Robot multi-posture installation auxiliary mechanism

Abstract

The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot installation, and particularly relates to a robot multi-posture installation auxiliary mechanism. Comprising two groups of auxiliary mounting units which are symmetrically mounted on two sides of a waist seat of the six-degree-of-freedom vertical multi-joint industrial robot; the auxiliary mounting unit comprises a follow-up structure and a static structure, the follow-up structure is connected with the waist seat, the static structure is rotationally connected with the follow-up structure, and the rotating axis is perpendicular to the axis of the waist seat; the static structure is used for being in butt joint with external lifting equipment, the six-degree-of-freedom vertical multi-joint type industrial robot rotates relative to the static structure through the follow-up structure, and multi-posture upside-down hanging installation of the six-degree-of-freedom vertical multi-joint type industrial robot on a sky rail is achieved. The device is simple in structure, flexible to operate, capable of adapting to complex working conditions, especially suitable for installation working conditions with two narrow sides of space, and high in working efficiency.

Description

Technical Field

[0001] The utility model belongs to the technical field of six-degree-of-freedom vertical multi-joint industrial robot installation, and in particular relates to a robot multi-posture installation auxiliary mechanism. Background Art

[0002] In industrial production, the application of six-degree-of-freedom vertical multi-joint industrial robots is becoming more and more widespread. The installation postures of six-degree-of-freedom vertical multi-joint industrial robots are mostly forward installation, side installation or inverted installation. In order to save working space and increase the operating range of the robot, the inverted installation method is generally adopted. At present, the inverted installation of the six-degree-of-freedom vertical multi-joint industrial robot adopts the method of gear ring and handwheel drive to flip it. After flipping, the pin is locked and rigidly connected. After the robot base is fitted with the mounting surface of the ceiling rail, the high-rigidity elastic force of the forklift's fork is used to compensate for the parallelism error with the ground. The rigidity is progressive and it is easy to damage the robot's one-axis reducer. The method of using gear ring and handwheel drive to flip is complex in structure, low in work efficiency, and difficult to adapt to complex working conditions. Utility Model Content

[0003] In view of the above problems, the purpose of the utility model is to provide a robot multi-posture installation auxiliary mechanism to solve the problems of the existing six-degree-of-freedom vertical multi-joint industrial robot having a complex inverted installation structure, low working efficiency, and difficulty in adapting to complex working conditions.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a robot multi-posture installation auxiliary mechanism, comprising two sets of auxiliary installation units symmetrically installed on both sides of the waist seat of a six-degree-of-freedom vertical multi-joint industrial robot;

[0006] The auxiliary installation unit includes a follower structure and a stationary structure, wherein the follower structure is connected to the waist seat, and the stationary structure is rotationally connected to the follower structure, and the rotation axis is perpendicular to the axis of the waist seat; the stationary structure is used to dock with an external lifting device, and the six-degree-of-freedom vertical multi-joint industrial robot is installed in a multi-posture inverted manner on the ceiling rail through the relative rotation of the follower structure and the stationary structure.

[0007] The follower structure includes a bottom plate, a vertical plate and two side plates, wherein the vertical plate is vertically connected to one end of the bottom plate, and the other end of the bottom plate is a concave arc edge, on which a plurality of light holes for connecting with the waist seat are provided; the two side plates are vertically connected to the opposite sides of the bottom plate and connected to the vertical plate; the vertical plate is rotationally connected to the stationary structure.

[0008] The stationary structure comprises a hollow rectangular steel material, on two opposite side walls of which an adapter plate and an operating bolt process hole are respectively provided, and the adapter plate is connected to the vertical plate through a cross roller bearing.

[0009] The vertical plate and the adapter plate are provided with concentric through holes I and II, and the diameter of through hole I is larger than the diameter of through hole II; the vertical plate and the adapter plate are provided with inner stoppers and outer stoppers on the corresponding connecting surfaces, respectively;

[0010] The cross roller bearing is located between the vertical plate and the adapter plate, the outer ring of the cross roller bearing is positioned by the inner stop on the vertical plate, and the outer ring is fixedly connected to the vertical plate by the outer ring bolt; the inner ring of the cross roller bearing is positioned by the outer stop on the adapter plate, and the adapter plate is connected to the inner ring by the inner ring bolt.

[0011] The outer ring of the cross roller bearing is provided with a plurality of countersunk holes along the circumferential direction for the outer ring bolts to pass through; the upper plate is provided with a plurality of threaded holes along the circumferential direction for connecting with the outer ring bolts.

[0012] The adapter plate is provided with a plurality of light holes along the circumferential direction for the inner ring bolts to pass through; the inner ring of the cross roller bearing is provided with a plurality of threaded holes along the circumferential direction for connecting with the inner ring bolts.

[0013] A lifting lug is arranged on the top of the rectangular steel material.

[0014] The bottom plate, the vertical plate and the two side plates are all provided with weight-reducing holes.

[0015] An annular connecting flange is arranged on the outer side of the waist seat, and a plurality of flange threaded holes are arranged on the annular connecting flange along the circumferential direction. The inner concave arc edge of the bottom plate is connected with the flange threaded holes through bolts.

[0016] The robot multi-posture installation auxiliary mechanism also includes a manually controlled flipping rope group and a flipping stop rope group; the manually controlled flipping rope group is connected to the six-degree-of-freedom vertical multi-articular industrial robot and is used to manually control the flipping of the six-degree-of-freedom vertical multi-articular industrial robot; the flipping stop rope group is used to fix the six-degree-of-freedom vertical multi-articular industrial robot to an external lifting device after flipping 180 degrees, thereby playing a stopping role.

[0017] The advantages and beneficial effects of the utility model are as follows: the utility model provides a robot multi-posture installation auxiliary mechanism, which has a simple structure, flexible operation, can adapt to complex working conditions, especially to installation conditions with narrow spaces on both sides, has high work efficiency, improves product assembly quality, and conforms to ergonomics. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1This is an axonometric diagram of a robot multi-posture installation auxiliary mechanism of the utility model;

[0019] Figure 2 It is a side view of a robot multi-posture installation auxiliary mechanism of the utility model;

[0020] Figure 3 It is an axonometric drawing of the auxiliary installation unit in the utility model;

[0021] Figure 4 It is a partial cross-sectional view of the auxiliary installation unit in the utility model;

[0022] Figure 5 This is a schematic diagram of the working state of a robot multi-posture installation auxiliary mechanism of the utility model;

[0023] Figure 6 for Figure 5 A partial enlarged schematic diagram in the middle.

[0024] In the figure: 1- six degrees of freedom vertical multi-joint industrial robot, 101- base, 102- waist seat, 1021- annular connecting flange, 1022- flange threaded hole, 103- upper arm, 104- elbow, 105- lower arm, 106- wrist, 107- end flange, 2- follow-up structure, 201- bottom plate, 2011- concave arc edge, 202- side plate, 203- vertical plate, 3- stationary structure, 301- rectangular steel, 302 -lifting ear, 303-adapter plate, 304-operating bolt process hole, 4-bolt, 5-cross roller bearing, 6-outer ring bolt, 7-inner ring bolt, 8-side wall column, 802-moving part of the ceiling rail, 901-forklift body, 902-fork, 10-first flip stop rope, 11-second flip stop rope, 12-first manual control flip rope, 13-second manual control flip rope, 14-third manual control flip rope. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 , Figure 2As shown, the utility model provides a robot multi-posture installation auxiliary mechanism, including two groups of auxiliary installation units symmetrically installed on both sides of the waist seat 102 of the six-degree-of-freedom vertical multi-articular industrial robot 1; the two groups of auxiliary installation units have the same structure, both including a follower structure 2 and a static structure 3, wherein the follower structure 2 is connected to the waist seat 102, and the static structure 3 is rotationally connected to the follower structure 2, and the rotation axis is perpendicular to the axis of the waist seat 102; the static structure 3 is used for docking with an external lifting device, and the six-degree-of-freedom vertical multi-articular industrial robot 1 realizes a multi-posture inverted installation of the six-degree-of-freedom vertical multi-articular industrial robot 1 on the ceiling rail through the relative rotation of the follower structure 2 and the static structure 3.

[0027] like Figure 1 , Figure 2 As shown, in the embodiment of the utility model, the six-degree-of-freedom vertical multi-articular industrial robot 1 includes a base 101, a waist seat 102, an upper arm 103, an elbow 104, a forearm 105, a wrist 106 and an end flange 107 which are rotatably connected in sequence, and an annular connecting flange 1021 is provided on the outer side of the waist seat 102, and a plurality of flange threaded holes 1022 are provided on the annular connecting flange 1021 along the circumferential direction.

[0028] like Figure 3 As shown, in the embodiment of the utility model, the follower structure 2 includes a bottom plate 201, a vertical plate 203 and two side plates 202, wherein the vertical plate 203 is vertically connected to one end of the bottom plate 201 to form an L-shaped structure. The other end of the bottom plate 201 has a concave arc edge 2011, and a plurality of light holes are provided on the concave arc edge 2011. The light holes on the concave arc edge 2011 are connected to the flange threaded holes 1022 on the annular connecting flange 1021 through bolts 4. The two side plates 202 are vertically connected to the opposite sides of the bottom plate 201 and connected to the vertical plate 203 to improve the strength of the overall structure; the vertical plate 203 is rotatably connected to the stationary structure 3.

[0029] like Figure 1 , Figure 3 , Figure 4 As shown, in the embodiment of the utility model, the stationary structure 3 includes a hollow rectangular steel 301, and an adapter plate 303 and an operating bolt process hole 304 are respectively provided on two opposite side walls of the rectangular steel 301, and the adapter plate 303 is connected to the vertical plate 203 through a cross roller bearing 5.

[0030] Furthermore, the vertical plate 203 and the adapter plate 303 are provided with concentric through holes I and II, and the diameter of through hole I is larger than the diameter of through hole II; the vertical plate 203 and the adapter plate 303 are provided with inner stoppers and outer stoppers on the corresponding connecting surfaces, respectively. The cross roller bearing 5 is located between the vertical plate 203 and the adapter plate 303, the outer ring of the cross roller bearing 5 is positioned by the inner stopper on the vertical plate 203, and the outer ring is fixedly connected to the vertical plate 203 by the outer ring bolt 6; the inner ring of the cross roller bearing 5 is positioned by the outer stopper on the adapter plate 303, and the adapter plate 303 is connected to the inner ring by the inner ring bolt 7.

[0031] Specifically, a plurality of countersunk holes for the outer ring bolts 6 to pass through are provided on the outer ring of the cross roller bearing 5 in the circumferential direction; a plurality of threaded holes for connecting with the outer ring bolts 6 are provided on the vertical plate 203 in the circumferential direction. The outer ring bolts 6 pass through the countersunk holes on one side of the cross roller bearing 5 and are threadedly connected with the threaded holes on the vertical plate 203, and the bolt heads of the outer ring bolts 6 are accommodated in the countersunk holes of the countersunk holes.

[0032] The adapter plate 303 is circumferentially provided with a plurality of light holes for the inner ring bolts 7 to pass through; the inner ring of the cross roller bearing 5 is circumferentially provided with a plurality of threaded holes for connection with the inner ring bolts 7. The inner ring bolts 7 pass through the light holes on the adapter plate 303 on one side of the adapter plate 303 and are threadedly connected with the threaded holes on the inner ring. The operating bolt process holes 304 on the other side of the rectangular steel 301 facilitate specific operations.

[0033] Furthermore, a lifting lug 302 is provided on the top of the rectangular steel material 301 , and the lifting lug 302 facilitates the lifting operation of the six-degree-of-freedom vertical multi-articulated industrial robot 1 .

[0034] Furthermore, weight-reducing holes are provided on the bottom plate 201, the vertical plate 203 and the two side plates 202 to reduce the overall weight and facilitate installation. Specifically, the bottom plate 201, the vertical plate 203 and the two side plates 202 are welded to form a spatially stable open frame structure.

[0035] In this embodiment, the cross roller bearing 5 is preferably RU85UUCC0P5 of NSK brand. The cross roller bearing 5 makes the follower structure 2 and the stationary structure 3 form a hollow structure of the revolute pair, and the mass center of the six-degree-of-freedom vertical multi-joint industrial robot 1 is near the axis of the cross roller bearing 5, thereby improving the rigidity.

[0036] On the basis of the above-mentioned embodiments, a robot multi-posture installation auxiliary mechanism provided by the utility model also includes a manually controlled flipping rope group and a flipping stop rope group; the manually controlled flipping rope group is connected to the six-degree-of-freedom vertical multi-articular industrial robot 1, and is used to manually control the flipping of the six-degree-of-freedom vertical multi-articular industrial robot 1; the flipping stop rope group is used to fix the six-degree-of-freedom vertical multi-articular industrial robot 1 to an external lifting device after flipping 180 degrees, thereby playing a stopping role.

[0037] Specifically, the manually controlled flipping rope group includes a first manually controlled flipping rope 12, a second manually controlled flipping rope 13 and a third manually controlled flipping rope 14. The first manually controlled flipping rope 12, the second manually controlled flipping rope 13 and the third manually controlled flipping rope 14 are respectively connected to the base 101, the elbow 104 and the end flange 107. The first manually controlled flipping rope 12, the second manually controlled flipping rope 13 and the third manually controlled flipping rope 14 are used to assist in controlling the flipping of the six-degree-of-freedom vertical multi-joint industrial robot 1.

[0038] Specifically, the flip stop rope group includes a first flip stop rope 10 and a second flip stop rope 11. After the six-degree-of-freedom vertical multi-joint industrial robot 1 flips 180 degrees, the base 101 faces upward, and the elbow 104 and the base 101 are connected to the fork 902 through the first flip stop rope 10 and the second flip stop rope 11, respectively, to achieve bidirectional stop, thereby preventing the six-degree-of-freedom vertical multi-joint industrial robot 1 from shaking. Figure 5 As shown, in this embodiment, the external lifting device is a forklift, which includes a forklift body 901 and a fork 902 .

[0039] like Figure 5 , Figure 6 As shown, the utility model provides a robot multi-posture installation auxiliary mechanism, and its specific operation steps are as follows;

[0040] Step 1: The forklift body 901 inserts the forks 902 into the rectangular steel members 301 on both sides of the six-degree-of-freedom vertical multi-articular industrial robot 1 and lifts the six-degree-of-freedom vertical multi-articular industrial robot 1 .

[0041] Step 2: Connect the first manually controlled flipping rope 12, the second manually controlled flipping rope 13 and the third manually controlled flipping rope 14 to the base 101, the elbow 104 and the end flange 107 respectively, and use the first manually controlled flipping rope 12, the second manually controlled flipping rope 13 and the third manually controlled flipping rope 14 to assist in controlling the flipping of the six-degree-of-freedom vertical multi-articular industrial robot 1.

[0042] Step 3: After the six-degree-of-freedom vertical multi-articular industrial robot 1 flips 180°, the base 101 faces upward, and the elbow 104 and the base 101 are respectively connected to the fork 902 through the first flip stop rope 10 and the second flip stop rope 11 to achieve two-way stopping, thereby preventing the six-degree-of-freedom vertical multi-articular industrial robot 1 from shaking.

[0043] Step 4: The forklift body 901 drives the cargo fork 902 to rise, and the mounting surface of the base 101 is fitted to the mounting surface of the ceiling rail moving part 802 , the mounting holes are aligned and the bolts are locked, and the ceiling rail moving part 802 is suspended on the side wall column 801 .

[0044] Step 5: The forklift body 901 detaches the fork 902 from the rectangular steel 301, removes the auxiliary installation units on both sides of the six-degree-of-freedom vertical multi-articular industrial robot 1, and completes the inverted installation of the six-degree-of-freedom vertical multi-articular industrial robot 1.

[0045] The utility model provides a robot multi-posture installation auxiliary mechanism, which installs a hollow slewing support structure on both sides of a six-degree-of-freedom vertical multi-joint industrial robot. Under the same outer diameter condition, the shaftless hollow slewing support (such as the bearing of this embodiment, or a four-point contact ball bearing or other similar structure) has a shorter axial dimension than the shaft plus a pair of bearings structure, so the operation will be more flexible and improve work efficiency, which is especially suitable for working conditions where the passage space is narrow on both sides. The installation process controls the flipping process of the six-degree-of-freedom vertical multi-joint industrial robot 1 through three manually controlled flipping ropes, which can flexibly control the flipping posture and adapt to complex scenarios. At the same time, the parallelism error between the robot base and the ceiling rail installation surface is compensated by the elastic performance of the rope, and the installation process is much friendlier than the rigid advancement situation.

[0046] The above description is only an implementation method of the utility model and is not intended to limit the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A robot multi-posture installation auxiliary mechanism, characterized in that: It comprises two sets of auxiliary installation units symmetrically installed on both sides of a waist seat (102) of a six-degree-of-freedom vertical multi-joint industrial robot (1); The auxiliary installation unit comprises a follower structure (2) and a stationary structure (3), wherein the follower structure (2) is connected to a waist seat (102), and the stationary structure (3) is rotationally connected to the follower structure (2), and the rotation axis is perpendicular to the axis of the waist seat (102); the stationary structure (3) is used to dock with an external lifting device, and the six-degree-of-freedom vertical multi-joint industrial robot (1) is relatively rotated with the follower structure (2) and the stationary structure (3), thereby realizing the multi-posture inverted installation of the six-degree-of-freedom vertical multi-joint industrial robot (1) on the ceiling rail.

2. The robot multi-posture installation auxiliary mechanism according to claim 1, characterized in that: The follower structure (2) comprises a bottom plate (201), a vertical plate (203) and two side plates (202), wherein the vertical plate (203) is vertically connected to one end of the bottom plate (201), and the other end of the bottom plate (201) is an inwardly concave arc-shaped edge (2011), and the inwardly concave arc-shaped edge (2011) is provided with a plurality of light holes for connecting with the waist seat (102); the two side plates (202) are vertically connected to opposite sides of the bottom plate (201) and connected to the vertical plate (203); the vertical plate (203) is rotationally connected to the stationary structure (3).

3. The robot multi-posture installation auxiliary mechanism according to claim 2, characterized in that: The stationary structure (3) comprises a hollow rectangular steel material (301), and an adapter plate (303) and an operating bolt process hole (304) are respectively provided on two opposite side walls of the rectangular steel material (301), and the adapter plate (303) is connected to the vertical plate (203) through a cross roller bearing (5).

4. The robot multi-posture installation auxiliary mechanism according to claim 3, characterized in that: The vertical plate (203) and the adapter plate (303) are provided with concentric through holes I and II, and the diameter of through hole I is larger than the diameter of through hole II; the vertical plate (203) and the adapter plate (303) are provided with inner stoppers and outer stoppers on the corresponding connecting surfaces, respectively; The cross roller bearing (5) is located between the vertical plate (203) and the adapter plate (303); the outer ring of the cross roller bearing (5) is positioned by an inner stop on the vertical plate (203), and the outer ring is fixedly connected to the vertical plate (203) by an outer ring bolt (6); the inner ring of the cross roller bearing (5) is positioned by an outer stop on the adapter plate (303), and the adapter plate (303) is connected to the inner ring by an inner ring bolt (7).

5. The robot multi-posture installation auxiliary mechanism according to claim 4, characterized in that: The outer ring of the cross roller bearing (5) is provided with a plurality of countersunk holes along the circumferential direction for the outer ring bolts (6) to pass through; and the vertical plate (203) is provided with a plurality of threaded holes along the circumferential direction for connecting with the outer ring bolts (6).

6. The robot multi-posture installation auxiliary mechanism according to claim 4, characterized in that: The adapter plate (303) is provided with a plurality of light holes along the circumferential direction for the inner ring bolts (7) to pass through; and the inner ring of the cross roller bearing (5) is provided with a plurality of threaded holes along the circumferential direction for connection with the inner ring bolts (7).

7. The robot multi-posture installation auxiliary mechanism according to claim 3, characterized in that: A lifting lug (302) is provided on the top of the rectangular steel material (301).

8. The robot multi-posture installation auxiliary mechanism according to claim 2, characterized in that: The bottom plate (201), the vertical plate (203) and the two side plates (202) are all provided with weight-reducing holes.

9. The robot multi-posture installation auxiliary mechanism according to claim 2, characterized in that: An annular connecting flange (1021) is provided on the outer side of the waist seat (102), and a plurality of flange threaded holes (1022) are provided on the annular connecting flange (1021) along the circumferential direction. The inner concave arc edge (2011) of the bottom plate (201) is connected to the flange threaded holes (1022) via bolts (4).

10. The robot multi-posture installation auxiliary mechanism according to any one of claims 1 to 9, characterized in that: It also includes a manual control overturning rope group and an overturning stopping rope group; The manually controlled flipping rope group is connected to the six-degree-of-freedom vertical multi-joint industrial robot (1) and is used for manually controlling the flipping of the six-degree-of-freedom vertical multi-joint industrial robot (1); The flipping stop rope assembly is used to fix the six-degree-of-freedom vertical multi-joint industrial robot (1) to an external lifting device after flipping 180 degrees, thereby playing a stopping role.

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