Mechanical arm collaborative assembly device

Abstract

The utility model discloses a mechanical arm collaborative assembly device, which relates to the technical field of assembly and comprises a base, a supporting plate is mounted at the top of the base, a first pressure sensor is arranged at the joint of the base and the supporting plate, a cross-shaped groove is formed in the upper surface of the supporting plate, and four fixing plates are fixed on the periphery of the supporting plate. The four fixing plates are located at the four ends of the cross-shaped groove respectively, and first electric push rods are arranged on the fixing plates. The multiple balls are used for supporting the assembly part, so that when the assembly part is pushed by the four sets of auxiliary rollers pushed by the four first electric push rods to move the position of the assembly part, friction resistance generated when the assembly part moves can be reduced through rotation of the multiple balls, and the situation that the assembly part is scratched when the position of the assembly part is adjusted is avoided; and the four groups of auxiliary rollers can be pulled by the first electric push rod to be separated from the assembly part after the assembly part is clamped by the mechanical arm assembly, so that the edge of the assembly part can be prevented from being scratched by the auxiliary rollers in the assembly process.

Description

Technical Field

[0001] The utility model relates to the technical field of assembly, and particularly relates to a robotic arm collaborative assembly device. Background Technique

[0002] Products are all composed of several parts and components. According to the specified technical requirements, the labor process of joining several parts into components or joining several parts and components into products is called assembly. The former is called component assembly, and the latter is called general assembly. It generally includes work such as assembly, adjustment, inspection and testing, painting, packaging, etc.

[0003] The traditional manual assembly mode not only has low efficiency, but also requires a large number of workers, and it is difficult to meet the production needs of large quantities of products. Therefore, factories now mostly use robotic arms for product assembly production. Robotic arms often have certain sensing functions, with high automation and intelligence levels, effectively saving labor, not only greatly improving the product assembly efficiency, but also effectively reducing the assembly cost. When the existing robotic arm assembly device is in use, the position of the fitting needs to be adjusted first to make it correspond to the robotic arm in order to accurately complete the assembly operation. Adjusting the position of the fitting requires moving it, during which the fitting is prone to friction with its support, causing scratches on the surface of the fitting. Moreover, the component that pushes the fitting to adjust its position will exert a clamping effect on the fitting, which will also cause scratches on the edge of the fitting when the fitting is taken away by the robotic arm, affecting the appearance of the fitting and the production quality of the product. Content of the Utility Model

[0004] The purpose of this application is to provide a robotic arm collaborative assembly device to solve the problem proposed in the above background technique that when adjusting the position of the fitting, it needs to be moved, during which the fitting is prone to friction with its support, causing scratches on the surface of the fitting, and the component that pushes the fitting to adjust its position will exert a clamping effect on the fitting, which will also cause scratches on the edge of the fitting when the fitting is taken away by the robotic arm, affecting the appearance of the fitting and the production quality of the product.

[0005] To achieve the above object, the present application provides the following technical solutions: A robotic arm collaborative assembly device includes a base, on the top of which a support plate is installed, and a first pressure sensor is provided at the joint of the base and the support plate. A cross-shaped groove is formed on the upper surface of the support plate, and four fixing plates are fixed around the support plate. The four fixing plates are located at the four ends of the cross-shaped groove. A first electric push rod is provided on the fixing plate, and the output end of the first electric push rod is fixedly installed with a carrier block. A second pressure sensor is provided at the joint of the first electric push rod and the carrier block. The carrier block is located inside the cross-shaped groove, and a set of auxiliary rollers is rotatably connected to the top of the carrier block through a bearing. A number of freely rotatable balls are embedded in the top of the support plate. An assembly platform is fixed on the top of the base, and a robotic arm assembly and a conveying assembly are provided on the base. The robotic arm assembly is used to assemble the assembled parts with the correct position on the support plate onto the incomplete product held by the assembly platform, and the conveying assembly is used to convey the assembled parts to the position where the support plate is located. A controller is provided on the base.

[0006] Further, the robotic arm assembly includes a support plate and a first motor. A load column is fixed to the bottom of the support plate, and the bottom end of the load column is rotatably connected to the base through a bearing. The first motor is installed on the base, and the load column is driven by the first motor. A second electric push rod is provided on the top of the support plate, and the output end of the second electric push rod is fixedly installed with a connecting plate. A load plate is installed at the bottom of the connecting plate, and a third pressure sensor is provided at the joint of the connecting plate and the load plate. The first pressure sensor, the second pressure sensor, and the third pressure sensor are all electrically connected to the controller. Two negative pressure fixing components are provided on the load plate, and the negative pressure fixing components are used to suck the assembled parts.

[0007] Further, the negative pressure fixing component includes an air cylinder, and the load plate is fixedly sleeved outside the air cylinder. A suction cup is fixedly communicated with the bottom of the air cylinder.

[0008] Further, a third electric push rod is provided at the top inside the air cylinder, and the output end of the third electric push rod is fixedly installed with a piston, and the piston is slidably matched with the inner wall of the air cylinder.

[0009] Further, the conveying assembly includes a U-shaped seat and a conveyor belt. The U-shaped seat is fixedly installed on the base. A second motor is provided on the front side of the U-shaped seat, and three belt rollers are rotatably connected between the front and rear inner walls of the U-shaped seat through bearings. One of the belt rollers is driven by the second motor, and the conveyor belt is sleeved outside the three belt rollers.

[0010] Further, a reinforcing plate is fixed between the front and rear inner walls of the U-shaped seat, and the reinforcing plate is located inside the conveyor belt.

[0011] In summary, the technical effects and advantages of the present utility model:

[0012] 1. In the present utility model, a number of ball bearings are used to support the fitting. When the fitting is pushed by four sets of auxiliary rollers under the action of four first electric push rods to move its own position, the rotation of the number of ball bearings can be utilized to reduce the frictional resistance during the movement of the fitting, avoiding scratches on the fitting when it adjusts its own position. Moreover, after the mechanical arm assembly clamps the fitting, the four sets of auxiliary rollers can be pulled by the first electric push rods to separate from the fitting. In this way, it can be avoided that the edge of the fitting is scratched by the auxiliary rollers during the assembly process, making the assembly operation of the fitting safer.

[0013] 2. In the present utility model, after the second electric push rod is used to push the two suction cups into contact with the fitting, the two third electric push rods contract, which can drive the piston to move upward inside the air cylinder. In this way, the air pressure inside the suction cup decreases, and the fitting can be firmly sucked. The second electric push rod can drive the fitting to separate from the ball bearings, and then follow the support plate driven by the first motor to rotate above the assembly platform to complete the assembly operation, making the assembly of the product more orderly and time-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior description.

[0015] Figure 1 It is a three-dimensional structural schematic diagram of a robotic arm collaborative assembly device in an embodiment of the present application;

[0016] Figure 2 It is a position relationship diagram of the pallet, the first electric push rod, the auxiliary roller, and the ball bearing in an embodiment of the present application;

[0017] Figure 3 It is a position relationship diagram of the base, the assembly platform, and the robotic arm assembly in an embodiment of the present application;

[0018] Figure 4 It is a connection relationship diagram of the second electric push rod, the connecting plate, the carrier plate, and the negative pressure fixing component in an embodiment of the present application;

[0019] Figure 5 It is a three-dimensional structural schematic diagram of the conveying component in an embodiment of the present application;

[0020] Figure 6 It is a partial structural schematic diagram of the conveying component in an embodiment of the present application.

[0021] In the figure: 1, base; 2, support plate; 3, cross-shaped groove; 4, fixing plate; 5, first electric push rod; 6, carrier block; 7, auxiliary roller; 8, ball; 9, assembly platform; 10, support plate; 11, first motor; 12, carrier column; 13, second electric push rod; 14, connecting plate; 15, carrier plate; 16, air cylinder; 17, suction cup; 18, third electric push rod; 19, piston; 20, controller; 21, U-shaped seat; 22, second motor; 23, belt roller; 24, conveyor belt; 25, reinforcement plate. Specific implementation manner

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0023] Embodiment: Refer to Figures 1-6 A robotic arm collaborative assembly device shown in the figure, including a base 1, a support plate 2 is installed on the top of the base 1, and a first pressure sensor is provided at the junction of the base 1 and the support plate 2. A cross-shaped groove 3 is opened on the upper surface of the support plate 2, and four fixing plates 4 are fixed around the support plate 2. The four fixing plates 4 are located at the four ends of the cross-shaped groove 3. A first electric push rod 5 is provided on the fixing plate 4. The output end of the first electric push rod 5 is fixedly installed with a carrier block 6, and a second pressure sensor is provided at the junction of the first electric push rod 5 and the carrier block 6. The carrier block 6 is located inside the cross-shaped groove 3, and a group of auxiliary rollers 7 are rotatably connected to the top of the carrier block 6 through bearings. A plurality of freely rotatable balls 8 are embedded in the top of the support plate 2. An assembly platform 9 is fixed on the top of the base 1, and a robotic arm assembly and a conveying assembly are provided on the base 1. The robotic arm assembly is used to assemble the assembled parts after being aligned on the support plate 2 to the incomplete products supported by the assembly platform 9, and the conveying assembly is used to convey the assembled parts to the position where the support plate 2 is located;

[0024] Using a plurality of balls 8 to support the assembled parts, when the assembled parts are pushed by four groups of auxiliary rollers 7 under the action of four first electric push rods 5 to move their own positions, the self-rotation of the plurality of balls 8 can be used to reduce the frictional resistance during the movement of the assembled parts, avoiding scratches on the assembled parts when adjusting their own positions. And after the robotic arm assembly clamps the assembled parts, the four groups of auxiliary rollers 7 can be pulled by the first electric push rod 5 to separate from the assembled parts. In this way, it can be avoided that the edges of the assembled parts are scratched by the auxiliary rollers 7 during the assembly process.

[0025] Among them, the mechanical arm assembly includes a support plate 10 and a first motor 11, a support column 12 is fixed at the bottom of the support plate 10, the bottom end of the support column 12 is rotatably connected to the base 1 through a bearing, the first motor 11 is installed on the base 1, and the support column 12 is driven by the first motor 11, a second electric push rod 13 is arranged on the top of the support plate 10, a connecting plate 14 is fixedly installed at the output end of the second electric push rod 13, a carrier plate 15 is installed at the bottom of the connecting plate 14, and a third pressure sensor is arranged at the junction of the connecting plate 14 and the carrier plate 15;

[0026] The negative pressure fixing assembly includes an air cylinder 16, a carrier plate 15 is fixedly sleeved on the outside of the air cylinder 16, a suction cup 17 is fixedly connected to the bottom of the air cylinder 16, a third electric push rod 18 is arranged on the top of the inner side of the air cylinder 16, a piston 19 is fixedly installed on the output end of the third electric push rod 18, and the piston 19 is slidably matched with the inner wall of the air cylinder 16;

[0027] After the second electric push rod 13 pushes the two suction cups 17 to contact the assembly part, the two third electric push rods 18 contract, which can drive the piston 19 to move upward inside the air cylinder 16. In this way, the air pressure inside the suction cup 17 is reduced, and the assembly part can be firmly sucked. The second electric push rod 13 can drive the assembly part to separate from the ball 8, and then follow the support plate 10 driven by the first motor 11 to rotate to the top of the assembly platform 9 to complete the assembly operation, making the assembly of the product more orderly and time-saving;

[0028] A controller 20 is provided on the base 1, and the first pressure sensor, the second pressure sensor, and the third pressure sensor are all electrically connected to the controller 20. Two negative pressure fixing components are provided on the carrier plate 15, and the negative pressure fixing components are used to absorb the assembly parts. The coordinated use of the controller 20, the first pressure sensor, the second pressure sensor, and the third pressure sensor can orderly control the operation of the first electric push rod 5, the first motor 11, the second electric push rod 13, and the third electric push rod 18, so that the assembly operation of the assembly parts is more orderly and smooth.

[0029] The conveying assembly includes a U-shaped seat 21 and a conveyor belt 24. The U-shaped seat 21 is fixedly mounted on the base 1. A second motor 22 is provided on the front side of the U-shaped seat 21. Three belt rollers 23 are rotatably connected between the front and rear inner walls of the U-shaped seat 21 through bearings, one of the belt rollers 23 is driven by the second motor 22, and the conveyor belt 24 is sleeved on the outside of the three belt rollers 23. A reinforcement plate 25 is fixed between the front and rear inner walls of the U-shaped seat 21, and the reinforcement plate 25 is located on the inner side of the conveyor belt 24.

[0030] The second motor 22 is used to pull the conveyor belt 24 to drive, so that the conveyor belt 24 can transport the assembly parts to the pallet 2 without manual transfer of the assembly parts. The provision of the reinforcement plate 25 can enhance the stability of the conveyor belt 24 when transporting the assembly parts.

[0031] Working principle of this utility model:

[0032] When in use, the second motor 22 is started to drive the conveyor belt 24 to transmit, the assembly is placed on the conveyor belt 24, and the assembly is transported to the support plate 2 with the help of the conveyor belt 24. The assembly is supported by a plurality of ball bearings 8. After the assembly contacts the ball bearings 8, the support plate 2 is squeezed. After receiving the signal, the first pressure sensor transmits the information to the controller 20, so that the controller 20 first controls the two first electric push rods 5 in the left and right directions to extend, so that the two first electric push rods 5 push the two groups of auxiliary rollers 7 to move closer to the assembly, until the two groups of auxiliary rollers 7 contact the assembly, and then the two second pressure sensors transmit the information to the controller 20, and the controller 20 controls the two first electric push rods 5 in the front and rear directions to extend, until the four groups of auxiliary rollers 7 contact the assembly, so as to complete the correction of the position of the assembly. During the correction process, the assembly can move with the help of the plurality of ball bearings 8 to avoid scratches.

[0033] After the assembly is calibrated, the controller 20 controls the second electric push rod 13 to extend, so that the second electric push rod 13 pushes the suction cup 17 to move downward until the suction cup 17 contacts the assembly and squeezes it. After receiving the signal, the third pressure sensor transmits the information to the controller 20, so that the controller 20 controls the two third electric push rods 18 to contract, and at the same time, the controller 20 controls the four first electric push rods 5 to contract, so that the auxiliary roller 7 is separated from the assembly. After the third electric push rod 18 completes the contraction, the suction cup 17 can suck the assembly, and the second electric push rod 13 will be in the third electric push rod After the rod 18 is retracted, it drives the assembly part upward. After the second electric push rod 13 is retracted, the controller 20 controls the first motor 11 to drive the support plate 10 to pull the assembly part and rotate it to the top of the assembly platform 9. After that, the controller 20 controls the second electric push rod 13 to extend again until the assembly part is assembled on the incomplete product supported on the assembly platform 9. When the third pressure sensor receives the signal again and transmits the information to the controller 20, the controller 20 drives the second electric push rod 13 and the suction cup 17 to reset, thereby completing the assembly operation of the assembly part on the product.

[0034] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can 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 should be included in the protection scope of the present invention.

Claims

1. A robot arm cooperative assembly device, comprising a base (1), characterized in that: A support plate (2) is installed on the top of the base (1), and a first pressure sensor is arranged at the junction of the base (1) and the support plate (2), a cross-shaped groove (3) is opened on the upper surface of the support plate (2), and four fixing plates (4) are fixed around the support plate (2), and the four fixing plates (4) are respectively located at the four ends of the cross-shaped groove (3), and a first electric push rod (5) is arranged on the fixing plate (4), and a carrier block (6) is fixedly installed at the output end of the first electric push rod (5), and a second pressure sensor is arranged at the junction of the first electric push rod (5) and the carrier block (6), and the carrier block (6) is located at The cross groove (3) is inside the cross groove (3), and the top of the carrier block (6) is rotatably connected to a group of auxiliary rollers (7) through bearings. The top of the support plate (2) is embedded with a plurality of freely rotatable balls (8). The top of the base (1) is fixed with an assembly platform (9), and a mechanical arm assembly and a conveying assembly are arranged on the base (1). The mechanical arm assembly is used to assemble the assembly parts on the support plate (2) after the position is corrected onto the incomplete product supported by the assembly platform (9). The conveying assembly is used to convey the assembly parts to the position of the support plate (2). The base (1) is provided with a controller (20).

2. A robot arm cooperative assembly device according to claim 1, characterized in that: The mechanical arm assembly comprises a support plate (10) and a first motor (11); a support column (12) is fixed at the bottom of the support plate (10); the bottom end of the support column (12) is rotatably connected to the base (1) via a bearing; the first motor (11) is mounted on the base (1), and the support column (12) is driven by the first motor (11); a second electric push rod (13) is arranged at the top of the support plate (10); a connecting plate (14) is fixedly mounted at the output end of the second electric push rod (13); a carrier plate (15) is mounted at the bottom of the connecting plate (14); and a third pressure sensor is arranged at the junction of the connecting plate (14) and the carrier plate (15); the first pressure sensor, the second pressure sensor and the third pressure sensor are all electrically connected to the controller (20); and two negative pressure fixing components are arranged on the carrier plate (15); the negative pressure fixing components are used to absorb the assembly parts.

3. A robot arm cooperative assembly device according to claim 2, characterized in that: The negative pressure fixing assembly comprises an air cylinder (16), the carrier plate (15) is fixedly sleeved on the outside of the air cylinder (16), and the bottom of the air cylinder (16) is fixedly connected to a suction cup (17).

4. A robot arm cooperative assembly device according to claim 3, characterized in that: A third electric push rod (18) is arranged at the top of the inner side of the gas cylinder (16), a piston (19) is fixedly mounted on the output end of the third electric push rod (18), and the piston (19) is slidably matched with the inner wall of the gas cylinder (16).

5. The robot arm cooperative assembly device according to claim 1, characterized in that: The conveying assembly comprises a U-shaped seat (21) and a conveyor belt (24); the U-shaped seat (21) is fixedly mounted on a base (1); a second motor (22) is arranged on the front side of the U-shaped seat (21); and three belt rollers (23) are rotatably connected between the front and rear inner walls of the U-shaped seat (21) via bearings, one of the belt rollers (23) being driven by the second motor (22); and the conveyor belt (24) is sleeved on the outside of the three belt rollers (23).

6. A robot arm cooperative assembly device according to claim 5, characterized in that: A reinforcement plate (25) is fixed between the front and rear inner walls of the U-shaped seat (21), and the reinforcement plate (25) is located on the inner side of the conveyor belt (24).

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