Bionic rotating shaft assembling mechanism

Abstract

The utility model provides a bionic rotating shaft assembling mechanism, including mechanical arm and locating component, the mechanical arm can grasp the axle center, the locating component can locate the valve body, the mechanical arm includes moving column, crossbeam, swing arm and clamping jaw, the moving column can move horizontally, the crossbeam is slidably arranged on the moving column, the swing arm is arranged on the moving column, and the clamping jaw is arranged on the swing arm. One end of the swing arm is rotationally arranged on the cross beam, the clamping jaw is arranged at the tail end of the swing arm, and the positioning assembly is arranged below the swing arm. The device is simple in structure and convenient to use, the movable column, the cross beam and the swing arm on the mechanical arm move cooperatively, the axis is placed into a valve body according to a designed track, then the mechanical arm applies force in the designed angle direction to accurately push the axis into an axis mounting hole, and then the position and the angle positioning position of the axis are adjusted through the clamping jaw. Therefore, the assembling of the axis and the valve body is completed, the assembling efficiency and precision are improved, and the labor cost is saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of valve assembly, and in particular relates to a bionic rotating shaft assembly mechanism. Background Art

[0002] A valve is a control component in a fluid delivery system, with functions such as shutoff, regulation, flow diversion, backflow prevention, pressure stabilization, flow diversion, or overflow and pressure relief. The valve body is a major component of the valve, and an important component of the valve body is the shaft.

[0003] Currently, the assembly of the shaft and valve body is primarily performed manually. However, due to the similar size of the shaft component and the relatively small aperture during assembly, manual assembly is difficult. Specialized tools are required to clamp the shaft at a specific angle to position it within the valve body's shaft mounting hole. Because the interior of the valve body cannot be visually observed, multiple adjustments are often required to position it correctly. This tedious process of repeatedly adjusting the angle and gripping after insertion requires precise positioning to facilitate the next assembly step. Addressing the issues of low efficiency and assembly technique training is crucial. Utility Model Content

[0004] Purpose of the utility model: In order to overcome the above shortcomings, the purpose of this utility model is to provide a bionic shaft assembly mechanism, which has a simple structure and is easy to use. It uses the multi-axis motion of the robotic arm to simulate the motion trajectory of the axis during assembly, thereby achieving precise assembly of the axis and the valve body.

[0005] Technical solution: In order to achieve the above-mentioned purpose, the utility model provides a bionic shaft assembly mechanism, including a mechanical arm and a positioning component, the mechanical arm can grasp the axis, the positioning component can position the valve body, the mechanical arm includes a movable column, a beam, a swing arm and a clamp, the movable column can move horizontally, the beam is slidably arranged on the movable column, one end of the swing arm is rotatably arranged on the beam, the clamp is arranged at the end of the swing arm, and the positioning component is arranged below the swing arm.

[0006] Furthermore, the positioning assembly includes a positioning cylinder and a cylinder base. The positioning cylinder is mounted on the cylinder base, and a positioning head is provided at the end of the piston rod of the positioning cylinder. The positioning head can cooperate with the valve body to fix the valve body in a fixed position, making it easier for the manipulator to grasp the axis and install it into the valve body.

[0007] Furthermore, the positioning head includes an outer positioning cylinder and an inner positioning column, the inner positioning column is arranged in the outer positioning cylinder, and the outer positioning cylinder and the inner positioning column form a positioning groove ring.

[0008] The inner diameter of the outer positioning cylinder matches the outer diameter of the valve body's axial mounting hole, while the outer diameter of the inner positioning post matches the inner diameter of the valve body's axial mounting hole. The piston rod of the positioning cylinder extends, the outer positioning cylinder on the positioning head fits over the outer side of the valve body's axial mounting hole, and the inner positioning post is inserted into the axial mounting hole. The other side of the valve body rests against the cylinder base, completing the valve body's positioning.

[0009] Furthermore, the cylinder base is L-shaped, and the valve body is in contact with the cylinder base on a side opposite to the side where the axial mounting hole is provided.

[0010] Furthermore, the clamping claw is driven by a cylinder, and the cylinder is installed in a hidden manner in the swing arm.

[0011] Furthermore, the movable column is arranged vertically relative to the bottom surface, the crossbeam is arranged parallel to the ground, and the swing arm is driven by a servo motor.

[0012] An axis placement plate is provided on one side of the positioning component.

[0013] It can be seen from the above technical solution that the utility model has the following beneficial effects:

[0014] The purpose of the utility model is to provide a bionic rotating shaft assembly mechanism with a simple structure and easy use. The movable column, beam and swing arm on the robotic arm are used to move in coordination, and the axis is placed inside the valve body according to the designed trajectory. Then the robotic arm applies force in the direction of the designed angle to accurately push the axis into the axis mounting hole. Then the position and angle positioning position of the axis are adjusted by the clamping jaws to complete the assembly of the axis and the valve body, avoiding the manual use of clamps without being able to see the condition inside the hole and relying solely on feeling to perform assembly. In the automated assembly, the robotic arm will repeat the action according to the set parameters with extremely low accuracy and high error rate, thereby improving efficiency and saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of a bionic rotating shaft assembly mechanism according to the present utility model;

[0016] Figure 2 This is a side view of a bionic shaft assembly mechanism according to the present utility model;

[0017] Figure 3 This is a structural diagram of the positioning assembly described in the present utility model;

[0018] Figure 4 This is a motion trajectory diagram of the axis during assembly described in the present invention.

[0019] In the figure: 1-robotic arm, 11-moving column, 12-crossbeam, 13-swing arm, 14-gripper, 2-positioning assembly, 21-positioning cylinder, 22-cylinder base, 23-positioning head, 231-outer positioning cylinder, 232-inner positioning column, 3-axis, 4-valve body, 5-axis placement plate. DETAILED DESCRIPTION

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In one embodiment, Figure 1 As shown: A bionic shaft assembly mechanism, characterized in that: it includes a robotic arm 1 and a positioning component 2, the robotic arm 1 can grasp the axis 3, the positioning component 2 can position the valve body 4, the robotic arm 1 includes a movable column 11, a beam 12, a swing arm 13 and a clamping claw 14, the movable column 11 can move horizontally, the beam 12 is slidably arranged on the movable column 11, one end of the swing arm 13 is rotatably arranged on the beam 12, the clamping claw 14 is arranged at the end of the swing arm 13, and the positioning component 2 is arranged below the swing arm 13.

[0022] like Figure 2 As shown, the positioning assembly 2 includes a positioning cylinder 21 and a cylinder base 22 . The positioning cylinder 21 is arranged on the cylinder base 22 , and a positioning head 23 is provided at the end of the piston rod of the positioning cylinder 21 .

[0023] Preferably, the positioning head 23 includes an outer positioning cylinder 231 and an inner positioning column 232 . The inner positioning column 232 is disposed in the outer positioning cylinder 231 , and the outer positioning cylinder 231 and the inner positioning column 232 form a positioning groove ring.

[0024] Preferably, the inner diameter of the outer positioning cylinder 231 matches the outer diameter of the axial mounting hole on the valve body 4 , and the outer diameter of the inner positioning column 232 matches the inner diameter of the axial mounting hole on the valve body 4 .

[0025] In a further optimized solution, the cylinder base 22 is L-shaped, and the valve body 4 is abutted against the cylinder base 22 on the side opposite to the axial mounting hole. As needed, a positioning groove can be provided on the vertical surface of the cylinder base 22. The positioning groove is consistent with the shape of the valve body 4. One end of the valve body 4 is positioned and connected to the positioning cylinder 21, and the other end is locked in the positioning groove to complete the positioning.

[0026] The clamping jaw 14 is driven by a cylinder, which is installed in a hidden manner in the swing arm 13. Optionally or preferably, a rotating mechanism such as a rotary cylinder can be added to the clamping jaw 14 so that the clamping jaw 14 can rotate, making it easier to adjust the posture of the axis.

[0027] The movable column 11 is vertically arranged relative to the bottom surface, the crossbeam 12 is parallel to the ground, and the swing arm 13 is driven by a servo motor. It should be noted that since the axis 3 needs to be accurately installed, the driving mechanism involved in the mechanism can adopt a high-precision driving mechanism.

[0028] An axis placement plate 5 is provided on one side of the positioning component 2 .

[0029] The bionic rotating shaft assembly mechanism provided by the utility model is used as follows Figure 3 As shown, the shaft 3 is manually placed on the shaft placement plate 5, and the valve body 4 is placed on the cylinder base 22 and positioned by the positioning cylinder 21. The shaft 2 is grasped by the gripper 14. After grasping, the robot arm 1 moves along the running trajectory at the starting point of the designed trajectory and places the shaft 2 into the valve body 4. The swing arm 13, crossbeam 12, and mobile column 11 begin to perform multi-axis simultaneous movement based on the positioning point of the component trajectory, accurately pushing the shaft 3 into the shaft mounting hole and positioning it according to the specific design angle and force direction. When the mobile column 11 and swing arm 13 move to the horizontal movement point of the trajectory, the gripper 14 begins to push the shaft 3 into the hole to determine the position and shaft angle. After the gripper 14 pushes the shaft 3 into the hole, the piston rod of the front positioning cylinder 22 synchronously retracts, and the gripper 14 withdraws from the valve body, completing the assembly of the shaft 3.

[0030] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as within the scope of protection of the present invention.

Claims

1. A bionic shaft assembly mechanism, characterized by: The invention comprises a mechanical arm (1) and a positioning assembly (2), wherein the mechanical arm (1) can grasp the axis (3), and the positioning assembly (2) can position the valve body (4). The mechanical arm (1) comprises a movable column (11), a crossbeam (12), a swing arm (13) and a clamp (14), wherein the movable column (11) can move horizontally, the crossbeam (12) is slidably arranged on the movable column (11), one end of the swing arm (13) is rotatably arranged on the crossbeam (12), the clamp (14) is arranged at the end of the swing arm (13), and the positioning assembly (2) is arranged below the swing arm (13).

2. The bionic shaft assembly mechanism according to claim 1, characterized in that: The positioning assembly (2) comprises a positioning cylinder (21) and a cylinder base (22). The positioning cylinder (21) is arranged on the cylinder base (22), and a positioning head (23) is provided at the end of the piston rod of the positioning cylinder (21).

3. The bionic shaft assembly mechanism according to claim 2, characterized in that: The positioning head (23) comprises an outer positioning cylinder (231) and an inner positioning column (232), wherein the inner positioning column (232) is disposed in the outer positioning cylinder (231), and the outer positioning cylinder (231) and the inner positioning column (232) form a positioning groove ring.

4. The bionic shaft assembly mechanism according to claim 3, characterized in that: The inner diameter of the outer positioning cylinder (231) matches the outer diameter of the axial mounting hole on the valve body (4), and the outer diameter of the inner positioning column (232) matches the inner diameter of the axial mounting hole on the valve body (4).

5. The bionic shaft assembly mechanism according to claim 2, characterized in that: The cylinder base (22) is L-shaped, and the valve body (4) is in contact with the cylinder base (22) on the side opposite to the side where the axial mounting hole is provided.

6. The bionic shaft assembly mechanism according to claim 1, characterized in that: The clamping claw (14) is driven by a cylinder, and the cylinder is installed in a hidden manner in the swing arm (13).

7. The bionic shaft assembly mechanism according to claim 1, characterized in that: The movable column (11) is arranged vertically relative to the bottom surface, the crossbeam (12) is arranged parallel to the ground, and the swing arm (13) is driven by a servo motor.

8. The bionic shaft assembly mechanism according to claim 1, characterized in that: An axis placement plate (5) is provided on one side of the positioning component (2).

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