Automatic assembly mounting manipulator with good stability

Abstract

The utility model relates to the technical field of manipulators, and discloses an automatic assembly mounting manipulator with good stability, which comprises a manipulator body, a support plate and a rotating motor, an output shaft of the rotating motor penetrates through the support plate and is fixedly connected with a rectangular rod, and the other end of the rectangular rod penetrates through and is slidably connected with an upper wheel. The upper surface of the upper wheel is connected with a pushing assembly, the other end of the pushing assembly is connected with the outer wall of the rectangular rod, and the end, penetrating through the upper wheel, of the rectangular rod is connected with a tension assembly. According to the automatic assembly mounting mechanical arm with the good stability, when a user tightens a screw through the mechanical arm body, after the screw is tightened, and a sensor in the mechanical arm body does not sense the screw in time and stops the mechanical arm body, the pushing assembly and the dislocation assembly between the upper wheel and the lower wheel can be used for pushing the screw; and the rotation in the period of time is buffered, so that the condition of breakage between the lower wheel and the manipulator body can be avoided, and the stability and balance of the manipulator body cannot be influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an automatic component installation manipulator with good stability. Background Art

[0002] A component automatic installation robot is a robot system used in automated production lines, specifically designed to automatically install components or parts during the manufacturing process. This type of robot is usually highly flexible and precise, capable of performing complex component installation tasks, improving production efficiency and product quality.

[0003] The patent with the current publication number CN218612734U discloses a manipulator, which relates to the field of mechanical equipment technology, including a manipulator arm and a connector installed at the end of the manipulator arm, the manipulator arm includes a base, a first rotating arm and a second rotating arm, the first rotating arm is rotatably installed on the top of the base, the second rotating arm is rotatably connected to the first rotating arm, a first external motor for driving the first rotating arm to rotate horizontally is installed inside the base, a second external motor for driving rotation is provided at the connection between the second rotating arm and the first rotating arm, and a rotating component for assisting the automatic tightening of bolts is installed on the connector. In this manipulator, by providing a cavity inside the nut sleeve and multiple groups of adjustment plates installed inside the cavity, when screwing the nut, the adjustment plate can be directly pushed by the diameter model of the nut, so as to adapt to the adjustment plate of the appropriate model and directly screw the nut without repeatedly replacing the nut sleeve.

[0004] However, the following problems still exist in the above-mentioned robot:

[0005] When the above-mentioned robot tightens the bolt through the nut sleeve, it is unable to accurately judge whether the bolt is tightened because there is no function inside the robot to sense whether the bolt is tightened. This results in that when the screw cannot be tightened, the nut sleeve will still rotate a certain distance driven by the motor before the sensor senses and controls the robot to stop. This distance is likely to cause a break between the robot nut sleeve and the robot, and may even cause the stability and balance of the robot itself to be damaged. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model provides an automatic component installation robot with good stability. When the user tightens the screws through the robot body, after the screws are tightened and the internal sensor of the robot body fails to sense and stop the robot body in time, the pushing assembly and the offset assembly between the upper wheel and the lower wheel can be used to buffer the rotation during this period, thereby avoiding the occurrence of breakage between the lower wheel and the robot body, and will not affect the stability and balance of the robot body itself.

[0007] The utility model provides the following technical solutions: a component automatic installation manipulator with good stability, comprising a manipulator body, a support plate installed at one end of the manipulator body and a rotating motor installed at one side of the support plate, the output shaft of the rotating motor passes through the support plate and is fixedly connected to a rectangular rod, the other end of the rectangular rod passes through and is slidably connected to an upper wheel, the upper surface of the upper wheel is connected to a pushing component, the other end of the pushing component is connected to the outer wall of the rectangular rod, one end of the rectangular rod passing through the upper wheel is connected to a pulling component, the other end of the pulling component is connected to a lower wheel, the connection between the upper wheel and the lower wheel is connected to a dislocation component, and the inner wall of the lower wheel is connected to a clamping mechanism.

[0008] Furthermore, the tension assembly includes a connecting rod and a tension spring. A spring cavity is opened on the side of the rectangular rod away from the support plate. One end of the connecting rod is fixedly connected to the upper surface of the outer wall of the lower wheel. The other end of the connecting rod is located in the spring cavity and fixedly connected to one end of the tension spring. The other end of the tension spring is connected to the inner wall of the spring cavity.

[0009] Furthermore, an anti-slip groove is provided on one side of the spring cavity away from the connecting rod, an anti-slip swivel is rotatably connected to the inner wall of the anti-slip groove, and the bottom surface of the anti-slip swivel is fixedly connected to one end of the tension spring away from the connecting rod.

[0010] Furthermore, the pushing assembly includes a top plate and a pushing spring, the inner wall of the top plate is fixedly connected to the outer wall of the rectangular rod near one end of the support plate, the upper surface of the top plate is abutted against the bottom surface of the support plate, the bottom surface of the top plate is fixedly connected to one end of the pushing spring, and the other end of the pushing spring is fixedly connected to the upper surface of the outer wall of the upper wheel.

[0011] Furthermore, the staggered assembly includes two groups of teeth, the planes of the two groups of teeth are respectively fixedly connected to the bottom surface of the upper wheel and the upper surface of the lower wheel, and the two groups of teeth are staggered.

[0012] Furthermore, the clamping mechanism includes a movable motor, a bidirectional screw and two clamping plates. The outer wall of the movable motor is fixedly connected to the outer wall of the lower wheel. The output shaft of the movable motor passes through the outer wall of the lower wheel and is fixedly connected to one end of the bidirectional screw. The other end of the bidirectional screw passes through the two clamping plates and is rotatably connected to the inner wall of the lower wheel. The inner wall of the bidirectional screw and the outer walls of the two clamping plates are both threaded.

[0013] Furthermore, a partition is fixedly connected to the inner wall of the lower wheel, and two symmetrically arranged sliding grooves are penetrated through the upper surface of the partition. The outer walls of the two clamping plates are respectively slidably connected to the inner walls of the two sliding grooves, and the bidirectional screw is located above the partition.

[0014] Furthermore, the inner wall of the lower wheel is provided with two receiving cavities, the two clamping plates are respectively located in the two receiving cavities, and the outer walls of the two clamping plates are respectively slidably connected to the inner walls of the two receiving cavities.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] This kind of component with good stability automatically installs the robot arm, by connecting a rectangular rod to the output shaft of the rotating motor of the robot arm body, and connecting the upper wheel and the lower wheel through the rectangular rod, and arranging a pushing component, a pulling component and a dislocation component on the upper wheel and the lower wheel. When the user tightens the screws through the robot arm body, after the screws are tightened, and the internal sensor of the robot arm body fails to sense and stop the robot arm body in time, the pushing component and the dislocation component between the upper wheel and the lower wheel can be used to buffer the rotation during this period, thereby avoiding the occurrence of breakage between the lower wheel and the robot arm body, and will not affect the stability and balance of the robot body itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0018] Figure 2 This is a schematic diagram of the overall appearance of the utility model from another perspective;

[0019] Figure 3 It is a cross-sectional schematic diagram of the upper wheel and the lower wheel of the utility model;

[0020] Figure 4 The utility model is based on Figure 3 Exploded diagram of each component in the diagram;

[0021] Figure 5 It is a detailed connection diagram of the tension component and the rectangular rod of the utility model;

[0022] Figure 6 The utility model is based on Figure 5 Exploded diagram of the various components.

[0023] In the figure: 1. Robot body; 2. Support plate; 3. Rotating motor; 4. Upper wheel; 5. Lower wheel; 6. Moving motor; 7. Top plate; 8. Push spring; 9. Clamp; 10. Rectangular rod; 11. Connecting rod; 12. Bidirectional screw rod; 13. Partition; 14. Teeth; 15. Anti-slip swivel; 16. Tension spring; 501. Storage chamber; 1001. Spring chamber; 1002. Anti-slip groove; 1301. Slide groove. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0025] See also Figure 1-Figure 6A component automatic installation manipulator with good stability includes a manipulator body 1, a support plate 2 installed at one end of the manipulator body 1 and a rotating motor 3 installed at one side of the support plate 2, the output shaft of the rotating motor 3 passes through the support plate 2 and is fixedly connected to a rectangular rod 10, the other end of the rectangular rod 10 passes through and is slidably connected to an upper wheel 4, the upper surface of the upper wheel 4 is connected to a pushing component, the other end of the pushing component is connected to the outer wall of the rectangular rod 10, one end of the rectangular rod 10 passing through the upper wheel 4 is connected to a pulling component, the other end of the pulling component is connected to a lower wheel 5, a dislocation component is connected at the connection between the upper wheel 4 and the lower wheel 5, and a clamping mechanism is connected to the inner wall of the lower wheel 5.

[0026] The component automatic installation robot with good stability in the utility model is similar to the existing robot structure, such as a robot disclosed in the patent with publication number CN218612734U. Figures 1 to 6 As shown, when the automatic assembly robot with good stability in the utility model needs to tighten the screws, it can follow the following steps:

[0027] 1. First, the lower wheel 5 is controlled by an external controller to align with the external screw, and then the rotating motor 3 and the clamping mechanism are started;

[0028] 2. After the clamping mechanism is activated, the external screw inside the lower wheel 5 will be squeezed tight, so that the screw can be screwed into the external threaded hole later;

[0029] 3. After the rotating motor 3 is started, the output shaft drives the rectangular rod 10 to rotate, and then the rectangular rod 10 drives the upper wheel 4 and the pushing assembly to rotate together. At this time, the upper wheel 4 and the lower wheel 5 are connected together due to the action of the pulling assembly, and because of the engagement of the dislocation assembly, they will rotate with the upper wheel 4 without encountering large resistance;

[0030] 4. When the lower wheel 5 rotates, it will drive the external screw that has been clamped by the clamping mechanism to rotate together, so that the external screw can be accurately screwed into the external threaded hole;

[0031] 5. When the screw is screwed to the bottom, the lower wheel 5 is blocked by the external screw and the threaded hole and cannot rotate, while the upper wheel 4 and the rectangular rod 10 continue to rotate driven by the rotating motor 3;

[0032] 6. When the upper wheel 4 continues to rotate, the upper wheel 4 and the lower wheel 5 will be misaligned due to the effect of the misalignment component. Since the lower wheel 5 is pressed against the external screws and cannot move forward or backward, after the misalignment, the upper wheel 4 will only be pushed outward (in the direction of the rotating motor 3);

[0033] 7. When the upper wheel 4 moves outward, the pushing component outside the rectangular rod 10 is stretched, and the pulling component inside the rectangular rod 10 is compressed. When the upper wheel 4 rotates to the next position, the upper wheel 4 is pushed back to the position against the lower wheel 5 by the pushing component and the pulling component.

[0034] 8. Repeat the above steps until the sensor inside the robot body 1 reacts, and then control the rotating motor 3 to stop rotating. Through the above steps, the break between the lower wheel 5 and the robot body 1 can be avoided, and the stability and balance of the robot body 1 itself will not be affected.

[0035] Please refer to Figure 5 and Figure 6 The tension assembly includes a connecting rod 11 and a tension spring 16. A spring cavity 1001 is provided on the side of the rectangular rod 10 away from the support plate 2. One end of the connecting rod 11 is fixedly connected to the upper surface of the outer wall of the lower wheel 5. The other end of the connecting rod 11 is located in the spring cavity 1001 and is fixedly connected to one end of the tension spring 16. The other end of the tension spring 16 is connected to the inner wall of the spring cavity 1001. An anti-slip groove 1002 is provided on the side of the spring cavity 1001 away from the connecting rod 11. An anti-slip swivel 15 is rotatably connected to the inner wall of the anti-slip groove 1002. The bottom surface of the anti-slip swivel 15 is fixedly connected to the end of the tension spring 16 away from the connecting rod 11.

[0036] More specifically, when the screw is turned normally, the tension spring 16, supported by the anti-slip swivel 15, will pull the connecting rod 11 toward the rectangular rod 10 in the spring cavity 1001, thereby squeezing the misaligned components between the upper wheel 4 and the lower wheel 5 together without causing the upper wheel 4 and the lower wheel 5 to separate and fall.

[0037] When the screw is tightened to the bottom and the lower wheel 5 is limited and cannot rotate, the upper wheel 4 continues to rotate and is forced to move in the direction of the rotating motor 3 due to the misaligned component. While moving, the distance between the upper wheel 4 and the lower wheel 5 becomes longer. At this time, the connecting rod 11 will slide in the spring cavity 1001 and stretch the tension spring 16 while sliding. After the upper wheel 4 rotates to the next position, the tension spring 16 lacks tension and will pull the connecting rod 11 and the lower wheel 5 back to normal again for the next cycle.

[0038] Please refer to Figure 2-Figure 6 The pushing assembly includes a top plate 7 and a pushing spring 8. The inner wall of the top plate 7 is fixedly connected to the outer wall of the rectangular rod 10 close to one end of the support plate 2. The upper surface of the top plate 7 is against the bottom surface of the support plate 2. The bottom surface of the top plate 7 is fixedly connected to one end of the pushing spring 8. The other end of the pushing spring 8 is fixedly connected to the upper surface of the outer wall of the upper wheel 4.

[0039] More specifically, under normal circumstances, the push spring 8 will push the upper wheel 4 in a direction away from the rotating motor 3 under the support of the top plate 7;

[0040] After the screws are tightened, when the lower wheel 5 cannot rotate, the upper wheel 4 is forced to move in the direction of the rotating motor 3 under the action of the offset assembly, thereby forcibly compressing the push spring 8. After the upper wheel 4 rotates to the next one, the push spring 8 lacks the extrusion force and will push the upper wheel 4 in the direction of the lower wheel 5 again.

[0041] Please refer to Figure 4 The staggered assembly includes two groups of teeth 14, the planes of the two groups of teeth 14 are fixedly connected to the bottom surface of the upper wheel 4 and the upper surface of the lower wheel 5 respectively, and the two groups of teeth 14 are staggered.

[0042] More specifically, under normal circumstances, the two sets of teeth 14 are staggered and meshed with each other. When the upper wheel 4 rotates, due to the meshing effect of the two sets of teeth 14, there is a certain degree of engagement force, so the lower wheel 5 will rotate together with the upper wheel 4;

[0043] After the lower wheel 5 stops rotating, the upper wheel 4 continues to rotate under the action of the rotating motor 3. Because the inclined surfaces of the two sets of teeth 14 are against each other, and under the action of the push spring 8 and the tension spring 16, the upper wheel 4 will retract to a certain extent, so that the teeth 14 on the upper wheel 4 can rotate by an angle, thereby giving the internal sensor of the manipulator body 1 time to react.

[0044] Please refer to Figure 3 and Figure 4 The clamping mechanism includes a mobile motor 6, a bidirectional screw rod 12 and two clamping plates 9. The outer wall of the mobile motor 6 is fixedly connected to the outer wall of the lower wheel 5. The output shaft of the mobile motor 6 passes through the outer wall of the lower wheel 5 and is fixedly connected to one end of the bidirectional screw rod 12. The other end of the bidirectional screw rod 12 passes through the two clamping plates 9 and is rotatably connected to the inner wall of the lower wheel 5. The inner wall of the bidirectional screw rod 12 and the outer walls of the two clamping plates 9 are both threaded.

[0045] More specifically, when the lower wheel 5 is aligned with the external screw on the manipulator body 1 and the external screw needs to be clamped, the external controller turns on the switch of the mobile motor 6. After the mobile motor 6 is started, the output shaft drives the bidirectional screw rod 12 to rotate, and then the two clamping plates 9 threadedly connected on the surface of the bidirectional screw rod 12 can be moved toward the middle of the lower wheel 5 at the same time, so that the external screw can be clamped.

[0046] Please refer to Figure 3 and Figure 4The inner wall of the lower wheel 5 is fixedly connected with a partition 13, and the upper surface of the partition 13 is penetrated by two symmetrically arranged slide grooves 1301. The outer walls of the two clamping plates 9 are respectively slidably connected with the inner walls of the two slide grooves 1301, and the bidirectional screw rod 12 is located above the partition 13.

[0047] More specifically, by providing the partition 13 and the slide groove 1301, firstly, the bidirectional screw 12 can be separated from the external screw to avoid collision during clamping; secondly, the slide groove 1301 can limit the movement of the clamping plate 9 to prevent it from idling.

[0048] Please refer to Figure 1 The inner wall of the lower wheel 5 is provided with two receiving cavities 501 , the two clamps 9 are respectively located in the two receiving cavities 501 , and the outer walls of the two clamps 9 are respectively slidably connected to the inner walls of the two receiving cavities 501 .

[0049] More specifically, by providing the storage cavity 501, the clamping plates 9 can be stored to avoid collision between the two clamping plates 9 and the external screws when the lower wheel 5 is aligned with the external screws.

[0050] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A component automatic installation robot with good stability, comprising a robot body (1), a support plate (2) installed at one end of the robot body (1), and a rotating motor (3) installed at one side of the support plate (2), characterized in that: The output shaft of the rotating motor (3) passes through the support plate (2) and is fixedly connected to a rectangular rod (10); the other end of the rectangular rod (10) passes through and is slidably connected to an upper wheel (4); the upper surface of the upper wheel (4) is connected to a pushing component; the other end of the pushing component is connected to the outer wall of the rectangular rod (10); one end of the rectangular rod (10) passing through the upper wheel (4) is connected to a pulling component; the other end of the pulling component is connected to a lower wheel (5); a dislocation component is connected to the connection between the upper wheel (4) and the lower wheel (5); and a clamping mechanism is connected to the inner wall of the lower wheel (5).

2. According to claim 1, a component automatic installation robot with good stability, characterized in that: The tension component comprises a connecting rod (11) and a tension spring (16); a spring cavity (1001) is provided on a side of the rectangular rod (10) away from the support plate (2); one end of the connecting rod (11) is fixedly connected to the upper surface of the outer wall of the lower wheel (5); the other end of the connecting rod (11) is located in the spring cavity (1001) and is fixedly connected to one end of the tension spring (16); and the other end of the tension spring (16) is connected to the inner wall of the spring cavity (1001).

3. The component automatic installation robot with good stability according to claim 2, characterized in that: An anti-slip groove (1002) is provided on a side of the spring cavity (1001) away from the connecting rod (11); an anti-slip swivel (15) is rotatably connected to the inner wall of the anti-slip groove (1002); and a bottom surface of the anti-slip swivel (15) is fixedly connected to an end of the tension spring (16) away from the connecting rod (11).

4. A component automatic installation robot with good stability according to claim 1, 2 or 3, characterized in that: The pushing assembly comprises a top plate (7) and a pushing spring (8); the inner wall of the top plate (7) is fixedly connected to the outer wall of the rectangular rod (10) close to one end of the support plate (2); the upper surface of the top plate (7) abuts against the bottom surface of the support plate (2); the bottom surface of the top plate (7) is fixedly connected to one end of the pushing spring (8); and the other end of the pushing spring (8) is fixedly connected to the upper surface of the outer wall of the upper wheel (4).

5. A component automatic installation robot with good stability according to claim 1, 2 or 3, characterized in that: The offset component comprises two groups of teeth (14), the planes of the two groups of teeth (14) are respectively fixedly connected to the bottom surface of the upper wheel (4) and the upper surface of the lower wheel (5), and the two groups of teeth (14) are offset.

6. A component automatic installation robot with good stability according to claim 1, 2 or 3, characterized in that: The clamping mechanism comprises a mobile motor (6), a bidirectional screw rod (12) and two clamping plates (9); the outer wall of the mobile motor (6) is fixedly connected to the outer wall of the lower wheel (5); the output shaft of the mobile motor (6) passes through the outer wall of the lower wheel (5) and is fixedly connected to one end of the bidirectional screw rod (12); the other end of the bidirectional screw rod (12) passes through the two clamping plates (9) and is rotatably connected to the inner wall of the lower wheel (5); the inner wall of the bidirectional screw rod (12) and the outer walls of the two clamping plates (9) are both threadedly connected.

7. The component automatic installation robot with good stability according to claim 6, characterized in that: The inner wall of the lower wheel (5) is fixedly connected with a partition (13), and the upper surface of the partition (13) is penetrated by two symmetrically arranged sliding grooves (1301), the outer walls of the two clamping plates (9) are respectively slidably connected to the inner walls of the two sliding grooves (1301), and the bidirectional screw rod (12) is located above the partition (13).

8. The component automatic installation robot with good stability according to claim 6, characterized in that: The inner wall of the lower wheel (5) is provided with two receiving cavities (501), the two clamping plates (9) are respectively located in the two receiving cavities (501), and the outer walls of the two clamping plates (9) are respectively slidably connected to the inner walls of the two receiving cavities (501).

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