Carrying manipulator mechanism for product assembly

Abstract

The utility model relates to a carrying manipulator mechanism for product assembly, a special-shaped guide groove comprises a first guide groove and a second guide groove which are perpendicular to each other, and an arc-shaped transition guide groove is arranged between the first guide groove and the second guide groove in a communicating manner; a rotatable swing rod is further arranged on the platen of the rack, a kidney-shaped hole is formed in the swing rod, a first cam follower is arranged in the kidney-shaped hole, a second cam follower is arranged in the special-shaped guide groove, and the first cam follower and the second cam follower are rotatably installed on the same rotating pin. A sliding block is rotatably installed on a platen of the machine frame, a linear guide rail is arranged on the sliding block in a sliding mode, one end of the linear guide rail is hinged to the rotating pin, and the other end of the linear guide rail is connected with a clamping mechanism. By arranging the special-shaped guide groove, the clamping mechanism is guided to move back and forth between the feeding station and the assembling station, so that products are carried and assembled; the overall structure is designed to be flat, and compared with a plane double-shaft module, the double-shaft module is suitable for flat installation and use environments.

Description

Technical Field

[0001] The present application belongs to the technical field of handling equipment, and in particular, relates to a handling robot mechanism for product assembly. Background Art

[0002] Linear modules, dual-axis or multi-axis modules are commonly used handling mechanisms. Dual-axis modules are modules with two motion axes that can achieve linear motion in two directions. They are often used in machine tools, cutting machines and other equipment. Dual-axis modules can control the motion of two axes at the same time, and have the characteristics of high precision and high rigidity, which can achieve complex processing and fine operations. However, dual-axis modules are expensive and require a large installation space. For example, dual-axis modules that move in the horizontal plane are thicker in the height direction and are not suitable for flat installation spaces. Utility Model Content

[0003] The technical problem to be solved by the utility model is: to solve the deficiencies in the prior art, thereby providing a handling robot mechanism for product assembly, aiming to realize product handling on a plane in a flat installation space.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] A handling robot mechanism for product assembly, comprising:

[0006] A frame, wherein a special-shaped guide groove is arranged on the table of the frame, wherein the special-shaped guide groove comprises a first guide groove and a second guide groove which are perpendicular to each other, and an arc-shaped transition guide groove is arranged between the first guide groove and the second guide groove;

[0007] A rotatable swing arm is also provided on the table of the frame, the swing arm is provided with a waist hole, a first cam follower is provided in the waist hole, a second cam follower is provided in the special-shaped guide groove, and the first cam follower and the second cam follower are rotatably mounted on the same rotating pin;

[0008] A sliding block is rotatably mounted on the table of the frame, a linear guide is slidably arranged on the sliding block, one end of the linear guide is hinged on a rotating pin, and the other end is connected to a clamping mechanism.

[0009] Preferably, in a handling robot mechanism for product assembly of the utility model, a driving motor is further provided at the bottom of the table plate of the frame, and a power output shaft of the driving motor is fixedly connected to the swing arm for driving the swing arm to rotate.

[0010] Preferably, in the handling robot mechanism for product assembly of the utility model, a slewing bearing is further provided on the table plate of the frame, a connecting block is installed on the slewing bearing, and the sliding block is fixedly connected to the connecting block.

[0011] Preferably, in a handling robot mechanism for product assembly of the utility model, the clamping mechanism comprises a clamping electric cylinder and a clamping claw installed on the fingers of the clamping electric cylinder.

[0012] Preferably, a handling robot mechanism for product assembly of the utility model further includes a multi-station rotary workbench, a discharge end of the multi-station rotary workbench is provided with a discharge conveyor belt, the other end of the discharge conveyor belt is provided with a material conveyor belt, the material conveyor belt is arranged vertically to the discharge conveyor belt, and the clamping mechanism is used to clamp the material on the material conveyor belt and transport it to the product on the discharge conveyor belt.

[0013] Preferably, in a handling robot mechanism for product assembly of the utility model, a plurality of parts loading mechanisms are arranged on the outer side of the multi-station rotary workbench, and the parts loading mechanisms include a loading conveyor belt, a vibration plate and a product handling module.

[0014] The beneficial effects of the utility model are:

[0015] (1) The utility model provides a special-shaped guide groove to guide the clamping mechanism to move back and forth between the loading station and the assembly station to achieve product transportation and assembly;

[0016] (2) The clamping mechanism rotates in the horizontal plane and is driven by the forward and reverse rotation of the driving motor. It has a simple structure, easy motion control, and low manufacturing and maintenance costs;

[0017] (3) The overall structure is flattened, which is suitable for flat installation and use environment compared to the flat dual-axis module. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The technical solution of the present application is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the structure of a handling robot according to an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the structure of the handling robot in the embodiment of the present application in the use state;

[0021] The reference numerals in the figure are:

[0022] Frame 10, special-shaped guide groove 11, first guide groove 111, second guide groove 112, arc-shaped transition guide groove 113, rocker arm 12, first cam follower 121, second cam follower 122, slider 13, linear guide rail 14, turn pin 15, clamping mechanism 16, drive motor 17, multi-station rotary worktable 20, unloading conveyor belt 21, material conveyor belt 22, parts loading mechanism 23, loading conveyor belt 231, vibration plate 232, product handling module 233. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0024] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0025] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0026] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0027] Example

[0028] This embodiment provides a handling robot mechanism for product assembly, and its structure is as shown in FIG. Figure 1, including: a frame 10, a special-shaped guide groove 11 is arranged on the table of the frame 10, the special-shaped guide groove 11 includes a first guide groove 111 and a second guide groove 112 which are perpendicular to each other, and an arc-shaped transition guide groove 113 is arranged between the first guide groove 111 and the second guide groove 112.

[0029] Preferably, in a handling robot mechanism for product assembly of the present embodiment, a driving motor 17 is also provided at the bottom of the table plate of the frame 10, and the power output shaft of the driving motor 17 is fixedly connected to the rocker arm 12, and is used to drive the rocker arm 12 to rotate, and a waist hole is provided on the rocker arm 12, and a first cam follower 121 is provided in the waist hole, and a second cam follower 122 is provided in the special-shaped guide groove 11, and the first cam follower 121 and the second cam follower 122 are rotatably mounted on the same rotating pin 15.

[0030] Preferably, in a handling robot mechanism for product assembly of the present embodiment, a slewing bearing is also provided on the table plate of the frame 10, a connecting block is installed on the rotating part of the slewing bearing, a slider 13 is fixedly installed on the connecting block, a linear guide 14 is slidably provided on the slider 13, one end of the linear guide 14 is hinged on the swivel pin 15, when working, the driving motor 17 rotates to drive the rocker arm 12 to rotate, the first cam follower 121 drives the swivel pin 15 to move, and the second cam follower 122 moves along the special-shaped guide groove 11.

[0031] Preferably, in a handling robot mechanism for product assembly of this embodiment, the end of the linear guide 14 away from the turn pin 15 is connected to a clamping mechanism 16, and the clamping mechanism 16 includes a clamping electric cylinder and claws installed on the fingers of the clamping electric cylinder for clamping products.

[0032] As a specific application of a handling robot mechanism for product assembly in this embodiment, refer to Figure 2 , and also includes a multi-station rotary workbench 20, a discharge conveyor belt 21 is provided at the discharge end of the multi-station rotary workbench 20, and a material conveyor belt 22 is provided at the other end of the discharge conveyor belt 21. The material conveyor belt 22 is vertically arranged with the discharge conveyor belt 21, and the clamping mechanism 16 is used to clamp the material on the material conveyor belt 22 and transport it to the product on the discharge conveyor belt 21.

[0033] Preferably, in a handling robot mechanism for product assembly of the present embodiment, a plurality of parts loading mechanisms 23 are arranged on the outer side of a multi-station rotary worktable 20, and the parts loading mechanism 23 includes a loading conveyor belt 231, two vibrating disks 232 and a product handling module 233 respectively arranged above the discharge end of the vibrating disk 232 and the loading end of the unloading conveyor belt 21. The products assembled on the multi-station rotary worktable 20 are transported to the unloading conveyor belt 21 through the product handling module 233, and the material conveyor belt 22 is conveyed with product parts. The clamping mechanism 16 is used to clamp the material on the material conveyor belt 22 and transport it to the product on the unloading conveyor belt 21.

[0034] It should be noted that the material picking station of the clamping mechanism 16 on the material conveyor belt 22 and the assembly station on the unloading conveyor belt 21 are respectively provided with material detection sensors. When the material detection sensor detects product parts, the material conveyor belt 22 and the unloading conveyor belt 21 stop moving and wait for the clamping mechanism 16 to pick up or load materials.

[0035] In actual operation, when the second cam follower 122 is located at the end of the first guide groove 111, the clamping electric cylinder drives the clamping claw to clamp the product parts on the material conveyor belt 22, and the driving motor 17 rotates to drive the rocker arm 12 to rotate. The second cam follower 122 moves along the first guide groove 111, drives the linear guide 14 to move linearly, and the clamping mechanism 16 moves away from the material conveyor belt 22. When the second cam follower 122 enters the arc-shaped transition guide groove 113 from the first guide groove 111, the linear guide 14 is driven to rotate 90° to approach the unloading conveyor belt 21, and the clamping mechanism 16 is reversed. Subsequently, the second cam follower 122 enters the second guide groove 112 from the arc-shaped transition guide groove 113, drives the linear guide 14 to move linearly in the opposite direction, and the clamping mechanism 16 approaches the product on the unloading conveyor belt 21 to insert the parts into the product.

[0036] Based on the above ideal embodiments of this application, the relevant staff can make various changes and modifications without departing from the technical concept of this application through the above description. The technical scope of this application is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A handling robot mechanism for product assembly, characterized in that: include: A frame (10), wherein a special-shaped guide groove (11) is arranged on a tabletop of the frame (10), wherein the special-shaped guide groove (11) comprises a first guide groove (111) and a second guide groove (112) which are perpendicular to each other, and an arc-shaped transition guide groove (113) is arranged between the first guide groove (111) and the second guide groove (112); A rotatable swing rod (12) is also provided on the table of the frame (10), the swing rod (12) is provided with a waist hole, a first cam follower (121) is provided in the waist hole, a second cam follower (122) is provided in the special-shaped guide groove (11), and the first cam follower (121) and the second cam follower (122) are rotatably mounted on the same rotating pin (15); A slider (13) is rotatably mounted on the table of the frame (10), a linear guide rail (14) is slidably arranged on the slider (13), one end of the linear guide rail (14) is hinged on a rotating pin (15), and the other end is connected to a clamping mechanism (16).

2. A handling robot mechanism for product assembly according to claim 1, characterized in that: A driving motor is also provided at the bottom of the platform of the frame (10); a power output shaft of the driving motor is fixedly connected to the swing rod (12) and is used to drive the swing rod (12) to rotate.

3. A handling robot mechanism for product assembly according to claim 2, characterized in that: A slewing bearing is also provided on the tabletop of the frame (10), a connecting block is installed on the slewing bearing, and the sliding block (13) is fixedly connected to the connecting block.

4. A handling robot mechanism for product assembly according to claim 3, characterized in that: The clamping mechanism (16) comprises a clamping electric cylinder and a clamping claw mounted on the fingers of the clamping electric cylinder.

5. A handling robot mechanism for product assembly according to any one of claims 1 to 4, characterized in that: The invention also comprises a multi-station rotary worktable (20), wherein a discharge end of the multi-station rotary worktable (20) is provided with a discharge conveyor belt (21), and the other end of the discharge conveyor belt (21) is provided with a material conveyor belt (22), wherein the material conveyor belt (22) is arranged perpendicular to the discharge conveyor belt (21), and the clamping mechanism (16) is used for clamping the material on the material conveyor belt (22) and transporting it to the product on the discharge conveyor belt (21).

6. A handling robot mechanism for product assembly according to claim 5, characterized in that: A plurality of parts loading mechanisms (23) are arranged on the outer side of the multi-station rotary worktable (20), and the parts loading mechanisms (23) include a loading conveyor belt (231), a vibration plate (232) and a product handling module (233).

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