Industrial robot for assembling sports equipment

Abstract

The present application relates to the technical field of industrial robots, in particular to a sports equipment assembling industrial robot. The sports equipment assembling industrial robot comprises an electric turntable and a mechanical arm, the electric turntable is provided with a movable material guiding table for guiding and conveying specified model bolts, the side wall of the movable material guiding table is provided with a plurality of bolt loading assemblies for single-bolt progressive conveying of the bolts, the horizontal and vertical angles of the linkage block are adjusted by the second and third speed reducers respectively, so that the detection values of the plurality of distance measuring sensors are equal and equal to the preset value, at this time, the linkage block and the surface of the parts to be assembled are kept parallel, so that the bolt clamped by the electric clamping jaw and the surface of the parts to be assembled are kept vertical, so that the bolt can be vertically inserted into the mounting hole opened on the surface of the parts to be assembled during assembly, effectively improving the precision of bolt installation and avoiding bolt slippage or part damage caused by bolt inclination.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of industrial robots, and particularly relates to an industrial robot for sports equipment assembly. 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 inconvenient for adjusting the angle of the bolt according to the inclination angle of the surface of the part to make the bolt installation perpendicular to the surface of the part when the bolt is installed, so that the angle at which the screw enters is different from the angle of the installation 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 the publication number CN221735348U and the publication date of September 20, 2024 discloses a screw tightening device, the assembly base body 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 body, the image recognition device is assembled in the first assembly area of the assembly base body 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 body 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 for adjusting the movement of the mechanical arm 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 inconvenient for adjusting the installation angle of the screw when the screw is installed, 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 installation 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 application provides an industrial robot for sports equipment assembly, which comprises an electric turntable and a mechanical arm, and the electric turntable is provided with a movable material guiding table for guiding and conveying specified model bolts.

[0006] The side wall of the movable material guiding table is provided with a plurality of groups of bolt loading assemblies for single-bolt progressive conveying of the bolts.

[0007] A plurality of bolt loading assemblies are loaded with a plurality of groups of bolts, and the sizes and models of the bolts loaded on the plurality of bolt loading assemblies are different;

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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 transmission box and the inner wall of the clearance groove, 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.

[0015] 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.

[0016] 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, the two groups of supporting legs are respectively fixedly connected to the bottom end of the two groups of arc-shaped guide rails, and a conveying mechanism is also installed on the support frame and is arranged directly below the limiting plate.

[0017] 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.

[0018] 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.

[0019] 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 and the material guide groove are in communication, 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.

[0020] The beneficial effects of the present application are:

[0021] 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.

[0022] 2、Through the linkage of the bolt loading assembly distributed in the annular array and the electric rotating disc, cooperating with the directional sliding design of the material guide groove and the arc-shaped guide rail, the automatic sorting and single progressive conveying of different types of bolts are realized, which is convenient for the assembly mechanism to clamp the bolts, and avoids the situation that multiple groups of bolts enter at one time, causing confusion of the bolt types when the bolt type needs to be replaced next time, effectively solving the problem of manual replacement of bolt types in traditional bolt fastening devices, and significantly improving the assembly efficiency.

[0023] 3、Through the rotation of the first reduction motor driving the bidirectional threaded rod, the two groups of adjusting sliders drive the two groups of electric conveying belts to move in opposite directions or opposite directions, realizing the adjustment of the distance between the two groups of electric conveying belts, according to the selected bolt rod size, the distance between the two groups of electric conveying belts is adjusted, so that the distance between the two groups of electric conveying belts matches the size of the bolt rod, so that the bolt can be clamped at the upper end of the two groups of electric conveying belts after entering the two groups of electric conveying belts, facilitating the conveying of the bolt, and the two groups of electric conveying belts drive the bolt to move, so that the bolt can be smoothly moved to the center of the movable material guide table, thereby improving the precision of the electric clamping jaw clamping the bolt.

[0024] 4、Through the rotation of the fourth reduction motor driving the electric clamping jaw, the transmission box is driven by the electric cylinder to move outside the accommodation groove, 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, the linkage block integrates the electric cylinder (axial advancement) and the fourth reduction motor (rotary drive), the telescopic rod stabilizes the transmission box, realizes the continuous action of bolt clamping and rotating, saves the step-by-step operation of traditional "clamping-transporting-tightening", and effectively improves the efficiency of bolt tightening operation in part assembly. BRIEF DESCRIPTION OF DRAWINGS

[0025] 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.

[0026] Figure 1 The main structure schematic diagram according to the embodiment of the present application is shown;

[0027] Figure 2 The movable guide table and the position relationship between the group of bolt loading assemblies according to the embodiment of the present application are shown;

[0028] Figure 3 The bolt loading assembly structure schematic diagram according to the embodiment of the present application is shown;

[0029] Figure 4 Fig. 1 shows a schematic diagram of the activity guide table structure according to an embodiment of the present application;

[0030] Figure 5 Fig. 2 shows a sectional view of the internal structure of the activity guide table according to an embodiment of the present application;

[0031] Figure 6 Fig. 3 shows a schematic diagram of the assembly mechanism structure according to an embodiment of the present application;

[0032] Figure 7 Fig. 4 shows a sectional view of the internal structure of the second hinge seat according to an embodiment of the present application;

[0033] Figure 8 Fig. 5 shows a sectional view of the connection relationship between the linkage block and the electric clamping jaw according to an embodiment of the present application.

[0034] In the figure: 100, electric turntable; 200, mechanical arm; 300, activity guide table; 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, support 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, assembly 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, accommodating 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

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] The embodiments of the present application provide a kind of industrial robot for sports equipment assembly, including electric turntable 100 and mechanical arm 200;Exemplarily, as Figure 1 andFigure 2 As shown.

[0037] The movable material guiding table 300 is installed on the electric rotating disc 100, the side wall of the movable material guiding table 300 is provided with a plurality of groups of bolt loading assemblies 400, the plurality of groups of bolt loading assemblies 400 are distributed in a ring array with the movable material guiding table 300 as the center, a plurality of groups of bolts are loaded on the plurality of groups of bolt loading assemblies 400, the sizes and models of the bolts loaded on the plurality of groups of bolt loading assemblies 400 are different, the mechanical arm 200 is arranged on one side of the movable material guiding table 300, and the assembling mechanism 500 is arranged on the mechanical arm 200.

[0038] 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 at one end, 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 to directly above the movable material guiding table 300.

[0039] Specifically, according to the model of the bolt required by the sports equipment parts to be assembled, the movable material guiding table 300 is driven to rotate to a preset angle value by the electric rotating disc 100, the material guiding groove 310 is rotated to one side of the bolt loading assembly 400 loaded with the model, the material guiding groove 310 is located directly 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 moved to directly above the group of bolts by the mechanical arm 200, 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.

[0040] As shown in the examples, Figure 3 As shown.

[0041] 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. Screws are loaded in the clamping holes 444 above the two groups of belt pulleys 441. The stem of the screw is movably attached to the limiting groove 431, and the head of the screw 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 support 445, and the transverse support 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.

[0042] 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 screw 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 screw is lifted synchronously, so that the screw 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 screws 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 screw 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 screws. Through progressive and sequential conveying of the screws, only one group of screws enters the material guide groove 310 each time, which facilitates the clamping of the assembly mechanism 500, and avoids the confusion of screws when the type of screws needs to be replaced next time.

[0043] As shown in the examples of Figure 4 and Figure 5 .

[0044] The guide mechanism 320 is arranged in the guide chute 310, the movable guide table 300 is provided with an adjusting groove 330, the adjusting groove 330 and the guide chute 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, the two groups of adjusting sliding blocks 323 are provided with connecting frames 324, and the opposite sides of the two groups of connecting frames 324 are provided with electric conveying belts 325.

[0045] 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, the distance between the two groups of electric conveying belts 325 is adjusted, the distance between the two groups of electric conveying belts 325 is adjusted according to the rod size of the selected bolt, the distance between the two groups of electric conveying belts 325 is matched with the size of the bolt rod, the bolt can be clamped on the upper end of the two groups of electric conveying belts 325 after entering the two groups of electric conveying belts 325, and the bolt can be conveniently conveyed, the bolt is moved by the two groups of electric conveying belts 325, so that the bolt can be smoothly moved to the center of the movable guide table 300, and the assembling mechanism 500 can accurately complete the clamping operation of the bolt.

[0046] For example, as shown in the drawings. Figure 6-8

[0047] ​The assembling mechanism 500 comprises a base plate 510 mounted on the mechanical arm 200, one side wall of the base plate 510 is provided with a first hinged seat 520, the first hinged seat 520 is rotationally connected with a spherical adjusting seat 530, 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, the first hinged seat 520 is provided with a second speed reducer 540, the output end of the second speed reducer 540 is in transmission connection with the spherical adjusting seat 530, the spherical adjusting seat 530 is rotationally connected with a second hinged seat 550, 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 designed to be perpendicular to each other, the other end of the second hinged seat 550 is fixedly connected with a linkage block 560, the other end of the linkage block 560 is provided with an electric clamp jaw 580, and a plurality of groups of distance measuring sensors 570 are also mounted on the linkage block 560, and the plurality of groups of distance measuring sensors 570 are arranged in a ring array around the central axis of the electric clamp jaw 580;

[0048] The outer wall of the spherical adjusting seat 530 is paved with an arc-shaped tooth plate 531, the second hinged seat 550 is provided with a gear mounting groove 551, the gear mounting groove 551 is rotationally connected with a gear 552, the gear 552 is in meshing connection with the arc-shaped tooth plate 531, the second hinged seat 550 is provided with a third speed reducer 553, the output end of the third speed reducer 553 is in transmission connection with a transmission shaft 554, and the other end of the transmission shaft 554 is fixedly connected with the center of the gear 552;

[0049] Specifically, the second reduction motor 540 drives the spherical adjusting seat 530 to rotate in the horizontal direction, so that the second hinged seat 550 drives the linkage block and the electric clamping jaw 580 to rotate synchronously, and drives the bolt to adjust the angle in the horizontal direction; the third reduction motor 553 drives the gear 552 to rotate, and through the meshing of the gear and the arc-shaped toothed plate 531, the second hinged seat 550 is driven to rotate along the vertical direction of the spherical adjusting seat 530, so that the bolt is driven to adjust the angle in the vertical direction; the distance measuring sensors 570 monitor the surface distance of the parts to be assembled, and the second reduction motor 540 and the third reduction motor 553 respectively adjust the angles of the linkage block 560 in the horizontal and vertical directions, so that the detection values of the distance measuring sensors 570 are equal and equal to the preset value, at this time, the linkage block 560 and the surface of the parts to be assembled are kept parallel, so that the electric clamping jaw 580 keeps vertical between the bolt and the surface of the parts to be assembled, so that the bolt can be vertically inserted into the mounting hole on the surface of the parts to be assembled, effectively improving the precision of bolt installation, and avoiding the bolt inclination caused by the bolt sliding or causing the parts to be damaged.

[0050] The linkage block 560 is provided with a displacement slot 561, the inner wall of the displacement slot 561 is provided with an electric cylinder 562, the output end of the electric cylinder 562 is drivingly connected with a transmission box 563, two groups of telescopic rods 564 are fixedly connected between the transmission box 563 and the inner wall of the displacement slot 561, the two groups of telescopic rods 564 are symmetrically distributed with the electric cylinder 562 as the center, a fourth reduction motor 565 is installed in the transmission box 563, and the output end of the fourth reduction motor 565 is drivingly connected with the center of the electric clamping jaw 580.

[0051] Specifically, the fourth reduction motor 565 drives the electric clamping jaw 580 to rotate, the electric cylinder 562 drives the transmission box 563 to move out of the displacement slot 561, the two groups of telescopic rods 564 support the transmission box 563 to avoid inclination, the electric clamping jaw 580 drives the bolt 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.

[0052] The working principle of the industrial robot for sports equipment assembly is as follows:

[0053] According to the type of the bolt required by the sports equipment parts to be assembled, the movable material guiding table 300 is driven by the electric turntable 100 to rotate to a preset angle value, so that the material guiding groove 310 is rotated to one side of the bolt loading assembly 400 loaded with the type of bolt, and the material guiding groove 310 is located directly below the output end of the group of arc-shaped guide rails 432.

[0054] The step motor 446 in the bolt loading assembly 400 drives a set of belt pulleys 441 to rotate, which drives the two sets of belt pulleys 441 to rotate synchronously, causing a set of clamping holes 444 near the arc-shaped guide rail 432 to move the bolts towards the middle protrusion of the arc-shaped guide rail 432. When a set of clamping blocks 442 on the belt pulley 441 rotates and inserts into the set of clamping holes 444, the bolts are simultaneously lifted up, causing the bolts to disengage from the clamping holes 444 and move to the highest point of the protrusion of the arc-shaped guide rail 432, and then slide down along the arc-shaped guide rail 432 to the material guide groove 310 due to their own gravity. The bolts loaded in the other sets of clamping holes 444 move one unit of distance towards the movable material guide table 300. The clamping holes 444 near the side of the vertical plate 420 are vacant at this time, and the bolts can be continuously placed in. At this time, the step motor 446 is automatically turned off, thereby completing the conveying operation of a set of bolts. Through progressive and sequential conveying of the bolts, only one set of bolts enters the material guide groove 310 each time, which facilitates the clamping of the assembly mechanism 500 and avoids the confusion of bolts when changing the bolt type next time.

[0055] The bidirectional threaded rod 322 is driven to rotate by the first speed reducer 321, causing the two sets of adjustment sliding blocks 323 to drive the two sets of electric conveying belts 325 to move in opposite directions or opposite directions, thereby adjusting the distance between the two sets of electric conveying belts 325. According to the selected bolt shaft size, the distance between the two sets of electric conveying belts 325 is adjusted to match the size of the bolt shaft, so that the bolt head can be clamped on the upper end of the two sets of electric conveying belts 325 after entering between the two sets of electric conveying belts 325, facilitating the conveying of the bolt.

[0056] The assembly mechanism 500 is moved to the top of the set of bolts by the mechanical arm 200, and the clamping direction of the electric clamping jaw 580 is towards the bolt. The distance from the surface of the movable material guide table 300 is monitored by the plurality of distance measuring sensors 570, and the angle of inclination of the linkage block 560 in the horizontal and vertical directions is adjusted by the second speed reducer 540 and the third speed reducer 553, respectively, so that 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 and the surface of the movable material guide table 300 are parallel, so that the bolt clamped by the electric clamping jaw 580 and the linkage block 560 are in a vertical state, thereby improving the accuracy of bolt installation.

[0057] The bolt is moved to the side of the part to be assembled by the assembling mechanism 500, the spherical adjusting seat 530 is rotated in the horizontal direction by the second speed reducer motor 540, the second hinged seat 550 drives the linkage block and the electric clamp jaw 580 to rotate synchronously, the bolt is adjusted in the horizontal direction, the gear 552 is driven to rotate by the third speed reducer motor 553, the second hinged seat 550 is rotated in the vertical direction along the spherical adjusting seat 530 through the meshing of the gear and the arc-shaped toothed plate 531, so that the bolt is adjusted in the vertical direction, the surface distance of the part 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 speed reducer motor 540 and the third speed reducer motor 553 respectively, so that 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 and the surface of the part to be assembled are kept parallel, so that the bolt clamped by the electric clamp jaw 580 and the surface of the part to be assembled are kept vertical, so that the bolt can be vertically inserted into the mounting hole opened on the surface of the part to be assembled during assembly, effectively improving the precision of bolt installation, avoiding bolt slippage or part damage caused by bolt inclination.

[0058] The electric clamp jaw 580 is driven to rotate by the fourth speed reducer motor 565, the transmission box 563 is moved out of the gap slot 561 by the electric cylinder 562, the transmission box 563 is supported by the two groups of telescopic rods 564 to avoid tilting, the bolt is rotated and moved at the same time by the electric clamp jaw 580, so that the bolt is screwed into the mounting hole, and the assembly of the part is completed.

[0059] Different types of bolts are conveyed and clamped, so that the mechanical arm 200 can drive the assembling mechanism 500 to assemble different types of sports equipment parts, effectively improving the universality of the industrial robot.

[0060] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. Industrial robot for sports equipment assembly, comprising a motorized turntable and a mechanical arm, characterized in that: a movable guide table for guiding and conveying specified type of bolts is installed on the motorized turntable; a side wall of the movable guide table is provided with a plurality of bolt loading assemblies for single progressive conveying of bolts; a plurality of groups of bolts are loaded on the bolt loading assemblies, and the bolts loaded on the bolt loading assemblies are of different sizes and types; the mechanical arm is arranged on one side of the movable guide table, and an assembly mechanism for clamping and directional tightening of the bolts is arranged on the mechanical arm; the assembly mechanism comprises a base plate installed on the mechanical arm, a first hinge seat is installed on one side wall of the base plate, a spherical adjusting seat is rotatably connected to the first hinge seat; a second hinge seat is rotatably connected to the spherical adjusting seat, a linkage block is fixedly connected to the other end of the second hinge seat, an electric clamp jaw is installed on the other end of the linkage block, and a plurality of distance measuring sensors are also installed on the linkage block; the line between the two connection points of the first hinge seat and the spherical adjusting seat passes through the center of the spherical adjusting seat, a second speed reducer is installed on the first hinge seat, and the output end of the second speed reducer is in transmission connection with the spherical adjusting seat; the line between the two connection points of the second hinge 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 hinge seat and the spherical adjusting seat are perpendicular to each other; 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 hinge 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 installed on the second hinge seat, a transmission shaft is in transmission connection with the output end of the third speed reducer, and the other end of the transmission shaft is fixedly connected with the center of the gear; 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 arc-shaped guide rails are arranged on one end of the limiting plate, one end of the two arc-shaped guide rails is in close contact with one end of the limiting groove, the other end of the two arc-shaped guide rails extends above the movable guide table, two support legs are fixedly connected to the support frame, the two support legs are respectively fixedly connected with the bottom ends of the two arc-shaped guide rails, and a conveying mechanism is also installed on the support frame and arranged below the limiting plate; the conveying mechanism comprises two belt pulleys, a plurality of clamping blocks are fixedly connected to each of the two belt pulleys, the plurality 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 belt pulleys, a plurality of clamping holes are uniformly formed in the conveying belt, and the plurality of clamping holes are movably clamped with the plurality of clamping blocks. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. Sports equipment assembly industrial robot according to claim 1, characterized in that: The linkage block is internally provided with a let slot, the inner wall of the let slot is provided with an electric cylinder, the output end of the electric cylinder is drivingly connected with a transmission box, two groups of telescopic rods are fixedly connected between the transmission box and the inner wall of the let slot, the two groups of telescopic rods are symmetrically distributed with the electric cylinder as the center, a fourth speed reducer is installed in the transmission box, and the output end of the fourth speed reducer is drivingly connected with the center of the electric clamp jaw.

3. Sports equipment assembly industrial robot according to claim 1, characterized in that: The movable material guiding table is provided with a material guiding groove, 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.

4. The industrial robot for sports equipment assembly according to claim 1, characterized in that: The clamping holes above the two groups of belt pulleys are loaded with bolts, the shank portions of the bolts are movably attached to the limiting grooves, the head portions of the bolts are movably attached to the top ends of the limiting plates, one side wall of the vertical plate is fixedly connected with a horizontal support, the horizontal support is provided with a stepping motor, the output end of the stepping motor is drivingly connected with the center of one group of belt pulleys.

5. Sports equipment assembly industrial robot according to claim 3, characterized in that: The material guiding groove is provided with a guiding mechanism, the movable material guiding table is provided with an adjusting groove, the adjusting groove and the material guiding groove are in communication, the guiding mechanism comprises a first speed reducer, the output end of the first speed reducer is drivingly connected with a bidirectional screw rod, the bidirectional screw rod is rotatably connected to the inner wall of the adjusting groove, two groups of adjusting sliding blocks are threadedly connected to the bidirectional screw rod, the two groups of adjusting sliding blocks are symmetrically distributed with the central axis of the bidirectional screw rod as the center, the two groups of adjusting sliding blocks are provided with connecting frames, and the opposite sides of the two groups of connecting frames are provided with electric conveying belts.

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