Turnover tool for robot assembly

Abstract

The utility model discloses an overturning tool for assembling a robot, which comprises a bottom frame and an outward overturning frame, the outward overturning frame is movably mounted in the bottom frame, an inward overturning frame is movably mounted in the outward overturning frame, a clamping frame box is mounted in the inward overturning frame, L-shaped frames are symmetrically mounted on the outer wall of the clamping frame box, and the L-shaped frames are symmetrically mounted on the outer wall of the clamping frame box. And sliding rails are symmetrically mounted on the outer wall of the clamping frame box on one side of the L-shaped frame, sliding seats are arranged on the outer walls of the sliding rails on one side of the L-shaped frame in a sleeving mode, the sliding seats are slidably connected with the sliding rails, and the sliding seats are fixedly connected with the L-shaped frame. According to the overturning tool for assembling the robot, the workpiece can be conveniently clamped by the overturning tool for assembling the robot, front-back and left-right overturning type assembling adjustment can be achieved, multi-direction overturning adjustment can be conveniently conducted on the robot, the overturning range of the overturning tool is enlarged, the workpiece clamping convenience is improved, and the control and adjustment flexibility of the overturning tool is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of turnover tooling, in particular to a turnover tooling for robot assembly. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. Industrial robots are used in assembly, welding, handling, painting and other process links, especially in automobile manufacturing, electronic product manufacturing, aerospace and other industries. Agricultural robots are used for operations such as planting, fertilizing, spraying pesticides, and harvesting crops to improve work efficiency and management level. Educational robots provide personalized learning methods and content, assist teachers in teaching, and stimulate students' interest in learning. In the logistics field, including intelligent warehousing, distribution and express delivery, storage, handling, loading and unloading of goods are realized.

[0003] For example, an intelligent robot flip tool disclosed in the authorization announcement number CN217866673U includes a flip tool structure and a central axis, the central axis is installed at the upper center of the base, the central axis is a rotating structure, and the flip tool structure is installed on the central axis, the left part of the front side of the flip tool structure is slidably connected with the robot left clamping structure, and the right part of the front side of the flip tool structure is slidably connected with the robot right clamping structure, and the robot left clamping structure and the robot right clamping structure are opposite to each other, and the robot left clamping structure and the robot right clamping structure are symmetrical about the center line of the flip tool structure, the flip tool structure is provided with a robot base, a through hole is opened in the center of the robot base, and two sets of linear guide rails are provided on the left and right parts of the front side of the robot base;

[0004] Although it realizes the combination of tooling and flipping on the same robot processing equipment, there is no need to change equipment in the middle, which helps to save processing time and improve processing efficiency; however, it does not solve the problem that the existing flipping tooling is not conducive to convenient clamping of workpieces when in use, and the front and back and left and right flipping assembly adjustment is not conducive to multi-directional flipping adjustment of the robot, which greatly affects the flipping range of the flipping tooling, the convenience of workpiece clamping and the flexibility of flipping tooling control adjustment. Utility Model Content

[0005] The purpose of the utility model is to provide a flip tool for robot assembly, so as to solve the problems proposed in the above-mentioned background technology that the flip tool is not convenient for clamping the workpiece conveniently, the front-to-back and left-to-right flip assembly adjustment is not conducive to multi-directional flip adjustment of the robot, which affects the flipping range of the flip tool, the convenience of workpiece clamping and the flexibility of the flip tool control adjustment.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a turning tool for robot assembly, comprising a base frame and an outer turning frame, the base frame is movably equipped with an outer turning frame, the outer turning frame is movably equipped with an inner turning frame, the inner turning frame is equipped with a clamping frame box, the outer wall of the clamping frame box is symmetrically equipped with an L-shaped frame, the outer wall of the clamping frame box on one side of the L-shaped frame is symmetrically equipped with a slide rail, the outer wall of the slide rail on one side of the L-shaped frame is equipped with a slide seat, and the slide seat is slidably connected to the slide rail, and the slide seat is fixedly connected to the L-shaped frame, the outer wall of the L-shaped frame is equipped with a clamping arm, a stepping motor is installed at the center position inside the clamping frame box, the output end of the stepping motor is equipped with a first gear, and a rack is installed on the outer wall of the L-shaped frame on one side of the first gear, and the rack is meshed with the first gear.

[0007] Preferably, a rotating motor is installed on the outer wall of the base frame on one side of the outward-turning frame, a right transmission shaft is installed on the output end of the rotating motor, a right frame sleeve is sleeved on the outer wall of the outward-turning frame on one side of the right transmission shaft, and the right transmission shaft extends to the surface of the right frame sleeve.

[0008] Preferably, a left frame sleeve is mounted on the outer wall of the outer frame away from the rotating motor, a left support shaft is movably mounted on the outer wall of the base frame on one side of the left frame sleeve, and the left support shaft extends to the surface of the left frame sleeve.

[0009] Preferably, a servo motor is installed at the top of the outer turning frame above the inner turning frame, and a linkage shaft is installed at the output end of the servo motor.

[0010] Preferably, a first right-angle gear is installed at one end of the linkage shaft away from the servo motor, and an upper frame sleeve is mounted at the center position of the top end of the inner flip frame below the first right-angle gear.

[0011] Preferably, an upper support shaft is installed at the top center position of the upper frame sleeve, and the upper support shaft extends to the outside of the external flip frame, and a second right-angle gear is installed at the top of the upper support shaft, and the second right-angle gear is meshed with the first right-angle gear.

[0012] Preferably, a first frame sleeve is mounted at the center position of the bottom end of the inner flip frame on one side of the clamp arm, and a second frame sleeve is mounted at the center position of the bottom end of the outer flip frame below the first frame sleeve. A lower support shaft is movably mounted at the bottom end of the second frame sleeve, and the lower support shaft extends to the outside of the first frame sleeve.

[0013] Preferably, a remote controller is installed outside the base frame, and an output end of the remote controller is electrically connected to an output end of the stepper motor, the rotary motor, or the servo motor.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the turning tooling not only realizes the convenient clamping of the workpiece by the turning tooling for robot assembly, front-to-back and left-to-right turning assembly adjustment, facilitates the multi-directional turning adjustment of the robot, increases the turning range of the turning tooling, but also improves the convenience of workpiece clamping and the flexibility of control and adjustment of the turning tooling;

[0015] (1) The first gear is driven to rotate by a stepper motor, and the first gear drives the two sets of racks to move toward the middle. At the same time, the rack drives the L-shaped frame to move toward the middle synchronously. The L-shaped frame drives the clamping arm to move on the surface of the slide rail through the slide seat, so as to facilitate the clamping of the robot's secondary workpiece between the two sets of clamping arms, and facilitate the next flipping operation, thereby realizing the convenient clamping of the workpiece by the flipping tooling for robot assembly, and improving the convenience of workpiece clamping;

[0016] (2) The right transmission shaft is driven to rotate by a rotating motor, and at the same time, the right transmission shaft drives the outer frame to flip through the right frame sleeve, and the outer frame drives the left support shaft to rotate through the left frame sleeve, and the bottom frame movably supports the left support shaft. The outer frame drives the inner frame to flip forward and backward as a whole through the upper support shaft and the lower support shaft. The two sets of clamping arms drive the clamped robot secondary workpiece to flip forward and backward to facilitate the assembly of the robot secondary workpiece with the robot main workpiece. The servo motor drives the first right-angle gear to rotate through the linkage shaft, and the first right-angle gear drives the second right-angle gear to rotate. At the same time, the second right-angle gear drives the upper frame sleeve to rotate through the upper support shaft, and the upper frame The sleeve drives the inner flip frame to perform an overall flip operation, and the inner flip frame drives the clamping frame box, the clamping arm and the clamped robot minor workpiece to rotate synchronously. Under the action of the first frame sleeve and the second frame sleeve, the outer flip frame movably supports the lower support shaft through the second frame sleeve, and the lower support shaft movably supports the inner flip frame through the first frame sleeve. The two sets of clamping arms drive the clamped robot minor workpiece to flip left and right, realizing convenient front and back and left and right flip assembly adjustment of the flip tooling for robot assembly, facilitating multi-directional flip adjustment of the robot, reducing manual participation, increasing the flipping range of the flip tooling, and improving the flexibility of control and adjustment of the flip tooling. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the external eversion frame of the utility model;

[0019] Figure 3 It is a schematic diagram of the side cross-sectional structure of the clamping frame box of the utility model;

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the clamp arm of the utility model;

[0021] Figure 5 This is a front view structural schematic diagram of the utility model;

[0022] Figure 6 It is a three-dimensional structural schematic diagram of the inward turning frame of the utility model;

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the base frame of the utility model.

[0024] In the figure: 1. base frame; 2. outward-turning frame; 3. inward-turning frame; 4. clamping frame box; 5. L-shaped frame; 6. stepping motor; 7. first gear; 8. rack; 9. rotating motor; 10. right transmission shaft; 11. right frame sleeve; 12. servo motor; 13. linkage shaft; 14. first right-angle gear; 15. upper frame sleeve; 16. upper support shaft; 17. second right-angle gear; 18. remote controller; 19. left frame sleeve; 20. left support shaft; 21. lower support shaft; 22. slide rail; 23. slide seat; 24. clamping arm; 25. first frame sleeve; 26. second frame sleeve. DETAILED DESCRIPTION

[0025] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0026] See also Figure 1-7 , the utility model provides an embodiment: a turning tool for robot assembly, including a base frame 1 and an outer turning frame 2, the base frame 1 is movably installed with an outer turning frame 2, the outer turning frame 2 is movably installed with an inner turning frame 3, the inner turning frame 3 is installed with a clamping frame box 4, the outer wall of the clamping frame box 4 is symmetrically installed with an L-shaped frame 5, the outer wall of the clamping frame box 4 on one side of the L-shaped frame 5 is symmetrically installed with a slide rail 22, the outer wall of the slide rail 22 on one side of the L-shaped frame 5 is equipped with a slide seat 23, and the slide seat 23 is slidably connected to the slide rail 22, and the slide seat 23 is fixedly connected to the L-shaped frame 5, and the outer wall of the L-shaped frame 5 is installed with a clamping arm 24, a stepping motor 6 is installed at the center position inside the clamping frame box 4, the stepping motor 6 plays a role of power driving, and the output end of the stepping motor 6 is installed with a first gear 7, and a rack 8 is installed on the outer wall of the L-shaped frame 5 on one side of the first gear 7, and the rack 8 is meshed with the first gear 7;

[0027] The tooling is moved to the robot's secondary workpiece between the two groups of clamping arms 24 through the base frame 1, and the stepper motor 6 is started by operating the remote controller 18. Under the support of the clamping frame box 4, the stepper motor 6 drives the first gear 7 to rotate. Under the meshing action of the first gear 7 and the two groups of racks 8, the first gear 7 drives the two groups of racks 8 to move toward the middle, and the racks 8 drive the L-shaped frame 5 to move toward the middle synchronously. The L-shaped frame 5 drives the clamping arms 24 to move on the surface of the slide rail 22 through the slide seat 23, so as to facilitate the clamping of the robot's secondary workpiece between the two groups of clamping arms 24, and facilitate the next step of flipping operation, so as to realize the convenient clamping of the workpiece by the flip tooling for robot assembly, and improve the convenience of workpiece clamping;

[0028] A rotating motor 9 is installed on the outer wall of the base frame 1 on one side of the outer frame 2, and the rotating motor 9 plays a role of power driving. A right transmission shaft 10 is installed on the output end of the rotating motor 9. A right frame sleeve 11 is sleeved on the outer wall of the outer frame 2 on one side of the right transmission shaft 10, and the right transmission shaft 10 extends to the surface of the right frame sleeve 11. A left frame sleeve 19 is sleeved on the outer wall of the outer frame 2 away from the rotating motor 9. A left support shaft 20 is movably installed on the outer wall of the base frame 1 on one side of the left frame sleeve 19, and the left support shaft 20 extends to the surface of the left frame sleeve 19;

[0029] The rotating motor 9 is started by operating the remote controller 18. Under the support of the base frame 1, the rotating motor 9 drives the right transmission shaft 10 to rotate. At the same time, the right transmission shaft 10 drives the outer turning frame 2 to turn through the right frame sleeve 11. The outer turning frame 2 drives the left support shaft 20 to rotate through the left frame sleeve 19. The base frame 1 movably supports the left support shaft 20. The outer turning frame 2 drives the inner turning frame 3 to turn forward and backward as a whole through the upper support shaft 16 and the lower support shaft 21. The two sets of clamping arms 24 drive the clamped robot secondary workpiece to turn forward and backward, so as to facilitate the assembly of the robot secondary workpiece with the robot main workpiece.

[0030] A servo motor 12 is installed at the top of the outer turning frame 2 above the inner turning frame 3. The servo motor 12 plays a role of power driving. A linkage shaft 13 is installed at the output end of the servo motor 12. A first right-angle gear 14 is installed at the end of the linkage shaft 13 away from the servo motor 12. An upper frame sleeve 15 is sleeved at the center position of the top of the inner turning frame 3 below the first right-angle gear 14.

[0031] An upper support shaft 16 is installed at the top center of the upper frame sleeve 15, and the upper support shaft 16 extends to the outside of the outer turning frame 2. A second right-angle gear 17 is installed at the top of the upper support shaft 16, and the second right-angle gear 17 is meshed with the first right-angle gear 14. A first frame sleeve 25 is installed at the bottom center of the inner turning frame 3 on one side of the clamping arm 24, and a second frame sleeve 26 is installed at the bottom center of the outer turning frame 2 below the first frame sleeve 25. A lower support shaft 21 is movably installed at the bottom of the second frame sleeve 26, and the lower support shaft 21 extends to the outside of the first frame sleeve 25.

[0032] A remote controller 18 is installed outside the chassis 1, and the output end of the remote controller 18 is electrically connected to the output ends of the stepper motor 6, the rotary motor 9, and the servo motor 12;

[0033] The servo motor 12 is started by operating the remote controller 18. Under the support of the outer flip frame 2, the servo motor 12 drives the first right-angle gear 14 to rotate through the linkage shaft 13. Under the meshing action of the first right-angle gear 14 and the second right-angle gear 17, the first right-angle gear 14 drives the second right-angle gear 17 to rotate. At the same time, the second right-angle gear 17 drives the upper frame sleeve 15 to rotate through the upper support shaft 16. The upper frame sleeve 15 drives the inner flip frame 3 to perform an overall flip operation. The inner flip frame 3 drives the clamping frame box 4, the clamping arm 24 and the clamped robot secondary workpiece to perform synchronous flipping. The outer flip frame 2 supports the lower support shaft 21 through the second frame sleeve 26, and the lower support shaft 21 supports the inner flip frame 3 through the first frame sleeve 25. The two sets of clamping arms 24 drive the clamped robot secondary workpiece to flip left and right, realizing convenient front-to-back and left-to-right flipping assembly adjustment of the flip tooling for robot assembly, facilitating multi-directional flipping adjustment of the robot, reducing manual participation, increasing the flipping range of the flip tooling, and improving the flexibility of control and adjustment of the flip tooling.

[0034] Working principle: When in use, an external power supply is connected. First, the stepper motor 6 drives the first gear 7 to rotate, and the first gear 7 drives the two sets of racks 8 to move toward the middle. At the same time, the rack 8 drives the L-shaped frame 5 to move toward the middle synchronously. The L-shaped frame 5 drives the clamping arm 24 to move on the surface of the slide rail 22 through the slide seat 23 to facilitate the clamping of the robot's secondary workpiece between the two sets of clamping arms 24, so as to facilitate the next flipping operation. The rotating motor 9 drives the right transmission shaft 10 to rotate. At the same time, the right transmission shaft 10 drives the outer flip frame 2 to flip through the right frame sleeve 11. The outer flip frame 2 drives the left support shaft 20 to rotate through the left frame sleeve 19. The outer flip frame 2 drives the inner flip frame 3 to perform an overall front and back flip operation through the upper support shaft 16 and the lower support shaft 21. The two sets of clamping arms 24 drive the clamped robot's secondary workpiece to flip back and forth, so as to facilitate the robot's secondary workpiece and the machine The main workpiece is assembled and processed by the human. When the clamped robot secondary workpiece needs to be flipped left or right, the servo motor 12 drives the first right-angle gear 14 to rotate through the linkage shaft 13, and the first right-angle gear 14 drives the second right-angle gear 17 to rotate. At the same time, the second right-angle gear 17 drives the upper frame sleeve 15 to rotate through the upper support shaft 16, and the upper frame sleeve 15 drives the inner flip frame 3 to perform an overall flip operation. The inner flip frame 3 drives the clamping frame box 4, the clamping arm 24 and the clamped robot secondary workpiece to rotate synchronously. Under the action of the first frame sleeve 25 and the second frame sleeve 26, the outer flip frame 2 movably supports the lower support shaft 21 through the second frame sleeve 26, and the lower support shaft 21 movably supports the inner flip frame 3 through the first frame sleeve 25. The two sets of clamping arms 24 drive the clamped robot secondary workpiece to flip left or right to complete the use of the flip tooling.

[0035] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A turning tool for robot assembly, comprising a base frame (1) and an outer turning frame (2), characterized in that: An outward-turning frame (2) is movably mounted inside the base frame (1), an inward-turning frame (3) is movably mounted inside the outward-turning frame (2), a clamping frame box (4) is mounted inside the inward-turning frame (3), an L-shaped frame (5) is symmetrically mounted on the outer wall of the clamping frame box (4), a slide rail (22) is symmetrically mounted on the outer wall of the clamping frame box (4) on one side of the L-shaped frame (5), a slide seat (23) is mounted on the outer wall of the slide rail (22) on one side of the L-shaped frame (5), and the slide seat ( The first gear (7) is mounted on the output end of the stepper motor (6), and a rack (8) is mounted on the outer wall of the L-shaped frame (5) on one side of the first gear (7).

2. The turning tool for robot assembly according to claim 1, characterized in that: A rotating motor (9) is installed on the outer wall of the base frame (1) on one side of the outer-turned frame (2); a right transmission shaft (10) is installed on the output end of the rotating motor (9); a right frame sleeve (11) is sleeved on the outer wall of the outer-turned frame (2) on one side of the right transmission shaft (10), and the right transmission shaft (10) extends to the surface of the right frame sleeve (11).

3. The turning tool for robot assembly according to claim 1, characterized in that: A left frame sleeve (19) is sleeved on the outer wall of the outer frame (2) at a side away from the rotating motor (9), and a left support shaft (20) is movably mounted on the outer wall of the bottom frame (1) at one side of the left frame sleeve (19), and the left support shaft (20) extends to the surface of the left frame sleeve (19).

4. The turning tool for robot assembly according to claim 1, characterized in that: A servo motor (12) is installed at the top of the outer turning frame (2) above the inner turning frame (3), and a linkage shaft (13) is installed at the output end of the servo motor (12).

5. The turning tool for robot assembly according to claim 4, characterized in that: A first right-angle gear (14) is installed at one end of the linkage shaft (13) away from the servo motor (12), and an upper frame sleeve (15) is sleeved at the center position of the top end of the inner turning frame (3) below the first right-angle gear (14).

6. The turning tool for robot assembly according to claim 5, characterized in that: An upper support shaft (16) is installed at the center position of the top end of the upper frame sleeve (15), and the upper support shaft (16) extends to the outside of the outer turning frame (2). A second right-angle gear (17) is installed at the top end of the upper support shaft (16), and the second right-angle gear (17) is meshed with the first right-angle gear (14).

7. The turning tool for robot assembly according to claim 1, characterized in that: A first frame sleeve (25) is sleeved at the center position of the bottom end of the inner turning frame (3) on one side of the clamping arm (24); a second frame sleeve (26) is sleeved at the center position of the bottom end of the outer turning frame (2) below the first frame sleeve (25); a lower support shaft (21) is movably mounted at the bottom end of the second frame sleeve (26), and the lower support shaft (21) extends to the outside of the first frame sleeve (25).

8. The turning tool for robot assembly according to claim 1, characterized in that: A remote controller (18) is installed outside the base frame (1), and the output end of the remote controller (18) is electrically connected to the output ends of the stepping motor (6), the rotating motor (9), and the servo motor (12).

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