Automatic manipulator mounting equipment

Abstract

The utility model provides automatic manipulator mounting equipment, which relates to the technical field of assembly manipulators and comprises a manipulator seat, and the two sides of the top of the manipulator seat are provided with assembly structures. An upper hinged support is integrally arranged above the front side of the manipulator base; a driver is fixedly arranged below the front side of the manipulator seat, and a driving wheel matched with a bearing is rotationally arranged between the driver and the upper hinged support; an exchange assembly is fixedly arranged outside the transmission wheel, and a main body of the exchange assembly is of an L-shaped support structure. An exchange assembly is arranged, a control structure combining grabbing and screw turning is provided, the exchange assembly can rotate by 90 degrees for state switching, screws can be grabbed through a magnetic block and placed between two sets of clamping blocks, then a screwdriver is adopted to drive the screws to rotate, assembling can be conducted, and the switching effect can be generated through worm and gear transmission; and switching between two functions is achieved through one set of mechanical arms, and the problem that an existing mechanical arm lacks a combined assembling function is solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of assembly manipulators, and more specifically, relates to an automatic manipulator installation device. Background Art

[0002] Using a robot to assemble workpieces is a faster assembly method. The assembly position can be calibrated through a preset program, and the robot can grab bolts to fix the workpiece for assembly, which can save time. Compared with manual assembly, it can save manpower and has a lower error rate.

[0003] Based on the above, the currently used automatic assembly uses multiple sets of robots to perform assembly, grasping and screwing separately, which is inconvenient to complete both automatically and quickly. It lacks a control structure that combines grasping and screwing, as well as a structure for detecting grasping. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides an automatic manipulator installation device to solve the existing automatic assembly method proposed in the above background technology, which adopts multiple groups of manipulators for assembly, grasping and screwing respectively, which is inconvenient to complete both automatically and quickly, lacks a control structure combining grasping and screwing, and a structure for detecting grasping.

[0005] The purpose and effect of the automatic manipulator installation device of the utility model are achieved by the following specific technical means:

[0006] An automatic manipulator installation device comprises a manipulator seat, the top two sides of which are assembly structures; an upper hinge seat is integrally provided on the upper front side of the manipulator seat; a transmission is fixedly provided on the lower front side of the manipulator seat, and a transmission wheel is rotatably provided between the transmission and the upper hinge seat; a replacement component is fixedly provided on the outside of the transmission wheel, and the main body of the replacement component is an L-shaped bracket structure; an electric cylinder is fixedly provided on the upper side of one side of the replacement component, and the telescopic end of the electric cylinder faces downward, and a magnetic block for removing nails is fixedly provided on the telescopic end of the electric cylinder; two groups of proximity sensors are fixedly provided on both ends of the front side of the manipulator seat, and the rotation of the replacement component is limited to no more than 90 degrees by the proximity sensors; a nail support jaws is fixedly provided on the front end of the transmission.

[0007] Furthermore, a first motor is fixedly provided on one side of the transmission, a worm is rotatably provided inside the transmission, and the worm is transmission-connected to the first motor.

[0008] Furthermore, a worm gear is fixedly provided on the outside of the bottom end of the transmission wheel, the worm gear is located inside the transmission device, and the worm is connected to the worm gear.

[0009] Further, the top outer side of the magnetic block is fixedly provided with a sliding sleeve, the sliding sleeve is slidably connected with the lower side of the switching assembly; the other side of the switching assembly is a groove structure, a lead screw is rotatably arranged in the groove, and a second motor for driving the lead screw is fixedly arranged at the top of the groove; a sliding seat is slidably arranged in the groove, and the sliding seat is threadedly connected with the lead screw.

[0010] Further, the sliding seat is a U-shaped structure, a screwdriver is rotatably arranged at the lower side of the sliding seat, and a third motor is fixedly arranged at the top of the sliding seat and is in transmission connection with the top end of the screwdriver.

[0011] Further, the two groups of clamping blocks are slidably arranged in the middle of the spring rod of the clamp tiger mouth, the upper side corners of the adjacent surfaces of the two groups of clamping blocks are in arc structures, the middle of the adjacent surfaces of the two groups of clamping blocks is provided with a through groove, the adjacent surfaces of the two groups of clamping blocks are provided with semicircular through holes penetrating in the up-down direction, the top of the semicircular through hole below the through groove is in an inverted taper structure, the two groups of clamping blocks are not in contact, the clamping blocks and the spring rod are all in metal structures, and a line is arranged in the clamp tiger mouth and connected with the two groups of clamping blocks.

[0012] Compared with the prior art, the utility model has the advantages of the following beneficial effects:

[0013] The switching assembly is arranged, a control structure that combines grabbing and screwing is provided, the switching assembly can rotate by 90 degrees to switch states, the magnetic block can be used to grab the screw, the screw is placed in the middle of the two groups of clamping blocks, then the screw is rotated by the screwdriver, and assembly can be performed, the switching effect can be generated by utilizing the worm and gear transmission, and then one group of mechanical arms is used to switch between the two functions, so that the automation effect is good.

[0014] The clamping blocks are arranged, a righting function is provided, when the magnetic block is reset, the screw can be brought back to the position in the middle of the two groups of clamping blocks, meanwhile, the two groups of clamping blocks are combined, the screw is blocked above the through groove and is left in the middle of the two groups of clamping blocks, and then the automatic filling effect is realized, the screw can be pushed out of the two groups of clamping blocks by the screwdriver, and automatic assembly is realized.

[0015] The clamping blocks are arranged, a grabbing detection function is provided, the clamping blocks and the spring rod are all in metal structures, a line is arranged in the clamp tiger mouth and connected with the two groups of clamping blocks, so that whether the screw is grabbed can be detected, when the two groups of clamping blocks grab the screw, a passage is formed, and then a signal that grabbing is successful is fed back, so that subsequent assembly is performed, otherwise, a signal that grabbing fails is fed back, and an alarm is prompted. DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic diagram of the utility model.

[0017] Figure 2 It is a side elevation structure schematic diagram of the utility model.

[0018] Figure 3It is the schematic diagram of the shaft measurement structure of the utility model.

[0019] Figure 4 It is the schematic diagram of the grabbing mode structure of the utility model.

[0020] Figure 5 It is the schematic diagram of the partial section structure of the utility model.

[0021] In the figure, the corresponding relationship of component name and figure number is as follows:

[0022] 1, mechanical hand seat; 101, upper hinge seat; 2, transmission; 201, first motor; 202, worm; 3, transmission wheel; 301, worm gear; 4, exchange assembly; 401, electric cylinder; 402, magnetic block; 403, sliding sleeve; 404, lead screw; 405, second motor; 406, sliding seat; 407, screwdriver; 408, third motor; 5, proximity sensor; 6, nail holding tiger mouth; 601, clamping block; 602, through slot. DETAILED DESCRIPTION

[0023] The embodiment of the utility model is further described in detail below in combination with the drawings and examples.

[0024] Example 1:

[0025] As shown in the accompanying Figure 1 to the accompanying Figure 5 As shown:

[0026] The utility model provides a kind of automatic mechanical hand installation equipment, including mechanical hand seat 1, the top of mechanical hand seat 1 two sides is assembly structure;Upper hinge seat 101 is integrally arranged on the front side of mechanical hand seat 1 upper side;Transmission 2 is fixedly arranged on the front side lower side of mechanical hand seat 1, and transmission 2 is rotatably arranged with bearing between upper hinge seat 101 Transmission wheel 3;Transmission wheel 3 is fixedly arranged with exchange assembly 4 outside, and the main part of exchange assembly 4 is L-shaped bracket structure;Electric cylinder 401 is fixedly arranged on the side upper side of exchange assembly 4, and the telescopic end of electric cylinder 401 is downward, and the telescopic end of electric cylinder 401 is fixedly arranged with magnetic block 402 for taking nail;Two groups of proximity sensors 5 are fixedly arranged on the front side both ends of mechanical hand seat 1, and exchange assembly 4 is limited to rotate not more than 90 degrees by proximity sensor 5;Nail holding tiger mouth 6 is fixedly arranged on the front end of transmission 2.

[0027] Among them, the side of transmission 2 is fixedly arranged with first motor 201, and the inside of transmission 2 is rotatably arranged with worm 202, and worm 202 is drivingly connected with first motor 201.

[0028] Among them, the bottom end outside of transmission wheel 3 is fixedly arranged with worm gear 301, and worm gear 301 is located in the inside of transmission 2, and worm 202 is drivingly connected with worm gear 301.

[0029] Among them, a sliding sleeve 403 is fixedly provided on the outer side of the top of the magnetic block 402, and the sliding sleeve 403 is slidably connected to the bottom of the exchange component 4; the other side of the exchange component 4 is a groove structure, and a screw 404 is rotatably provided in the groove, and a second motor 405 for driving the screw 404 is fixedly provided on the top of the groove; a slide seat 406 is slidably provided in the groove, and the slide seat 406 is threadedly connected to the screw 404.

[0030] The slide 406 is a U-shaped structure, a screwdriver 407 is rotatably provided below the slide 406 , a third motor 408 is fixedly provided on the top of the slide 406 , and the third motor 408 is transmission-connected to the top of the screwdriver 407 .

[0031] Among them, two groups of clamping blocks 601 are slidably provided in the middle of the support nail's jaws 6 to cooperate with the spring rod; the upper corners of the adjacent surfaces of the two groups of clamping blocks 601 are arc-shaped structures; through grooves 602 are provided in the upper middle of the adjacent surfaces of the two groups of clamping blocks 601; the adjacent surfaces of the two groups of clamping blocks 601 are provided with semicircular through holes running through from top to bottom, and the top of the semicircular through hole below the through groove 602 is an inverted cone structure; the diameter of the semicircular through hole is smaller than the magnetic block 402; the two groups of clamping blocks 601 do not contact each other, and the clamping blocks 601 and the spring rod are both metal structures, and a line is set in the support nail's jaws 6 to connect the clamping blocks 601 on both sides.

[0032] like Figures 1-5 As shown, in the first state, the magnetic block 402 is vertically aligned with the middle of the two groups of clamping blocks 601, and the electric cylinder 401 is started to move the magnetic block 402 downward, pushing the magnetic block 402 downward and spreading the clamping blocks 601 on both sides. Then, the robotic arm is controlled to move the magnetic block 402 and place it on top of a group of screws. Then, the screws are lifted and pulled out by magnetic adsorption. Then, the magnetic block 402 is reset and the screws are brought back to the middle of the two groups of clamping blocks 601. At the same time, the two groups of clamping blocks 601 are merged. After the two groups of clamping blocks 601 are merged, the screws are blocked above the through slot 602 and retained in the middle of the two groups of clamping blocks 601.

[0033] Then, the first motor 201 is started to rotate the worm 202, which in turn rotates the worm wheel 301, rotating the transmission wheel 3 and the exchange assembly 4 by 90 degrees, switching to the second state so that the screwdriver 407 is vertically aligned with the middle of the two sets of clamping blocks 601;

[0034] At this time, the control robot arm moves the screw to the assembly screw hole of the workpiece, and then starts the second motor 405 to drive the screw 404 to rotate, lowers the slide 406 and the screwdriver 407, so that the screwdriver 407 contacts the top of the screw, and then starts the third motor 408 to drive the screwdriver 407 to rotate, so that the bolt can be automatically tightened.

[0035] Example 2:

[0036] Based on Example 1, the clamping blocks 601 and the spring rod are both made of metal. A circuit is set in the nail support jaws 6 to connect the clamping blocks 601 on both sides, thereby detecting whether the screw is grasped. When the two sets of clamping blocks 601 grasp the screw, a path is formed, and a successful grasping signal is fed back to perform subsequent assembly.

[0037] On the contrary, if the two groups of clamps 601 are not connected, a failure signal will be fed back and an alarm will be issued through the program.

[0038] The specific usage and function of this embodiment are as follows:

[0039] In the present utility model, Figure 4 , assembly requires the use of boxed screws, using a square box to place the screws, which can keep the tip of the screw facing downward. The position of the screw box is pre-positioned, and then it becomes a robotic arm so that the robot can grasp it;

[0040] The robot base 1 is assembled to the robot arm and the power supply line is set through the inside of the robot arm to control the various electrical components;

[0041] Under normal conditions, the magnetic block 402 is vertically aligned with the middle of the two sets of clamping blocks 601. The electric cylinder 401 is activated to move the magnetic block 402 downward, push the magnetic block 402 downward, and open the clamping blocks 601 on both sides. Then, the robotic arm is controlled to move the magnetic block 402 and place it on top of a set of screws. The screws are then lifted and pulled out through magnetic adsorption. The magnetic block 402 is then reset to bring the screws back to the middle of the two sets of clamping blocks 601. At the same time, the two sets of clamping blocks 601 are merged. After the two sets of clamping blocks 601 are merged, the screws are blocked above the through slot 602 and retained in the middle of the two sets of clamping blocks 601.

[0042] Then, the first motor 201 is started to rotate the worm 202, and the worm 202 drives the worm wheel 301 to rotate, and the transmission wheel 3 and the exchange assembly 4 are rotated 90 degrees, so that the screwdriver 407 is vertically aligned with the middle of the two sets of clamping blocks 601. At this time, the robot arm is controlled to move the screw to the assembly screw hole of the workpiece, and then the second motor 405 is started to rotate the lead screw 404, and the slide 406 and the screwdriver 407 are lowered, so that the screwdriver 407 contacts the top of the screw, and then the third motor 408 is started to drive the screwdriver 407 to rotate, so that the bolt can be automatically tightened and the workpiece is assembled;

[0043] The clamping block 601 and the spring rod are both made of metal structure. A circuit is set in the nail support jaws 6 to connect the clamping blocks 601 on both sides, so as to detect whether the screws are grasped. When the two sets of clamping blocks 601 grasp the screws, a passage is formed, and then a signal of successful grasping is fed back to execute subsequent assembly; otherwise, a failure signal is fed back and an alarm prompt is given.

Claims

1. An automatic manipulator installation device, comprising: A manipulator base (1) is provided, wherein both sides of the top of the manipulator base (1) are assembly structures; an upper hinge seat (101) is integrally provided on the upper front side of the manipulator base (1); the manipulator base (1) is characterized in that a transmission device (2) is fixedly provided on the lower front side of the manipulator base (1), and a transmission wheel (3) is provided between the transmission device (2) and the upper hinge seat (101) for rotation via a bearing; a replacement component (4) is fixedly provided on the outside of the transmission wheel (3), and the main body of the replacement component (4) is an L-shaped bracket structure; an electric cylinder (401) is fixedly provided on the upper side of one side of the replacement component (4), the telescopic end of the electric cylinder (401) faces downward, and a magnetic block (402) for removing nails is fixedly provided on the telescopic end of the electric cylinder (401); two groups of proximity sensors (5) are fixedly provided on both ends of the front side of the manipulator base (1), and the replacement component (4) is limited to rotate no more than 90 degrees through the proximity sensors (5); a nail support jaw (6) is fixedly provided on the front end of the transmission device (2).

2. The automatic manipulator installation device according to claim 1, characterized in that: A first motor (201) is fixedly provided on one side of the transmission device (2), a worm (202) is rotatably provided inside the transmission device (2), and the worm (202) is transmission-connected to the first motor (201).

3. The automatic manipulator installation device according to claim 2, characterized in that: A worm wheel (301) is fixedly provided on the outside of the bottom end of the transmission wheel (3); the worm wheel (301) is located inside the transmission device (2); and the worm (202) is transmission-connected to the worm wheel (301).

4. The automatic manipulator installation device according to claim 1, characterized in that: A sliding sleeve (403) is fixedly provided on the outer side of the top of the magnetic block (402), and the sliding sleeve (403) is slidably connected to the bottom of the exchange component (4); the other side of the exchange component (4) is a groove structure, a screw (404) is rotatably provided in the groove, and a second motor (405) for driving the screw (404) is fixedly provided on the top of the groove; a sliding seat (406) is slidably provided in the groove, and the sliding seat (406) is threadedly connected to the screw (404).

5. The automatic manipulator installation device according to claim 4, characterized in that: The slide (406) is a U-shaped structure. A screwdriver (407) is rotatably provided below the slide (406). A third motor (408) is fixedly provided on the top of the slide (406). The third motor (408) is transmission-connected to the top of the screwdriver (407).

6. The automatic manipulator installation device according to claim 1, characterized in that: Two groups of clamping blocks (601) are slidably arranged in the middle of the support nail jaws (6) in cooperation with the spring rod; the upper corners of the adjacent surfaces of the two groups of clamping blocks (601) are arc-shaped structures; the upper middle portions of the adjacent surfaces of the two groups of clamping blocks (601) are provided with through grooves (602); the adjacent surfaces of the two groups of clamping blocks (601) are provided with semicircular through holes running through from top to bottom, and the top of the semicircular through hole below the through groove (602) is an inverted cone-shaped structure; the two groups of clamping blocks (601) are in contact with each other.

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