of the to-be-assembled part during assembly, the bolt mounting accuracy is effectively improved, and screw slipping or part damage caused by inclination of the bolt is avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of industrial robots, and particularly relates to an industrial robot for assembling sports equipment. BACKGROUND

[0002] In the assembly process of traditional sports equipment (such as basketball stands, fitness equipment, table tennis tables, etc.), bolt fastening is one of the core processes, but the existing bolt fastening device is not convenient for adjusting the angle of the bolt according to the inclination angle of the surface of the part when installing the bolt, so that the bolt can be installed vertically to the surface of the part, the angle at which the screw enters is different from the angle of the mounting hole, thereby causing the screw to slip or the part to be damaged, affecting the quality and efficiency of part assembly.

[0003] After searching, the authorized patent document with publication number CN221735348U and publication date 2024.09.20 discloses a screw tightening device, the assembly base has a first assembly area and a second assembly area, the first assembly area and the second assembly area are symmetrically arranged on the assembly base, the image recognition device is assembled in the first assembly area of the assembly base along the first assembly direction, the image recognition device is used to obtain image data of the target object, the screw tightening device is assembled in the second assembly area of the assembly base along the second assembly direction, the first assembly direction and the second assembly direction are parallel to each other, and the screw tightening device is used to implement a tightening action on the target object. The image recognition device can be used to obtain image data of the target object, and the spatial position of the target object is data represented. After data processing by other processing devices, the control command of the mechanical arm movement of the industrial robot is converted, and the movement and trajectory planning of the mechanical arm in the industrial robot are matched, so that the mechanical arm can drive the screw tightening device to align the target object.

[0004] However, the device still has the following defects: although the movement and trajectory planning of the mechanical arm in the industrial robot can be matched, the mechanical arm can drive the screw tightening device to align the target object, but the device is not convenient for adjusting the installation angle of the screw when installing the screw, and in the state that the surface of the assembled part is inclined, the angle at which the screw enters is different from the angle of the mounting hole, thereby causing the screw to slip or the part to be damaged, affecting the quality and efficiency of part assembly. SUMMARY

[0005] In view of the above problems, the present application provides an industrial robot for assembling sports equipment, which comprises an electric turntable and a mechanical arm, and an active material guiding table for guiding and conveying specified type bolts is installed on the electric turntable. A plurality of bolt loading assemblies for single progressive conveying of bolts are arranged on the side wall of the active material guiding table. A plurality of bolt loading assemblies are loaded with a plurality of groups of bolts, and the bolts loaded on the plurality of bolt loading assemblies are of different sizes and models; The mechanical arm is arranged on one side of the movable material guiding table, and an assembling mechanism for clamping and orienting the bolt is arranged on the mechanical arm. The assembling mechanism comprises a base plate mounted on the mechanical arm, a first hinged seat is mounted on one side wall of the base plate, and a spherical adjusting seat is rotatably connected to the first hinged seat. A second hinged seat is rotatably connected to the spherical adjusting seat, a linkage block is fixedly connected to the other end of the second hinged seat, an electric clamp jaw is mounted on the other end of the linkage block, and a plurality of distance measuring sensors are also mounted on the linkage block.

[0006] Further, the line between the two connection points of the first hinged seat and the spherical adjusting seat passes through the center of the spherical adjusting seat, a second speed reducer is mounted on the first hinged seat, and the output end of the second speed reducer is in transmission connection with the spherical adjusting seat.

[0007] Further, the line between the two connection points of the second hinged seat and the spherical adjusting seat passes through the center of the spherical adjusting seat, and the line and the line between the two connection points of the first hinged seat and the spherical adjusting seat are perpendicular to each other.

[0008] Further, an arc-shaped tooth plate is laid on the outer wall of the spherical adjusting seat, a gear mounting groove is formed in the second hinged seat, a gear is rotatably connected in the gear mounting groove, the gear is in meshing connection with the arc-shaped tooth plate, a third speed reducer is mounted on the second hinged seat, the output end of the third speed reducer is in transmission connection with a transmission shaft, and the other end of the transmission shaft is fixedly connected with the center of the gear.

[0009] Further, a clearance groove is formed in the linkage block, an electric cylinder is mounted on the inner wall of the clearance groove, a transmission box is in transmission connection with the output end of the electric cylinder, two groups of telescopic rods are fixedly connected between the inner wall of the clearance groove and the transmission box, the two groups of telescopic rods are symmetrically distributed around the electric cylinder, a fourth speed reducer is mounted in the transmission box, and the output end of the fourth speed reducer is in transmission connection with the center of the electric clamp jaw.

[0010] Further, a material guiding groove is formed in the movable material guiding table, one end of the material guiding groove extends to the center of the movable material guiding table, and the other end of the material guiding groove penetrates through the outer side wall of the movable material guiding table.

[0011] Further, the bolt loading assembly comprises a support frame, a vertical plate is fixedly connected to the support frame, a limiting plate is fixedly connected to the top end of the vertical plate, a limiting groove is formed in the limiting plate, two groups of arc-shaped guide rails are arranged at one end of the limiting plate, one end of the two groups of arc-shaped guide rails is attached to one end of the limiting groove, the other end of the two groups of arc-shaped guide rails extends directly above the movable material guide table, two groups of supporting legs are fixedly connected to the support frame, and the two groups of supporting legs are respectively fixedly connected to the bottom end of the two groups of arc-shaped guide rails; a conveying mechanism is also installed on the support frame and is arranged directly below the limiting plate.

[0012] Further, the conveying mechanism comprises two groups of belt pulleys, a plurality of groups of clamping blocks are fixedly connected to the two groups of belt pulleys, the plurality of groups of clamping blocks are arranged in a ring array around the central axis of the belt pulleys, a conveying belt is sleeved on the two groups of belt pulleys, a plurality of groups of clamping holes are uniformly formed in the conveying belt, and the plurality of groups of clamping holes are respectively movably clamped with the plurality of groups of clamping blocks.

[0013] Further, a bolt is loaded in each of the clamping holes above the two groups of belt pulleys, the rod portion of the bolt is movably attached to the limiting groove, the head portion of the bolt is movably attached to the top end of the limiting plate, a horizontal support is fixedly connected to one side wall of the vertical plate, a stepping motor is installed on the horizontal support, and the output end of the stepping motor is in transmission connection with the center of one group of belt pulleys.

[0014] Further, a guide mechanism is arranged in the material guide groove, an adjusting groove is formed in the movable material guide table, and the adjusting groove is in communication with the material guide groove; the guide mechanism comprises a first speed reducer, a bidirectional threaded rod is in transmission connection with the output end of the first speed reducer, the bidirectional threaded rod is rotatably connected to the inner wall of the adjusting groove, two groups of adjusting sliding blocks are in threaded connection with the bidirectional threaded rod, the two groups of adjusting sliding blocks are symmetrically arranged around the central axis of the bidirectional threaded rod, a connecting frame is arranged on each of the two groups of adjusting sliding blocks, and an electric conveying belt is installed on the opposite side of each of the two groups of connecting frames.

[0015] The beneficial effects of the present application are: 1. The surface distance of the parts to be assembled is monitored by the plurality of distance measuring sensors, the angles of the linkage block in the horizontal and vertical directions are adjusted by the second speed reducer and the third speed reducer respectively, the detection values of the plurality of distance measuring sensors are equal and equal to the preset value, the linkage block and the surface of the parts to be assembled are parallel at this time, the bolt clamped by the electric clamping jaw and the surface of the parts to be assembled are perpendicular, the bolt can be vertically inserted into the mounting hole formed in the surface of the parts to be assembled during assembly, the precision of bolt installation is effectively improved, and the bolt inclination caused by the bolt is avoided.

[0016] 2、Through the bolt loading assembly distributed by the annular array is linked with the electric rotating disc, cooperates with the directional sliding design of the material guide groove and the arc-shaped guide rail, realizes the automatic sorting and single progressive conveying of different models of bolts, facilitates the clamping of the assembly mechanism, and avoids multiple groups of bolts entering at one time, which causes confusion of the bolt model when the next bolt needs to be replaced, effectively solves the problem of manual replacement of the bolt model in the traditional bolt fastening device, and significantly improves the assembly efficiency.

[0017] 3、Through the first speed reducer motor drives the bidirectional threaded rod to rotate, two groups of adjusting sliders drive two groups of electric conveying belts to move in opposite directions or opposite directions, realize the adjustment of the distance between the two groups of electric conveying belts, according to the selected bolt rod size, adjust the distance between the two groups of electric conveying belts, make the distance between the two groups of electric conveying belts match the size of the bolt rod, so that the bolt head can be clamped at the upper end of the two groups of electric conveying belts after entering the two groups of electric conveying belts, facilitate the conveying, through the two groups of electric conveying belts drive the bolt to move, so that it can be smoothly moved to the center of the movable guide table, thereby improving the precision of the electric clamping jaw clamping the bolt.

[0018] 4、Through the fourth speed reducer motor drives the electric clamping jaw to rotate, the transmission box is driven by the electric cylinder to move outside the gap, the transmission box is supported by the two groups of telescopic rods to avoid tilting, so that the electric clamping jaw drives the bolt to rotate and move at the same time, thereby rotating the bolt into the mounting hole, through the linkage block integrates the electric cylinder (axial advance) and the fourth speed reducer motor (rotary drive), the transmission box is stabilized by the telescopic rod, realizes the continuous action of bolt clamping and rotating, saves the step-by-step operation of traditional "clamping-transport-rotation", effectively improves the efficiency of bolt tightening operation in part assembly. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Figure 1 The main structure schematic diagram according to the embodiment of the present application is shown; Figure 2 The movable guide table and a group of bolt loading assembly position relationship schematic diagram according to the embodiment of the present application is shown; Figure 3 The bolt loading assembly structure schematic diagram according to the embodiment of the present application is shown; Figure 4 The movable guide table structure schematic diagram according to the embodiment of the present application is shown; Figure 5 The internal structure sectional view of the activity guide platform is shown according to the embodiment of the application; Figure 6 The structure schematic diagram of the assembling mechanism is shown according to the embodiment of the application; Figure 7 The internal structure sectional view of the second hinge seat is shown according to the embodiment of the application; Figure 8 The sectional view of the connection relationship between the linkage block and the electric clamping jaw is shown according to the embodiment of the application.

[0021] In the figure: 100, electric rotating disc; 200, mechanical arm; 300, activity guide platform; 310, guide chute; 320, guide mechanism; 321, first speed reducer motor; 322, bidirectional threaded rod; 323, adjusting sliding block; 324, connecting frame; 325, electric conveying belt; 330, adjusting groove; 400, bolt loading assembly; 410, supporting frame; 420, vertical plate; 430, limiting plate; 431, limiting groove; 432, arc-shaped guide rail; 433, supporting leg; 440, conveying mechanism; 441, pulley; 442, clamping block; 443, conveying belt; 444, clamping hole; 445, transverse support; 446, stepping motor; 500, assembling mechanism; 510, base plate; 520, first hinge seat; 530, spherical adjusting seat; 531, arc-shaped toothed plate; 540, second speed reducer motor; 550, second hinge seat; 551, gear mounting groove; 552, gear; 553, third speed reducer motor; 554, transmission shaft; 560, linkage block; 561, accommodation groove; 562, electric cylinder; 563, transmission box; 564, telescopic rod; 565, fourth speed reducer motor; 570, distance measuring sensor; 580, electric clamping jaw. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the embodiments of the application more clear, the technical scheme in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are some of the embodiments of the application, but not all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0023] The embodiments of the application provide a sports equipment assembling industrial robot, which comprises an electric rotating disc 100 and a mechanical arm 200. Figure 1 and Figure 2 as shown.

[0024] The electric rotating disc 100 is provided with a movable material guiding table 300, the side wall of the movable material guiding table 300 is provided with a plurality of bolt loading assemblies 400, the plurality of bolt loading assemblies 400 are arranged in a ring array with the movable material guiding table 300 as the center, a plurality of bolts are loaded on the plurality of bolt loading assemblies 400, the bolts loaded on the plurality of bolt loading assemblies 400 are different in size and model, and the mechanical arm 200 is arranged on one side of the movable material guiding table 300, and the mechanical arm 200 is provided with an assembling mechanism 500. The movable material guiding table 300 is provided with a material guiding groove 310, one end of the material guiding groove 310 extends to the center of the movable material guiding table 300, and the other end of the material guiding groove 310 penetrates to the outer side wall of the movable material guiding table 300, the bolt loading assembly 400 comprises a support frame 410, the support frame 410 is fixedly connected with a vertical plate 420, the top end of the vertical plate 420 is fixedly connected with a limiting plate 430, the limiting plate 430 is provided with a limiting groove 431, and the limiting plate 430 is provided with two groups of arc-shaped guide rails 432, one end of the two groups of arc-shaped guide rails 432 is matched with one end of the limiting groove 431, and the other end of the two groups of arc-shaped guide rails 432 extends above the movable material guiding table 300. Specifically, according to the model of the bolt required by the sports equipment parts to be assembled, the electric rotating disc 100 drives the movable material guiding table 300 to rotate to a preset angle value, the material guiding groove 310 is rotated to one side of the bolt loading assembly 400 loaded with the bolt of the model, the material guiding groove 310 is located below the output end of the arc-shaped guide rail 432, a group of bolts are slid into the material guiding groove 310 along the arc-shaped guide rail 432, and finally moved to the center of the movable material guiding table 300 along the material guiding groove 310, the assembling mechanism 500 is driven by the mechanical arm 200 to move above the group of bolts, the bolt is clamped, and then the bolt is moved to one side of the part to be assembled by the assembling mechanism 500, the bolt installation operation is performed, thereby completing the assembly of the sports equipment, the conveying and clamping operations of the bolts of different models are performed, the mechanical arm 200 can drive the assembling mechanism 500 to assemble different types of sports equipment parts, and the universality of the industrial robot is effectively improved.

[0025] For example, as shown in Figure 3 .

[0026] The support frame 410 is fixedly connected with two groups of supporting legs 433, and the two groups of supporting legs 433 are fixedly connected with the bottom ends of the two groups of arc-shaped guide rails 432, respectively. The support frame 410 is also provided with a conveying mechanism 440, which is arranged directly below the limiting plate 430. The conveying mechanism 440 comprises two groups of belt pulleys 441, and a plurality of groups of clamping blocks 442 are fixedly connected to the two groups of belt pulleys 441. The plurality of groups of clamping blocks 442 are arranged in a ring array around the central axis of the belt pulleys 441. A conveying belt 443 is sleeved on the two groups of belt pulleys 441. A plurality of groups of clamping holes 444 are uniformly formed in the conveying belt 443, and the plurality of groups of clamping holes 444 are movably clamped with the plurality of groups of clamping blocks 442, respectively. A bolt is loaded in each clamping hole 444 above the two groups of belt pulleys 441. The shank of the bolt is movably attached to the limiting groove 431, and the head of the bolt is movably attached to the top end of the limiting plate 430. One side wall of the vertical plate 420 is fixedly connected with a transverse bracket 445, and the transverse bracket 445 is provided with a stepping motor 446. The output end of the stepping motor 446 is drivingly connected with the center of one group of belt pulleys 441. Specifically, the stepping motor 446 drives one group of belt pulleys 441 to rotate, so that the two groups of belt pulleys 441 drive the conveying belt 443 to rotate synchronously, and one group of clamping holes 444 close to the arc-shaped guide rail 432 drives the bolt to move towards the middle protrusion of the arc-shaped guide rail 432. When one group of clamping blocks 442 on the belt pulley 441 rotates and inserts into the group of clamping holes 444, the bolt is lifted synchronously, so that the bolt is separated from the clamping hole 444 and moves to the highest point of the protrusion of the arc-shaped guide rail 432. Then, due to its own gravity, it slides down along the arc-shaped guide rail 432 into the material guide groove 310. The bolts loaded in the other groups of clamping holes 444 move one unit of distance towards the movable material guide table 300. The clamping hole 444 close to one side of the vertical plate 420 is vacant at this time, and the bolt can be put in. At this time, the stepping motor 446 is automatically turned off, so as to complete the conveying operation of one group of bolts. Through progressive conveying of the bolts, only one group of bolts enters the material guide groove 310 each time, which is convenient for the clamping of the assembling mechanism 500, and avoids the confusion of the bolts when the type of the bolt needs to be changed next time.

[0027] As shown in the examples of FIGS. Figure 4 and Figure 5 .

[0028] The guide mechanism 320 is arranged in the guide groove 310, the adjusting groove 330 is arranged in the movable guide table 300, the adjusting groove 330 and the guide groove 310 are communicated with each other, the guide mechanism 320 comprises a first speed reducer 321, a bidirectional threaded rod 322 is in transmission connection with the output end of the first speed reducer 321, the bidirectional threaded rod 322 is rotatably connected to the inner wall of the adjusting groove 330, two groups of adjusting sliding blocks 323 are in threaded connection with the bidirectional threaded rod 322, the two groups of adjusting sliding blocks 323 are symmetrically distributed with the central axis of the bidirectional threaded rod 322 as the center, a connecting frame 324 is arranged on each of the two groups of adjusting sliding blocks 323, and an electric conveying belt 325 is mounted on the opposite side of each of the two groups of connecting frames 324. Specifically, the first speed reducer 321 drives the bidirectional threaded rod 322 to rotate, so that the two groups of adjusting sliding blocks 323 drive the two groups of electric conveying belts 325 to move in opposite directions or opposite directions, thereby adjusting the distance between the two groups of electric conveying belts 325. According to the rod size of the selected bolt, the distance between the two groups of electric conveying belts 325 is adjusted, so that the distance between the two groups of electric conveying belts 325 matches the size of the bolt rod. After the bolt enters between the two groups of electric conveying belts 325, the head of the bolt can be clamped on the upper end of the two groups of electric conveying belts 325, so that the bolt can be conveyed. The two groups of electric conveying belts 325 drive the bolt to move, so that the bolt can be smoothly moved to the center of the movable guide table 300, and the clamping operation of the bolt can be accurately completed by the assembling mechanism 500.

[0029] As shown in the examples, Figure 6-8 As shown in the examples.

[0030] The assembling mechanism 500 comprises a base plate 510, the base plate 510 is mounted on the mechanical arm 200, a first hinged seat 520 is mounted on one side wall of the base plate 510, a spherical adjusting seat 530 is rotatably connected to the first hinged seat 520, the line between the two groups of connecting points of the first hinged seat 520 and the spherical adjusting seat 530 penetrates the center of the spherical adjusting seat 530, a second speed reducer 540 is mounted on the first hinged seat 520, the output end of the second speed reducer 540 is in transmission connection with the spherical adjusting seat 530, a second hinged seat 550 is rotatably connected to the spherical adjusting seat 530, the line between the two groups of connecting points of the second hinged seat 550 and the spherical adjusting seat 530 penetrates the center of the spherical adjusting seat 530, and the line and the line between the two groups of connecting points of the first hinged seat 520 and the spherical adjusting seat 530 are perpendicular to each other, a linkage block 560 is fixedly connected to the other end of the second hinged seat 550, an electric clamping jaw 580 is mounted on the other end of the linkage block 560, and a plurality of distance measuring sensors 570 are mounted on the linkage block 560, and the plurality of distance measuring sensors 570 are arranged in a ring array with the central axis of the electric clamping jaw 580 as the center. The outer wall of the spherical adjusting seat 530 is paved with an arc-shaped tooth plate 531, a gear mounting groove 551 is formed in the second hinged seat 550, a gear 552 is rotatably connected in the gear mounting groove 551, the gear 552 is meshingly connected with the arc-shaped tooth plate 531, a third speed reducer 553 is installed on the second hinged seat 550, and a transmission shaft 554 is transmissionally connected at the output end of the third speed reducer 553, and the other end of the transmission shaft 554 is fixedly connected with the center of the gear 552. Specifically, the spherical adjusting seat 530 is driven to rotate in the horizontal direction by the second speed reducer 540, the second hinged seat 550 is driven to rotate synchronously with the linkage block and the electric clamping jaw 580, the bolt is driven to be adjusted in the horizontal direction, the gear 552 is driven to rotate by the third speed reducer 553, the second hinged seat 550 is driven to rotate along the vertical direction of the spherical adjusting seat 530 through the meshing effect of the gear and the arc-shaped tooth plate 531, and the bolt is driven to be adjusted in the vertical direction, the surface distance of the parts to be assembled is monitored by the plurality of distance measuring sensors 570, the angles of the linkage block 560 in the horizontal and vertical directions are adjusted by the second speed reducer 540 and the third speed reducer 553 respectively, the detection values of the plurality of distance measuring sensors 570 are equal and equal to the preset value, the linkage block 560 and the surface of the parts to be assembled are kept parallel at this time, the bolt clamped by the electric clamping jaw 580 and the surface of the parts to be assembled are kept vertical, the bolt can be vertically inserted into the mounting hole formed in the surface of the parts to be assembled during assembly, the precision of bolt installation is effectively improved, and bolt slippage or part damage caused by bolt inclination is avoided.

[0031] The linkage block 560 is provided with a displacement groove 561, an electric cylinder 562 is installed on the inner wall of the displacement groove 561, a transmission box 563 is transmissionally connected at the output end of the electric cylinder 562, two groups of telescopic rods 564 are fixedly connected between the transmission box 563 and the inner wall of the displacement groove 561, the two groups of telescopic rods 564 are symmetrically distributed with the electric cylinder 562 as the center, a fourth speed reducer 565 is installed in the transmission box 563, and the output end of the fourth speed reducer 565 is transmissionally connected with the center of the electric clamping jaw 580. Specifically, the electric clamping jaw 580 is driven to rotate by the fourth speed reducer 565, the transmission box 563 is driven to move out of the displacement groove 561 by the electric cylinder 562, the transmission box 563 is supported by the two groups of telescopic rods 564, the electric clamping jaw 580 is driven to rotate and move at the same time, so that the bolt is screwed into the mounting hole, and the assembly operation of the parts is completed.

[0032] The working principle of the industrial robot for sports equipment assembly is as follows: According to the model of the bolt required by the sports equipment parts assembled as required, the control electric turntable 100 drives the movable guide table 300 to rotate to the preset angle value, so that the guide groove 310 is rotated to one side of the bolt loading assembly 400 loaded with the model of the bolt, and the guide groove 310 is located directly below the output end of the group of arc-shaped guide rails 432.

[0033] By driving a group of pulleys 441 to rotate through the stepping motor 446 in the group of bolt loading assemblies 400, the two groups of pulleys 441 drive the conveying belts 443 to rotate synchronously, so that a group of clamping holes 444 close to the arc-shaped guide rail 432 drives the bolt to move towards the middle protrusion of the arc-shaped guide rail 432. When a group of clamping blocks 442 on the pulley 441 rotates and inserts into the group of clamping holes 444, the bolt is simultaneously lifted up, so that the bolt is separated from the clamping hole 444 and moves to the highest point of the protrusion of the arc-shaped guide rail 432, and then slides down along the arc-shaped guide rail 432 to the guide groove 310 due to its own gravity, while the bolts loaded in the other groups of clamping holes 444 move a unit of distance towards the movable guide table 300. The clamping hole 444 close to the side of the vertical plate 420 is vacant at this time, and the bolt can be continuously placed in at this time. At this time, the stepping motor 446 is automatically turned off, so as to complete the conveying operation of a group of bolts. By progressively conveying the bolts one by one, only one group of bolts enters the guide groove 310 each time, which facilitates the clamping of the assembly mechanism 500 and avoids the mixing of bolts when the bolt type needs to be changed next time.

[0034] By driving the bidirectional threaded rod 322 to rotate through the first speed reducer motor 321, the two groups of adjusting sliding blocks 323 drive the two groups of electric conveying belts 325 to move in opposite directions or opposite directions, so as to adjust the distance between the two groups of electric conveying belts 325. According to the size of the selected bolt shaft, the distance between the two groups of electric conveying belts 325 is adjusted, so that the distance between the two groups of electric conveying belts 325 matches the size of the bolt shaft. After the bolt enters between the two groups of electric conveying belts 325, the head of the bolt can be clamped at the upper end of the two groups of electric conveying belts 325, so as to facilitate the conveying of the bolt. By driving the bolt to move through the two groups of electric conveying belts 325, the bolt can be smoothly moved to the center of the movable guide table 300.

[0035] The assembly mechanism 500 is driven by the mechanical arm 200 to move above the bolts, the clamping direction of the electric clamping jaw 580 is directed to the bolts, the distance between the movable material guide table 300 and the surface is monitored by the plurality of distance measuring sensors 570, the horizontal and vertical angles of the linkage block 560 are adjusted by the second and third speed reducers 540 and 553 respectively, the detection values of the plurality of distance measuring sensors 570 are equal and equal to the preset value, at this time, the linkage block 560 is parallel to the surface of the movable material guide table 300, so that the bolts clamped by the electric clamping jaw 580 are perpendicular to the linkage block 560, thereby improving the accuracy of bolt installation.

[0036] The bolts are driven by the assembly mechanism 500 to move to the side of the parts to be assembled, the second articulating seat 550 drives the linkage block and the electric clamping jaw 580 to rotate synchronously by rotating the spherical adjusting seat 530 in the horizontal direction by the second speed reducer 540, the bolts are adjusted in the horizontal direction, the second articulating seat 550 is rotated in the vertical direction along the spherical adjusting seat 530 by rotating the gear 552 by the third speed reducer 553, so as to adjust the bolts in the vertical direction, the surface distance of the parts to be assembled is monitored by the plurality of distance measuring sensors 570, the horizontal and vertical angles of the linkage block 560 are adjusted by the second and third speed reducers 540 and 553 respectively, the detection values of the plurality of distance measuring sensors 570 are equal and equal to the preset value, at this time, the linkage block 560 is parallel to the surface of the parts to be assembled, so that the bolts clamped by the electric clamping jaw 580 are perpendicular to the surface of the parts to be assembled, thereby enabling the bolts to be vertically inserted into the mounting hole of the surface of the parts to be assembled, effectively improving the accuracy of bolt installation and avoiding bolt slippage or damage to the parts caused by bolt inclination.

[0037] The electric clamping jaw 580 is rotated by the fourth speed reducer 565, the transmission box 563 is moved out of the gap 561 by the electric cylinder 562, the transmission box 563 is supported by the two groups of telescopic rods 564 to avoid tilting, the bolts are rotated and moved at the same time by the electric clamping jaw 580, thereby rotating the bolts into the mounting hole and completing the assembly operation of the parts.

[0038] Different types of bolts are transported and clamped, so that the mechanical arm 200 can drive the assembly mechanism 500 to assemble different types of sports equipment parts, effectively improving the universality of the industrial robot.

[0039] Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood that modifications can be made to the foregoing embodiments, or additional implementations can be implemented, without departing from the spirit and scope of the inventive subject matter. Accordingly, the present application is not limited to the implementations described herein, but is intended to be defined by the claims set forth below, and equivalents thereof.

Claims

1. An industrial robot for assembling sports equipment, comprising an electric turntable and a robotic arm, characterized in that: The electric turntable is equipped with a movable guide platform for guiding and conveying bolts of a specified type. The side wall of the movable guide platform is provided with several sets of bolt loading assemblies for conveying bolts one by one in a progressive manner. Each of the several sets of bolt loading assemblies is loaded with multiple sets of bolts, and the bolts loaded on the several sets of bolt loading assemblies are of different sizes and types; The robotic arm is located on one side of the movable guide platform, and the robotic arm is equipped with an assembly mechanism for clamping and directional tightening of bolts. The assembly mechanism includes a base plate, which is mounted on a robotic arm. A first hinge seat is mounted on one side wall of the base plate, and a ball-shaped adjustment seat is rotatably connected to the first hinge seat. A second hinge seat is rotatably connected to the spherical adjustment seat. A linkage block is fixedly connected to the other end of the second hinge seat. An electric gripper is installed on the other end of the linkage block. Several sets of distance measuring sensors are also installed on the linkage block.

2. The industrial robot for assembling sports equipment according to claim 1, characterized in that... The line connecting the two sets of connection points of the first hinge seat and the spherical adjustment seat passes through the center of the spherical adjustment seat. A second geared motor is installed on the first hinge seat, and the output end of the second geared motor is connected to the spherical adjustment seat in a transmission manner.

3. The industrial robot for assembling sports equipment according to claim 1, characterized in that: The line connecting the two sets of connection points between the second hinge seat and the spherical adjustment seat passes through the center of the spherical adjustment seat, and this line is designed to be perpendicular to the line connecting the two sets of connection points between the first hinge seat and the spherical adjustment seat.

4. The industrial robot for assembling sports equipment according to claim 3, characterized in that: The outer wall of the spherical adjustment seat is covered with an arc-shaped toothed plate. The second hinge seat has a gear mounting groove, in which a gear is rotatably connected. The gear meshes with the arc-shaped toothed plate. A third reduction motor is mounted on the second hinge seat. The output end of the third reduction motor is connected to a drive shaft. The other end of the drive shaft is fixedly connected to the center of the gear.

5. The industrial robot for assembling sports equipment according to claim 1, characterized in that: The linkage block has a clearance groove, and an electric cylinder is installed on the inner wall of the clearance groove. The output end of the electric cylinder is connected to a transmission box. Two sets of telescopic rods are fixedly connected between the transmission box and the inner wall of the clearance groove. The two sets of telescopic rods are symmetrically distributed with the electric cylinder as the center. A fourth reduction motor is installed in the transmission box, and the output end of the fourth reduction motor is connected to the center of the electric gripper.

6. The industrial robot for assembling sports equipment according to claim 1, characterized in that: The movable guide platform is provided with a guide groove, one end of which extends to the center of the movable guide platform, and the other end of which penetrates to the outer wall of the movable guide platform.

7. The industrial robot for assembling sports equipment according to claim 1, characterized in that: The bolt loading assembly includes a support frame, on which a vertical plate is fixedly connected. A limiting plate is fixedly connected to the top of the vertical plate, and a limiting groove is formed on the limiting plate. Two sets of arc-shaped guide rails are provided at one end of the limiting plate, with one end of the two sets of arc-shaped guide rails fitting against one end of the limiting groove. The other ends of the two sets of arc-shaped guide rails extend to the top of the movable guide platform. Two sets of support legs are fixedly connected to the support frame, and the two sets of support legs are respectively fixedly connected to the bottom ends of the two sets of arc-shaped guide rails. A conveying mechanism is also installed on the support frame, and the conveying mechanism is located directly below the limiting plate.

8. The industrial robot for assembling sports equipment according to claim 7, characterized in that: The conveying mechanism includes two sets of pulleys, each set of which is fixedly connected with several sets of locking blocks. The locking blocks are arranged in a circular array around the central axis of the pulleys. A conveyor belt is fitted on the two sets of pulleys, and several sets of locking holes are evenly opened on the conveyor belt. The locking holes are respectively engaged with the locking blocks.

9. The industrial robot for assembling sports equipment according to claim 8, characterized in that: Bolts are installed in the snap-fit ​​holes above the two sets of pulleys. The shank of the bolt is in movable contact with the limiting groove, and the head of the bolt is in movable contact with the top of the limiting plate. A horizontal bracket is fixedly connected to one side wall of the vertical plate. A stepper motor is installed on the horizontal bracket, and the output end of the stepper motor is connected to the center of a set of pulleys.

10. The industrial robot for assembling sports equipment according to claim 6, characterized in that: A guiding mechanism is provided inside the material guide trough, and an adjustment groove is provided inside the movable material guide platform. The adjustment groove and the material guide trough are interconnected. The guiding mechanism includes a first reduction motor, and a bidirectional threaded rod is driven to the output end of the first reduction motor. The bidirectional threaded rod is rotatably connected to the inner wall of the adjustment groove. Two sets of adjusting sliders are threadedly connected to the bidirectional threaded rod. The two sets of adjusting sliders are symmetrically distributed with the central axis of the bidirectional threaded rod as the center. A connecting frame is provided on each set of adjusting sliders, and an electric conveyor belt is installed on the opposite side of each set of connecting frames.

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