Assembly equipment and robot assembly production line

Abstract

The utility model relates to assembling equipment and a robot assembling production line. The assembling equipment comprises a rack, the first assembling unit comprises a first mounting body and a first driving assembly, the first mounting body is rotationally arranged on the rack, a first output shaft of the first driving assembly is connected with the first mounting body so as to drive the first mounting body to rotate with the first output shaft as the center, and the first output shaft extends in the first direction; the first wrist body is detachably connected with the first mounting body; the second assembling unit comprises a second mounting body, a second driving assembly and a lifting assembly, the second mounting body is movably arranged on the rack and can move in the first direction and the second direction, and the second direction is perpendicular to the first direction. According to the robot wrist body assembling device, the manual assembling process of robot wrist bodies can be assisted, so that the robot wrist bodies can be conveniently installed, the labor intensity of operators can be relieved, the assembling efficiency of a robot can be effectively improved, and it can be guaranteed that the installing precision meets the standard.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot assembly technical field, especially point to a kind of assembly equipment and robot assembly production line. BACKGROUND

[0002] Manufacturing industry often needs to invest a lot of manpower on its production line, due to the low efficiency of manual operation, it is difficult to meet the increasing production demand, therefore, more and more modern manufacturing industry begins to apply robot, to replace manpower to work. Robotic arm is a mechanical device that can simulate human arm to perform complex operation, accurate control and bear repetitive labor, through precise mechanical structure and advanced control system, accurate positioning and flexible operation of robot in three-dimensional space can be realized. Robot usually has multiple cooperating wrist bodies, in the production and manufacturing process of robot, multiple wrist bodies of robot need to be assembled, its assembly process is complex and delicate, usually including motor setting, mechanical installation, control system installation and test and calibration debugging steps. In the mechanical installation process, each mechanical component needs to be assembled according to the design drawing. Joint, connecting rod, transmission device and the like need to be installed, and the connection between them needs to be firm and reliable. In the assembly process, the precision and fit of mechanical components need to be paid attention to, so as to ensure the motion precision and stability of mechanical arm, in the prior art, manpower is relied on to assemble different wrist bodies.

[0003] However, the wrist body structure of robot usually weighs more than 100 kilograms, the defect of prior art is that, through manpower assembly, on the one hand, it needs to consume more manpower, which increases the labor cost, on the other hand, the assembly efficiency is low, and the assembly precision cannot be guaranteed. UTILITY MODEL CONTENTS

[0004] Therefore, the utility model wants to solve the technical problem in prior art, provide a kind of assembly equipment and robot assembly production line, utilize the assembly equipment of the utility model to assist the manual assembly process of robot wrist body, so as to facilitate the installation between robot wrist body, effectively improve assembly efficiency, and ensure that installation precision meets the standard.

[0005] To solve the above technical problems, the utility model provides an assembly equipment for assembling first wrist body and second wrist body of robot, the assembly equipment comprises,

[0006] frame;

[0007] The first assembly unit comprises a first mounting body and a first driving assembly, the first mounting body is rotationally arranged on the frame, the first output shaft of the first driving assembly is connected with the first mounting body to drive the first mounting body to rotate around the first output shaft, and the first output shaft is arranged to extend along the first direction; the first wrist body is detachably connected with the first mounting body;

[0008] The second assembly unit comprises a second mounting body, a second driving assembly and a lifting assembly, the second mounting body is movably arranged on the frame and can move along the first direction and a second direction perpendicular to the first direction, the second output shaft of the second driving assembly is connected with the second mounting body to drive the second mounting body to rotate around the second output shaft, and the second output shaft is arranged to extend along the first direction; the second mounting body is connected with the movable end of the lifting assembly to be lifted under the drive of the lifting assembly; and the second wrist body is detachably connected with the second mounting body.

[0009] In an embodiment of the present application, the first assembly unit further comprises a first support, the first support is fixedly installed on the frame, and the first driving assembly and the first mounting body are assembled on the first support.

[0010] In an embodiment of the present application, the second assembly unit further comprises a connecting frame assembly, the second mounting body is assembled on the connecting frame assembly, a first guide rail is arranged on the frame along the second direction, a first sliding block is slidably arranged on the first guide rail, and the connecting frame assembly is fixedly connected with the first sliding block.

[0011] In an embodiment of the present application, the connecting frame assembly comprises a first mounting plate, a second mounting plate, a third mounting plate and a second guide rail, the first sliding block is connected with the first mounting plate, the second guide rail is arranged on the first mounting plate, a second sliding block is slidably arranged on the second guide rail, the second mounting plate is connected with the second sliding block, the lifting assembly is installed on the second mounting plate, the third mounting plate is connected with the movable end of the lifting assembly, and the second mounting body is arranged on the third mounting plate; and the second guide rail is arranged to extend along the first direction.

[0012] In an embodiment of the present application, the connecting frame assembly further comprises a guide column assembly, the guide column assembly comprises at least one guide column arranged along the vertical direction, each guide column is provided with a seat shaft sleeve, the guide column is installed on the second mounting plate through the seat shaft sleeve, and one end of the guide column is connected with the third mounting plate.

[0013] In one embodiment of the present invention, the first drive assembly includes a first drive motor and a first reducer, the first reducer being disposed at the output end of the first drive motor, and the output end of the first reducer being connected to the first mounting body.

[0014] In one embodiment of the present invention, the second drive assembly includes a second drive motor and a second reducer, the second reducer being disposed at the output end of the second drive motor and the output end of the second reducer being connected to the second mounting body.

[0015] In one embodiment of this utility model, the first reducer and the second reducer are worm gear reducers.

[0016] In one embodiment of the present invention, the frame is further provided with a protective cover assembly, the protective cover assembly including a first protective cover and a second protective cover installed on the frame.

[0017] This utility model also provides a robot assembly production line, including an assembly device as described above.

[0018] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0019] The assembly equipment of this utility model includes a frame, a first assembly unit, and a second assembly unit. A first wrist of a robot to be assembled is assembled in the first assembly unit, and a second wrist is assembled in the second assembly unit. The first assembly unit includes a first mounting body and a first drive assembly. The first mounting body can rotate under the drive of the first drive assembly, facilitating the installation of internal components of the first wrist by the operator. The second assembly unit includes a second mounting body, a second drive assembly, and a lifting assembly. The second mounting body is slidably connected to the frame and can move along a first direction and a second direction. The second mounting body is also connected to the movable end of the lifting assembly, enabling it to move up and down, facilitating the movement of the second wrist to dock with the first assembly unit. The second mounting body can also rotate under the drive of the second drive assembly, facilitating the assembly of internal components of the second wrist by the operator. This assembly equipment assists in the manual assembly process of robot wrists, facilitating the installation between robot wrists, reducing the labor intensity of operators, effectively improving robot assembly efficiency, and ensuring that the installation accuracy meets standards. Attached Figure Description

[0020] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0021] Figure 1 is a first perspective view of the overall structure of the preferred embodiment of the utility model.

[0022] Figure 2 is a second perspective view of the overall structure of the preferred embodiment of the utility model.

[0023] Figure 3 is a structural schematic view of the first assembly unit and the second assembly unit of the preferred embodiment of the utility model.

[0024] Figure 4 is a structural schematic view of the first wrist body of the preferred embodiment of the utility model.

[0025] Figure 5 is a structural schematic view of the second wrist body of the preferred embodiment of the utility model.

[0026] Description of the Drawings: 1, rack; 11, first wrist body; 110, first mounting surface; 12, second wrist body; 120, second mounting surface; 13, first guide rail; 130, first sliding block; 20, first mounting body; 201, holding part; 21, first driving assembly; 22, first support; 30, second mounting body; 300, second hollow area; 31, second driving assembly; 32, lifting assembly; 41, first mounting plate; 42, second mounting plate; 43, third mounting plate; 44, second guide rail; 440, second sliding block; 45, guide column; 450, shaft sleeve with seat; 61, first protective cover; 62, second protective cover. DETAILED DESCRIPTION

[0027] The utility model will be further described below in combination with the drawings and specific embodiments, so that the person skilled in the art can better understand the utility model and can be implemented, but the example is not as the limitation of the utility model. Example one

[0028] Referring to Figures 1 to 5 The utility model discloses an assembly equipment for assisting operating personnel to assemble the first wrist body 11 and the second wrist body 12 of the robot.

[0029] The assembly equipment includes the rack 1, and the rack 1 can bear the first wrist body 11 and the second wrist body 12.

[0030] The assembling device further comprises a first assembling unit, the first assembling unit comprises a first mounting body 20 and a first driving assembly 21, the first mounting body 20 is rotationally arranged on the rack 1, and the first output shaft of the first driving assembly 21 is connected with the first mounting body 20 to drive the first mounting body 20 to rotate around the first output shaft. Specifically, the first mounting body 20 can be fixed in the horizontal direction and the vertical direction respectively, so as to facilitate the installation personnel to install the parts in the first wrist body 11.

[0031] The first output shaft extends along the first direction.

[0032] The first wrist body 11 and the first mounting body 20 are detachably connected through fasteners.

[0033] The assembling device further comprises a second assembling unit, the second assembling unit comprises a second mounting body 30, a second driving assembly 31 and a lifting assembly 32, the second mounting body 30 is movably arranged on the rack 1 and can move along the first direction and the second direction, so as to facilitate the adjustment of the position of the second mounting body 30 in the horizontal direction, so as to facilitate the butt joint of the second wrist body 12 and the first wrist body 11. It should be noted that the second direction is perpendicular to the first direction.

[0034] The second output shaft of the second driving assembly 31 is connected with the second mounting body 30 to drive the second mounting body 30 to rotate around the second output shaft, and the second output shaft extends along the first direction. In detail, the second mounting body 30 can be fixed in the horizontal direction and the vertical direction respectively, so as to facilitate the installation personnel to assemble the parts in the second wrist body 12.

[0035] The second mounting body 30 is connected with the movable end of the lifting assembly 32 to be lifted under the drive of the lifting assembly 30.

[0036] The second wrist body 12 and the second mounting body 30 are detachably connected through fasteners.

[0037] Therefore, the assembling equipment to be protected by the utility model is provided with a rack, a first assembling unit and a second assembling unit, a first wrist body of a robot to be assembled is assembled in the first assembling unit, a second wrist body is assembled in the second assembling unit, wherein the first assembling unit comprises a first mounting body and a first driving assembly, the first mounting body can rotate under the driving of the first driving assembly, so as to facilitate an operator to install internal parts of the first wrist body, the second assembling unit comprises a second mounting body, a second driving assembly and a lifting assembly, the second mounting body is slidingly connected with the rack and can move along a first direction and a second direction, the second mounting body is further connected with a movable end of the lifting assembly, so as to further enable the second mounting body to move up and down, so as to facilitate the second wrist body to move to be connected and installed with the second wrist body, and the second mounting body can further rotate under the driving of the second driving assembly, so as to facilitate the operator to assemble the parts inside the second wrist body. The assembling equipment of the utility model can assist the manual assembly process of the robot wrist body, so as to facilitate the installation between the robot wrist bodies, can further reduce the labor intensity of the operator, effectively improve the assembly efficiency of the robot, and can ensure that the installation precision meets the standard.

[0038] It should be noted that in the embodiment, the first wrist body 11 is the fifth joint of the robot, and the second wrist body 12 is the sixth joint of the robot. The weight of the first wrist body 11 and the second wrist body 12 is about 220 kg.

[0039] In detail, the first wrist body 11 has a first mounting surface 110, and the second wrist body 12 has a second mounting surface 120, when the assembly of the first wrist body 11 and the second wrist body 12 is completed, the first mounting surface 110 is connected with the second mounting surface 120, and is locked with each other through fastening bolts. Then, the fastening parts for locking the first wrist body 11 and the second wrist body 12 are loosened, the assembled first wrist body 11 and the second wrist body 12 are removed from the assembling equipment through a crane or other moving equipment, so as to perform the next process.

[0040] Specifically, the first mounting body 20 comprises a first mounting plate, in order to facilitate an operator to assemble the parts of the first wrist body 11 assembled thereon, a first hollow area 200 is arranged in the middle of the first mounting plate, so that the operator can assemble the internal parts of the first wrist body 11 through the first hollow area. In addition, a holding part 201 is further arranged on the surface of the first mounting plate opposite to the first wrist body 11, so as to facilitate the operator to operate.

[0041] Further, the second mounting body 30 comprises a second mounting plate, in order to facilitate the assembly of the components of the second wrist body 12 assembled thereon by the operator, the second mounting plate is provided with a second hollow area 300 in the middle, so that when the second mounting plate 30 is turned to the vertical direction, the operator can facilitate the installation of the components of the second wrist body 12 through the second hollow area 300.

[0042] As a preferred embodiment, the first assembly unit further comprises a first support 22, the first support 22 is fixedly installed on the rack 1, and the first driving assembly 21 and the first mounting body 20 are assembled on the first support 22.

[0043] In a further embodiment, the second assembly unit further comprises a connecting frame assembly, the second mounting body 30 is assembled on the connecting frame assembly, and the second mounting body 30 is connected with the rack 1 through the connecting frame assembly. Specifically, the first guide rail 13 is arranged on the rack 1 along the second direction, the first sliding block 130 is arranged on the first guide rail 13 in a sliding manner, and the connecting frame assembly is fixedly connected with the first sliding block 130.

[0044] Further, the connecting frame assembly comprises a first mounting plate 41, a second mounting plate 42, a third mounting plate 43 and a second guide rail 44, wherein the first sliding block 130 is connected with the first mounting plate 41, the second guide rail 44 is arranged on the first mounting plate 41, the second guide rail 44 is arranged on the second guide rail 44 in a sliding manner, the second mounting plate 42 is connected with the second sliding block 440, the lifting assembly 32 is installed on the second mounting plate 42, the third mounting plate 43 is connected with the movable end of the lifting assembly 32, and the second mounting body 30 is assembled on the third mounting plate 43.

[0045] Specifically, the second guide rail 44 is arranged in extension along the first direction.

[0046] As a preferred embodiment, the connecting frame assembly further comprises a guide column assembly, the guide column assembly comprises at least one guide column 45 arranged in the vertical direction, each guide column is provided with a seat shaft sleeve 450, the guide column 450 is installed on the second mounting plate 42 through the seat shaft sleeve 450, and one end of the guide column 45 is connected with the third mounting plate 43.

[0047] Preferably, in order to ensure that the guide assembly can provide more uniform guide effect, the number of guide columns 45 is four, and they are arranged at the corners of the second mounting plate 42 respectively.

[0048] In detail, the first driving assembly 21 comprises a first driving motor and a first speed reducer, the first speed reducer is arranged at the output end of the first driving motor, and the output end of the first speed reducer is connected with the first mounting body 20.

[0049] The second driving assembly 31 comprises a second driving motor and a second speed reducer, the second speed reducer is arranged at the output end of the second driving motor, and the output end of the second speed reducer is connected with the second mounting body 30.

[0050] As a preferred embodiment, the lifting assembly 32 comprises a third driving motor and a third speed reducer, the third speed reducer is arranged at the output end of the third driving motor, and the output end of the third speed reducer is connected with the third mounting plate 43.

[0051] Preferably, the first speed reducer, the second speed reducer and the third speed reducer adopt worm gear reducers. It should be noted that the worm gear reducer is a speed converter using gears, which can reduce the number of revolutions of the driving motor (motor) to the required number of revolutions and obtain larger torque. Therefore, the worm gear reducer and the driving motor are matched with each other, so that the rotation process of the first mounting body 20 and the second mounting body 30 becomes controllable, and can stop rotating after reaching the specified position, and the rotation direction is unidirectional rotation, and the reverse rotation is locked, thereby facilitating the angle adjustment and fine assembly of the operator.

[0052] The rack 1 is further provided with a protective cover assembly, the protective cover assembly comprises a first protective cover 61 and a second protective cover 62 mounted on the rack, and the first protective cover 61 and the second protective cover 62 can play a dustproof role and protect the equipment.

[0053] As a preferred embodiment, the first protective cover 61 and the second protective cover 62 both adopt an organ case. Embodiment two

[0054] The utility model discloses still disclose a kind of robot assembly production line, including a kind of assembly equipment as embodiment one.

[0055] In the description of the embodiments of the utility model, it should be explained that, unless there is explicit provision and limitation, if the term "arrangement", "connection" appears, it should be understood broadly, for example, it can be fixedly connected, can be detachably connected, or integrally connected;It can be mechanically connected, or electrically connected;It can be directly connected, or indirectly connected through intermediate medium, and it can be the communication between two elements inside. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to specific circumstances.

[0056] In the description of the utility model, need understanding is, the term "first", "second" only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "a plurality of" is two or more than two, unless otherwise specifically limited.

[0057] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, can be fixedly connected, can also be detachably connected, or integrated; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be the communication between two elements or the interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0058] Obviously, the above embodiments are only examples for clearly illustrating, and not limited to the implementation. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and also impossible to enumerate all the implementation. The obvious changes or variations derived therefrom are still within the protection scope of the utility model creation.

Claims

1. An assembly apparatus, characterized by: An assembly device for assembling a first wrist body and a second wrist body of a robot, the assembly device comprising, a frame; a first assembly unit comprising a first mounting body and a first driving assembly, the first mounting body being rotatably arranged on the frame, the first driving assembly having a first output shaft connected to the first mounting body to drive the first mounting body to rotate about the first output shaft, the first output shaft extending along a first direction; the first wrist body being detachably connected to the first mounting body; a second assembly unit comprising a second mounting body, a second driving assembly and a lifting assembly, the second mounting body being movably arranged on the frame and being movable along the first direction and a second direction perpendicular to the first direction; the second driving assembly having a second output shaft connected to the second mounting body to drive the second mounting body to rotate about the second output shaft, the second output shaft extending along the first direction; the second mounting body being connected to a movable end of the lifting assembly to be lifted under the drive of the lifting assembly; the second wrist body being detachably connected to the second mounting body.

2. An assembly apparatus according to claim 1, wherein: The first assembly unit further comprises a first support fixedly mounted on the frame, and the first driving assembly and the first mounting body are assembled on the first support.

3. An assembly apparatus according to claim 1, wherein: The second assembly unit further comprises a connecting frame assembly, and the second mounting body is assembled on the connecting frame assembly; the frame is provided with a first guide rail along the second direction, and a first sliding block is slidingly arranged on the first guide rail; and the connecting frame assembly is fixedly connected to the first sliding block.

4. An assembly apparatus according to claim 3, wherein: The connecting frame assembly comprises a first mounting plate, a second mounting plate, a third mounting plate and a second guide rail, the first sliding block is connected to the first mounting plate, the second guide rail is arranged on the first mounting plate, a second sliding block is slidingly arranged on the second guide rail, the second mounting plate is connected to the second sliding block, the lifting assembly is mounted on the second mounting plate, the third mounting plate is connected to the movable end of the lifting assembly, and the second mounting body is arranged on the third mounting plate; and the second guide rail extends along the first direction.

5. An assembly apparatus according to claim 4, wherein: The connecting frame assembly further comprises a guide column assembly, the guide column assembly comprises at least one guide column arranged in a vertical direction, each guide column is provided with a seat shaft sleeve, the guide column is mounted on the second mounting plate through the seat shaft sleeve, and one end of the guide column is connected to the third mounting plate.

6. An assembly apparatus according to claim 1, wherein: The first driving assembly comprises a first driving motor and a first speed reducer, the first speed reducer is arranged on the output end of the first driving motor, and the output end of the first speed reducer is connected to the first mounting body.

7. An assembly apparatus according to claim 6, wherein: The second driving assembly comprises a second driving motor and a second speed reducer, the second speed reducer is arranged on the output end of the second driving motor, and the output end of the second speed reducer is connected to the second mounting body.

8. An assembly apparatus according to claim 7, wherein: The first speed reducer and the second speed reducer are worm gear reducers.

9. An assembly apparatus according to claim 1, wherein: The frame is further provided with a protective cover assembly, and the protective cover assembly comprises a first protective cover and a second protective cover mounted on the frame.

10. A robotic assembly line characterized by: An assembly apparatus comprising any one of claims 1-9.

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