Instrument installation assisting robot

Abstract

An instrument installation assisting mechanical hand special machine, comprising two X-direction rails and two Y-direction rails, which are perpendicularly arranged in pairs, the Y-direction rail is movably arranged under the X-direction rail through a roller and an X-direction driving device; a driving walking trolley, a lifting main machine, a Z-direction rotating assembly, a Y-direction rotating mechanism, two clamping assemblies, a pushing positioning mechanism, two X-direction righting assemblies, two Y-direction righting assemblies, two Z-direction lifting assemblies, two sling clamping assemblies, two jacking mechanisms, a sling, a first clamping pin assembly, a second clamping pin assembly, two chuck separating mechanisms and a controller.

Description

Technical Field

[0001] This utility model relates to the field of transfer and assembly technology, specifically to a special machine for assisting instrument installation manipulator. Background Technology

[0002] With the pursuit of high-quality development and continuous improvement, higher demands are being placed on the intelligence and modularity of production equipment. Traditional instrument installation equipment is manually operated, which is cumbersome. Installation requires 2-3 people working simultaneously, and it cannot guarantee the safety and speed of installation within the vehicle. When retrieving parts, manual operation is required to align the pins, clamp the workpiece, and open the material rack positioning mechanism before moving the equipment into the vehicle for installation. Furthermore, manual control of the equipment poses a risk of collision with the vehicle body, resulting in cumbersome operation for workers, a large number of personnel required, and a long operation time, thus affecting the production cycle. Utility model content:

[0003] The purpose of this invention is to design a special machine for assisting instrument installation, which realizes the process of robotic arm picking up and installing parts, optimizes manual operation, saves energy and increases efficiency, and greatly improves production efficiency.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A specialized robotic arm for instrument installation, comprising,

[0006] Two X-axis tracks and two Y-axis tracks are arranged perpendicularly to each other in pairs. The Y-axis tracks are movably set under the X-axis tracks by rollers and X-axis drive devices.

[0007] The driving trolley includes a fixed frame and its wheels and driving device, and moves under a Y-axis track; the fixed frame has a fixed plate inside;

[0008] The lifting unit includes,

[0009] The fixed base mainly consists of a fixed base plate and a column vertically set on the bottom surface of the fixed base plate. The fixed base plate has a mounting through hole in the center; the column is a U-shaped frame.

[0010] Two lifting guide rails and their upper sliders are respectively set on both sides of one side of the column along the height direction of the column;

[0011] A lifting seat, with a slider mounted on the lifting guide rail;

[0012] Z-axis lifting servo electric cylinder, the cylinder body is vertically set at the center of the bottom surface of the fixed base plate;

[0013] Z-axis holding cylinder, the cylinder body is vertically set at the output end of Z-axis lifting servo electric cylinder, and its output end is connected to the lifting seat;

[0014] The clamping balance cylinder has its cylinder body vertically mounted on one side of the bottom surface of the fixed base plate, and its output end is connected to the lifting seat.

[0015] Z-axis rotation component, including,

[0016] A mounting housing is provided at the mounting through hole on the top surface of the fixed base plate, and a transmission gear is provided inside the housing. A Z-axis rotating gear is provided outside the mounting housing and coaxially connected to the transmission gear; the Z-axis rotating gear is connected to the fixed plate.

[0017] The Z-axis rotary motor is located on one side of the mounting housing. Its output end is equipped with a drive shaft with transmission gears. The drive shaft meshes with the transmission gears to form a worm gear drive.

[0018] The Y-axis rotation mechanism includes,

[0019] A fixed housing is provided on the lifting seat, and a transmission gear is provided inside the fixed housing. A Y-axis rotating gear is provided on the outside of the fixed housing and coaxially connected to the transmission gear.

[0020] The Y-axis rotary motor is located on one side of the fixed housing. Its output end is equipped with a drive shaft with transmission teeth. The drive shaft meshes with the transmission gear to form a worm gear drive.

[0021] A support beam, one end of which is connected to the center of the outer side of the Y-axis rotating gear;

[0022] Two clamping assemblies are respectively disposed on both sides of the support beam, and the clamping assemblies include:

[0023] A linear slide is located on one side of the supporting crossbeam;

[0024] At least two positioning clamping pins are set on the slider of the linear slide via a connector;

[0025] A clamping motor is mounted on a support beam on one side of the linear slide, and its output end is connected to the lead screw of the linear slide.

[0026] Push location agencies, including,

[0027] The support base is a rectangular frame with a support rod in the middle;

[0028] Two Y-shaped guide rails and their sliders are respectively set on the top surface of the two side frames of the support base;

[0029] The Y-axis push cylinder is located on the support rod in the middle of the support base, and the cylinder body is parallel to the Y-axis guide rail.

[0030] The support frame, set on the support base, is a rectangular frame with a rod symmetrically arranged on each side inside. A connecting rod is arranged between the two rods, and they are respectively connected to the sliders on the two Y guide rails and the output part of the Y push cylinder.

[0031] Two X-axis straightening components are disposed opposite to each other on both sides of the middle part of the connecting rod of the support frame. The X-axis straightening components include:

[0032] The X-axis support frame is L-shaped, with one end connected to one side of the connecting rod via a connector, and the other side parallel to the connecting rod, with a through hole at the end of this side.

[0033] The X-axis cylinder has its cylinder body pivotally connected to one end of the X-axis support frame; the piston rods of the two X-axis straightening components move in opposite directions.

[0034] The X-axis straightening gripper has its lower end pivotally connected to the piston rod end of the X-axis cylinder, and a connecting part protrudes from its middle part and is pivotally connected to the end hole of one side of the X-axis support frame.

[0035] Two Y-axis straightening components are symmetrically arranged on both sides of the support frame. Each Y-axis straightening component includes...

[0036] The Y-axis support frame is L-shaped, with one end of it vertically connected to one side frame of the support frame via a connector, so that the other side is parallel to the connecting rod, and a through hole is provided at the end of this side.

[0037] The Y-axis cylinder has its cylinder body pivotally connected to one end of the Y-axis support frame;

[0038] The Y-axis straightening gripper has its lower end pivotally connected to the piston rod end of the Y-axis cylinder, and a connecting part protrudes from its middle part and is pivotally connected to the end through hole of one side of the Y-axis support frame.

[0039] Two Z-axis lifting components are symmetrically arranged on both sides of the support frame. Each Z-axis lifting component includes...

[0040] The Z-axis support frame has its two ends spanning the two side frames of the support frame and parallel to the connecting rod. The Z-axis support frame has a through hole in the middle and mounting holes on both sides.

[0041] The Z-direction cylinder has its cylinder body vertically upward and located in the middle of the bottom surface of the Z-direction support frame, with its piston rod extending out of the through hole in the middle of the Z-direction support frame.

[0042] The Z-axis lifting frame is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the Z-axis support frame, and its central bottom surface connected to the piston rod end of the Z-axis cylinder.

[0043] Two sets of slide rails and sliders are provided. The two slide rails are respectively set on the two sides of the Z-axis lifting frame, and the sliders are set in the mounting holes on one side of the Z-axis support frame.

[0044] Two lifting clamping assemblies are respectively disposed beside the two Z-axis lifting assemblies. The lifting clamping assemblies include,

[0045] A fixed plate, one side of which is connected to the Z-axis lifting frame, moves up and down with the Z-axis lifting frame;

[0046] Two lifting clamps clamp the cylinders, with the cylinder bodies vertically upward and the two cylinder bodies arranged side by side on one side of the fixed plate on the other side;

[0047] Two lifting clamping components, the lower part of which is pivotally connected to the piston rod end of the lifting clamping cylinder;

[0048] Two lifting mechanisms are symmetrically arranged on both sides of the support frame. Each lifting mechanism includes...

[0049] The lifting support frame has its two ends straddling the frame at both ends of the support frame and parallel to the connecting rod. The lifting support frame has a through hole in the middle and mounting holes on both sides.

[0050] The lifting cylinder has its cylinder body vertically upward and located in the middle of the bottom surface of the lifting support frame, with its piston rod extending out of the through hole in the middle of the lifting support frame.

[0051] The lifting frame is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the lifting support frame, and its bottom surface connected to the end of the piston rod of the lifting cylinder.

[0052] Two sets of lifting slide rails and sliders are provided. The two lifting slide rails are respectively set on the two sides of the lifting frame, and the sliders are set in the mounting holes on one side of the lifting support frame.

[0053] Two positioning pins are respectively set on both sides of the top surface of a positioning plate, which is set on the top surface of the middle part of the lifting frame;

[0054] Lifting gear, including,

[0055] The base consists of two parallel support rods and a connecting rod connecting the two; pin holes are provided at both ends of the bottom surface of the support rods, corresponding to the positioning pins;

[0056] The hanger is a portal frame with its two side rods connected to the support rods of the base at their lower ends; each of the two side rods has a U-shaped fixing part in the middle, and a support plate is horizontally installed inside one side of the U-shaped fixing part;

[0057] A first clamping pin assembly and a second clamping pin assembly are respectively disposed on the U-shaped fixing portions of the rods on both sides of the hanger; the first and second clamping pin assemblies each include,

[0058] At least one slide rail and its slider, the slide rail being fixed to the support plate on the U-shaped fixing part;

[0059] A clamping pin is disposed on a fixed base plate, which is connected to the slider.

[0060] Two clamp separation mechanisms are respectively disposed on both sides of the support frame. Each clamp separation mechanism includes...

[0061] The support pole is vertically installed on the outside of one side frame of the support frame via a connector, and a base plate parallel to the frame of the support pole is provided at the upper end of the support pole.

[0062] The drive cylinder has its cylinder body mounted on the base plate, parallel to the frame of the support frame.

[0063] The fixed support frame is L-shaped, with one end vertically mounted on the moving part of the drive cylinder, and the other end having a through hole.

[0064] The cylinder body is pivotally connected to one end of the fixed support frame and is parallel to the other side of the fixed support frame.

[0065] The release lever has one end pivotally connected to the piston rod end of the release cylinder, and a connecting part protruding from its middle part, which is pivotally connected to a through hole on one side of the fixed support frame; the other end of the release lever corresponds to the locking member.

[0066] The controller, X-axis drive device, walking drive device, Z-axis lifting servo cylinder, Z-axis holding cylinder, clamp balancing cylinder, Z-axis rotary motor, Y-axis rotary motor, clamping motor, Y-axis pushing cylinder, X-axis cylinder, Y-axis cylinder, Z-axis cylinder, lifting clamping cylinder, lifting cylinder, drive cylinder, and separation cylinder are electrically connected to the controller.

[0067] Furthermore, it also includes a suction cup mechanism, which includes,

[0068] Fixed column, located on one side of the support frame;

[0069] The Y-axis suction cup cylinder has its cylinder body mounted on the top surface of the fixed column and perpendicular to the support frame frame; the Y-axis suction cup cylinder is electrically connected to the controller;

[0070] At least one suction cup is connected to the end of the piston rod of the Y-axis suction cup cylinder via a connector.

[0071] Preferably, the bottom surface of the X-axis track is provided with an X-axis moving rack, and the corresponding driving device on the Y-axis track includes an X-axis servo motor disposed on the Y-axis track and an X-axis driving gear disposed at the output end of the X-axis servo motor, the X-axis driving gear meshing with the X-axis moving rack; the X-axis servo motor is electrically connected to the controller.

[0072] Preferably, the bottom surface of the Y-axis track is provided with a Y-axis moving rack, and correspondingly, the walking drive device on the fixed frame of the driving trolley includes a Y-axis servo motor set on the fixed frame and a Y-axis drive gear set at the output end of the Y-axis servo motor, which meshes with the Y-axis moving rack; the Y-axis servo motor is electrically connected to the controller.

[0073] Furthermore, a Y-axis horizontal adjustment mechanism is also provided, including:

[0074] The Y-axis horizontal adjustment plate has its upper end pivotally connected to the lifting seat; the Y-axis rotation mechanism is disposed on the Y-axis horizontal adjustment plate;

[0075] The Y-axis horizontal adjustment cylinder has its cylinder body horizontally mounted at the lower end of the column of the fixed base, and its piston end is connected to the lower part of the Y-axis horizontal adjustment plate; the Y-axis horizontal adjustment cylinder is electrically connected to the controller.

[0076] Preferably, the first clamping pin assembly has two slide rails and a slider arranged in parallel vertically. The lower slide rail is mounted on the support plate, and the upper slide rail is connected to the slider located on the lower slide rail.

[0077] Furthermore, a locking control component is also provided, which includes,

[0078] The locking seat is vertically mounted on the fixed base plate, and a through hole is provided on one side of the fixed base plate for the locking member to pass through;

[0079] The lever is L-shaped, with one end pivotally connected to the upper end of the locking seat at the other end;

[0080] The insertion and removal lever has one end connected to the bend of the lever and the other end detachably connected to the upper part of the locking element.

[0081] The locking component has its lower part passing through a through hole on the fixed base plate, and the support plate has a limiting hole that matches the locking component.

[0082] Preferably, the second clamping pin assembly includes,

[0083] The slide rail and its slider, the slide rail being fixed to the support plate on the U-shaped fixing part;

[0084] A bearing housing is disposed on a fixed base plate, which is connected to a slider on the slide rail;

[0085] A clamping pin, the rear of which is located inside the bearing of the bearing housing;

[0086] A limiting turntable is coaxially connected to the rear end of the clamping pin; the limiting turntable is provided with several limiting holes along its circumferential direction;

[0087] A variable clamping pin is disposed on one side of a connecting plate, the other end of which is connected to the front end of the clamping pin, and the variable clamping pin is parallel to the clamping pin.

[0088] Locking components, including,

[0089] A fixed support plate is vertically connected to the outer wall of the bearing housing on one side, and a through hole for the locking element to pass through is also provided on this side;

[0090] A locking seat is vertically mounted on the other side of the fixed support plate; preferably, an adjusting handle is vertically mounted on the fixed support plate located outside the locking seat.

[0091] The adjusting lever is L-shaped, with one end pivotally connected to the upper end of the locking seat at the other end;

[0092] The adjusting plug-in rod has one end connected to the bend of the adjusting lever and the other end detachably connected to the upper end of the locking component, thereby controlling the locking component to pass through the through hole on the fixed support plate and be limited to the limiting hole on the limiting turntable.

[0093] Furthermore, it also includes two positioning mechanisms, respectively located on the outer sides of both ends of the support frame. These positioning mechanisms include...

[0094] A fixed column is installed on the outer side of one end of the support frame;

[0095] The Y-axis cylinder has its cylinder body mounted on the top surface of the fixed column and perpendicular to the frame of the support frame; the Y-axis cylinder is electrically connected to the controller.

[0096] The Z-axis cylinder has its cylinder body vertically mounted at the end of the piston rod of the Y-axis cylinder; the Z-axis cylinder is electrically connected to the controller.

[0097] The locating pin is vertically upward and connected to the end of the piston rod of the Z-axis cylinder via a connector.

[0098] Furthermore, an X-axis holding mechanism is also provided, including,

[0099] The X-axis slide rail and its slider are mounted on the bottom surface of the fixed base plate of the lifting host.

[0100] The connecting base plate has its top surface connected to the X-axis slide rail and its bottom surface connected to the top surface of the mounting housing of the Z-axis rotating component.

[0101] The X-axis holding cylinder has its cylinder body connected to one side of the connecting base plate via a connector, and its piston rod end connected to the fixed base plate of the fixed base of the lifting host via a connector.

[0102] In the instrument installation assistive robotic arm machine described in this utility model:

[0103] The lifting host is connected to the driving trolley. The lifting host consists of a Z-axis lifting servo cylinder, a clamping balance cylinder, a Z-axis holding cylinder, a guide rail slider, and a Z-axis rotary motor. The lifting host connects to the robotic arm (including a Z-axis rotating assembly, a Y-axis rotating mechanism, a support beam, and two clamping assemblies). The Z-axis lifting servo cylinder controls the robotic arm's Z-axis movement. The clamping balance cylinder balances part of the robotic arm's weight, and the Z-axis holding cylinder protects the equipment in case of deviations during robotic arm assembly or external forces. During equipment operation, a safety scanner prevents personnel from entering and causing injury.

[0104] The instrument robotic arm uses positioning clamping pins to grip the workpiece. Depending on the different workpieces, the entry angle can be achieved through a Y-axis rotary motor. When the robotic arm is under load, it may experience slight deformation. In this case, the Y-axis horizontal adjustment cylinder will compensate for the deformation by applying pressure to eliminate the deformation of the robotic arm.

[0105] The X / Y track foundation is arranged with two fixed rails and two moving rails. The X / Y movement adopts a gear and rack structure to ensure stopping accuracy and realize the picking and installation of parts. The X / Y movement is a servo motor with an absolute encoder structure and dual-wheel drive. The stopping accuracy meets the requirements of picking and installation accuracy.

[0106] The drive trolley is connected to the moving track, and the movement adopts a gear and rack structure. An optical barcode reading mechanism is arranged on the trolley to determine the position of the equipment by reading the barcode on the fixed track. The X-axis holding cylinder can protect the equipment in case of deviation during the assembly of the robot arm and external force.

[0107] Compared with the prior art, the advantages of this utility model are:

[0108] This utility model describes a specialized robotic arm that, unlike traditional robotic arms, uses Z-axis positioning to determine the arm's height and adjusts the X and Y axes to grip different workpieces with different grippers. Building upon the existing method of increasing the number of grippers to accommodate more workpieces, this new arm utilizes a two-cylinder design to create a retractable and foldable gripper. This allows a single gripper to grip workpieces of different shapes and sizes at varying extension lengths, enabling it to handle multiple workpieces in different states. The Z-axis flip-up gripper effectively avoids interference when other grippers are engaged and also reduces the overall size of the robotic arm and provides more operating space when the gripper is not in use.

[0109] The robotic arm described in this invention enables it to operate flexibly in confined or complex environments. Its compact folded size facilitates portability and rapid deployment. It can adjust its form according to task requirements, adapting to objects of different shapes, sizes, and weights. Through modular design or intelligent control, it can accomplish a variety of tasks.

[0110] The robotic arm described in this invention has significant advantages in terms of flexibility, portability, adaptability, and cost-effectiveness, and can meet diverse task requirements, making it suitable for multiple fields such as industry, healthcare, logistics, and home services. Its innovative design not only improves the performance of the robotic arm but also reduces operating costs, providing a new direction for the future development of robotics technology. Attached Figure Description

[0111] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0112] Figure 2 This is a front view of an embodiment of the present utility model;

[0113] Figure 3 This is a perspective view of the X-axis track and the Y-axis track in an embodiment of this utility model;

[0114] Figure 4 The three-dimensional structure driving the walking trolley in this embodiment of the utility model Figure 1 ;

[0115] Figure 5 The three-dimensional structure driving the walking trolley in this embodiment of the utility model Figure 2 ;

[0116] Figure 6 This is a perspective view of the lifting host and clamping assembly in an embodiment of the present utility model;

[0117] Figure 7 This is a perspective view of the clamping component and the Y-axis horizontal adjustment mechanism in an embodiment of the present utility model;

[0118] Figure 8 This is a perspective view of the lifting device and the pushing and positioning mechanism in an embodiment of this utility model;

[0119] Figure 9 This is a perspective view of the push positioning mechanism in an embodiment of this utility model;

[0120] Figure 10 This is a perspective view of the lifting mechanism, clamp separation mechanism, and positioning mechanism in an embodiment of this utility model;

[0121] Figure 11 The three-dimensional form of the lifting device in the embodiments of this utility model Figure 1 ;

[0122] Figure 12 The three-dimensional form of the lifting device in the embodiments of this utility model Figure 2 ;

[0123] Figure 13 This is a perspective view of the locking component in the second clamping pin assembly in an embodiment of the present invention. Detailed Implementation

[0124] See Figures 1 to 13 The instrument installation assistive robotic arm of this utility model includes,

[0125] Two X-axis tracks 1 and two Y-axis tracks 2 are arranged perpendicularly to each other in pairs. The Y-axis track 2 is movably mounted under the X-axis track 1 via roller 21 and X-axis drive device 22.

[0126] The driving trolley 3 includes a fixed frame 31 and its walking wheels 32 and walking drive device 33, and moves under the Y-axis track 2; the fixed frame 31 is provided with a fixed plate 311;

[0127] Lifting unit 4 includes,

[0128] The fixed base 41 is mainly composed of a fixed base plate 411 and a column 412 vertically arranged on the bottom surface of the fixed base plate. The fixed base plate 411 has a mounting through hole in the center; the column 412 is a U-shaped frame.

[0129] Two lifting guide rails 43 and their upper sliders are respectively set on both sides of one side of the column 412 along the height direction of the column 412;

[0130] Lifting seat 44, slider disposed on the lifting guide rail 43;

[0131] Z-axis lifting servo electric cylinder 45, the cylinder body is vertically set at the center of the bottom surface of the fixed base plate 411;

[0132] Z-direction holding cylinder 46, the cylinder body is vertically set at the output end of Z-direction lifting servo electric cylinder 45, and its output end is connected to the lifting seat 44;

[0133] The clamping balance cylinder 47 has its cylinder body vertically mounted on one side of the bottom surface of the fixed base plate 411, and its output end is connected to the lifting seat 44.

[0134] Z-axis rotation component 42, including,

[0135] The mounting housing 421 is disposed at the mounting through hole on the top surface of the fixed base plate 411, and a transmission gear is provided inside it. A Z-axis rotating gear 422 coaxially connected to the transmission gear is provided outside the mounting housing 421; the Z-axis rotating gear is connected to the fixed plate 311.

[0136] Z-axis rotary motor 423 is located on one side of mounting housing 421. Its output end is provided with a drive shaft with transmission gears. The drive shaft meshes with the transmission gears to form a worm gear drive mode.

[0137] The Y-axis rotation mechanism 5 includes,

[0138] A fixed housing 51 is disposed on the lifting seat 44, and a transmission gear is provided inside the fixed housing 51. A Y-axis rotating gear 52 is provided outside the fixed housing 51 and is coaxially connected to the transmission gear.

[0139] Y-axis rotary motor 53 is located on one side of fixed housing 51. Its output end is provided with a drive shaft with transmission gears. The drive shaft meshes with the transmission gears to form a worm gear drive mode.

[0140] A support beam 54 is provided, one end of which is connected to the center of the outer side of the Y-axis rotating gear 52.

[0141] Two clamping components 6 and 6' are respectively disposed on both sides of the supporting crossbeam 54. The clamping component 6 (taking clamping component 6 as an example, the same below) includes:

[0142] A linear slide 61 is located on one side of a supporting crossbeam 54;

[0143] At least two positioning clamping pins 62 are set on the slider of the linear slide 61 via a connector;

[0144] The clamping motor 63 is mounted on the support beam 54 on one side of the linear slide 61, and its output end is connected to the lead screw of the linear slide 61.

[0145] Push location mechanism 7, including,

[0146] The support base 71 is a rectangular frame with a support rod in the middle;

[0147] Two Y-guide rails 72 and their sliders are respectively set on the top surface of the two side frames of the support base 71;

[0148] Y-direction push cylinder 73 is mounted on the support rod in the middle of support base 71, and the cylinder body is parallel to Y-direction guide rail 72;

[0149] The support frame 74 is set on the support base 71. It is a rectangular frame with a rod 741 symmetrically arranged on both sides inside. A connecting rod 742 is arranged between the two rods 741 and respectively connects the sliders on the two Y guide rails 72 and the output part of the Y push cylinder 73.

[0150] Two X-direction straightening components 75 and 75' are disposed opposite to each other on both sides of the middle part of the connecting rod 742 of the support frame 74. The X-direction straightening component 75 (taking the X-direction straightening component 75 as an example, the same below) includes,

[0151] The X-axis support frame 751 is L-shaped. One end of its side is connected to one side of the connecting rod 742 through a connector, and the other side is parallel to the connecting rod 742. A through hole is provided at the end of this side.

[0152] X-direction cylinder 752, whose cylinder body is pivotally connected to one end of X-direction support frame 751; the piston rods of the two X-direction straightening components 75 and 75' move in opposite directions;

[0153] The X-axis straightening gripper 753 has its lower end pivotally connected to the piston rod end of the X-axis cylinder 752, and a connecting part protrudes from its middle part and is pivotally connected to the through hole at one side end of the X-axis support frame 751.

[0154] Two Y-direction straightening components 76 and 76' are symmetrically arranged on both sides inside the support frame 74. The Y-direction straightening component 76 (taking the Y-direction straightening component 76 as an example, the same below) includes,

[0155] Y-axis support frame 761 is L-shaped, with one end of it vertically connected to one side frame of support frame 74 via a connector, so that the other side is parallel to connecting rod 742, and a through hole is provided at the end of this side.

[0156] Y-direction cylinder 762, whose cylinder body is pivotally connected to one end of Y-direction support frame 761;

[0157] Y-direction straightening gripper 763, the lower end of which is pivotally connected to the piston rod end of Y-direction cylinder 762, and a connecting part protruding in the middle part, which is pivotally connected to the through hole at the end of one side of Y-direction support frame 761.

[0158] Two Z-axis lifting components 77 and 77' are symmetrically arranged on both sides of the support frame 74. The Z-axis lifting component 77 (taking the Z-axis lifting component 77 as an example, the same below) includes,

[0159] Z-axis support frame 771, with its two ends spanning the two side frames of support frame 74 and parallel to connecting rod 742, has a through hole in the middle and mounting holes on both sides.

[0160] Z-direction cylinder 772, its cylinder body is vertically upward and located in the middle of the bottom surface of Z-direction support frame 771, and its piston rod extends out of the through hole in the middle of Z-direction support frame 771;

[0161] The Z-axis lifting frame 773 is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the Z-axis support frame 771, and its bottom surface connected to the piston rod end of the Z-axis cylinder 772.

[0162] Two slide rails 774 and a slider are provided. The two slide rails are respectively set on the two sides of the Z-axis lifting frame 773, and the slider is set in the mounting holes on one side of the Z-axis support frame 771.

[0163] Two lifting clamping assemblies 78 and 78' are respectively disposed beside the two Z-axis lifting assemblies 77. The lifting clamping assembly 78 (taking the lifting clamping assembly 78 as an example, the same below) includes,

[0164] A fixed plate 781 is connected to the Z-axis lifting frame 773 on one side and moves up and down with the Z-axis lifting frame 773.

[0165] Two lifting clamps clamp cylinder 782, with the cylinder body vertically upward, and the two cylinder bodies are arranged side by side on the other side of the fixing plate 781;

[0166] Two lifting clamping components 783, the lower part of which is pivotally connected to the piston rod end of the lifting clamping cylinder 782;

[0167] Two lifting mechanisms 8 and 8' are symmetrically arranged on both sides of the support frame 74. The lifting mechanism 8 (taking the lifting mechanism 8 as an example, the same below) includes,

[0168] The lifting support frame 81 has its two ends spanning the frame at both ends of the support frame 74 and is parallel to the connecting rod 742. The lifting support frame 81 has a through hole in the middle and mounting holes on both sides.

[0169] The lifting cylinder 82 has its cylinder body vertically upwardly mounted at the center of the bottom surface of the lifting support frame 81, and its piston rod extends out of the through hole in the center of the lifting support frame 81.

[0170] The lifting frame 83 is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the lifting support frame 81, and its bottom surface connected to the piston rod end of the lifting cylinder 82.

[0171] Two sets of lifting slide rails 84 and sliders are provided. The two lifting slide rails are respectively set on the two sides of the lifting frame 83, and the sliders are set in the mounting holes on both sides of the lifting support frame 81.

[0172] Two positioning pins 85 are respectively set on both sides of the top surface of a positioning plate 86, which is set on the top surface of the middle part of the lifting frame 83;

[0173] Lifting gear 9, including,

[0174] The base 91 consists of two parallel support rods 911 and a connecting rod 912 connecting the two; the bottom surfaces of the support rods 911 are provided with pin holes at both ends, corresponding to the positioning pins 85.

[0175] The hanger 92 is a portal frame with its two side rods 921 connected to the support rods of the base 91 at their lower ends; the middle part of the two side rods 921 is provided with a U-shaped fixing part 922, and a support plate 923 is horizontally arranged inside one side of the U-shaped fixing part 922.

[0176] The first clamping pin assembly 93 and the second clamping pin assembly 94 are respectively disposed on the U-shaped fixing portions 922 of the rods 921 on both sides of the hanger 92; the first and second clamping pin assemblies 93 and 94 respectively (taking the first clamping pin assembly 93 as an example, the same below) include

[0177] At least one slide rail 931 and its slider, the slide rail being fixed to the support plate 923 on the U-shaped fixing part 922;

[0178] A clamping pin 932 is disposed on a fixed base plate 933, which connects to the two locking control components 15' and 15' of the slider, respectively disposed on the first clamping pin component 93 and the second clamping pin component 94. The locking control component 15 (taking the locking control component 15 as an example, the same below) includes...

[0179] The locking base 151 is vertically disposed on the fixing base plate 943, and a through hole for the locking member 934 is provided on one side of the fixing base plate 943.

[0180] The lever 152 is L-shaped, with one end pivotally connected to the upper end of the locking seat 151 at the other end;

[0181] The insertion and removal lever 153 has one end connected to the bend of the lever 152, and the other end is pluggably connected to the upper part of the locking member 154.

[0182] The locking member 154 has its lower part passing through the through hole on the fixing base plate 943, and the support plate 923 is provided with a limiting hole that matches the locking member 154.

[0183] Two clamp separation mechanisms 10 and 10' are respectively disposed on both sides of the support frame 74. The clamp separation mechanism 10 (taking clamp separation mechanism 10 as an example, the same below) includes,

[0184] The support pole 101 is vertically installed on the outside of one side frame of the support frame 74 via a connector, and a base plate 102 parallel to the frame of the support frame 74 is provided at the upper end of the support pole 101.

[0185] The drive cylinder 103 has its cylinder body mounted on the base plate 102 and parallel to the frame of the support frame 74.

[0186] The fixed support frame 104 is L-shaped, with one end of its side vertically mounted on the moving part of the drive cylinder 103, and the other end of its side having a through hole.

[0187] The cylinder 105 is pivotally connected to one end of the fixed support frame 104 and is parallel to the other side of the fixed support frame 104.

[0188] The separating rod 106 has one end pivotally connected to the piston rod end of the separating cylinder 105, and a connecting part protrudes from the middle part and is pivotally connected to the end through hole of one side of the fixed support frame 104; the separating rod 106 corresponds to the lever of the locking control assembly 15.

[0189] The controller 16 is electrically connected to the X-axis drive device, the walking drive device, the Z-axis lifting servo cylinder, the Z-axis holding cylinder, the clamp balancing cylinder, the Z-axis rotary motor, the Y-axis rotary motor, the clamping motor, the Y-axis pushing cylinder, the X-axis cylinder, the Y-axis cylinder, the Z-axis cylinder, the lifting clamping cylinder, the lifting cylinder, the driving cylinder, and the separating cylinder.

[0190] Furthermore, two positioning mechanisms 11 and 11' are provided, respectively located on the outer sides of both ends of the support frame 74. Positioning mechanism 11 (taking positioning mechanism 11 as an example, the same applies below) includes:

[0191] A fixed column 111 is installed on the outer side of one end of the support frame 74;

[0192] Y-axis cylinder 112, the cylinder body of which is mounted on the top surface of fixed column 111 and perpendicular to the frame of support frame 74; the Y-axis cylinder is electrically connected to the controller;

[0193] Z-direction cylinder 113, the cylinder body of which is vertically mounted at the end of the piston rod of Y-direction cylinder 112; the Z-direction cylinder is electrically connected to the controller;

[0194] The locating pin 114 is vertically upward and is connected to the end of the piston rod of the Z-axis cylinder 113 via a connector.

[0195] Furthermore, it also includes a suction cup mechanism 12, located on one side of the support frame 74, which includes:

[0196] Fixed column 121 is located on one side of support frame 74;

[0197] Y-axis suction cup cylinder 122, the cylinder body of which is set on the top surface of the fixed column 121 and perpendicular to the frame of the support frame 74; the Y-axis suction cup cylinder is electrically connected to the controller;

[0198] At least one suction cup 123 is connected to the end of the piston rod of the Y-axis suction cup cylinder 122 via a connector;

[0199] Furthermore, a Y-axis horizontal adjustment mechanism 13 is also provided, including,

[0200] The Y-axis horizontal adjustment plate 131 is pivotally connected to the lifting seat 44 at its upper end; the Y-axis rotation mechanism 5 is disposed on the Y-axis horizontal adjustment plate 131.

[0201] The Y-axis horizontal adjustment cylinder 132 has its cylinder body horizontally disposed at the lower end of the column 412 of the fixed base 41, and its piston end is connected to the lower part of the Y-axis horizontal adjustment plate 131; the Y-axis horizontal adjustment cylinder is electrically connected to the controller.

[0202] Preferably, the bottom surface of the X-axis track 1 is provided with an X-axis moving rack 1001. Correspondingly, the X-axis driving device 22 on the Y-axis track 2 includes an X-axis servo motor 221 disposed on the Y-axis track 1 and an X-axis driving gear 222 disposed at the output end of the X-axis servo motor. The X-axis driving gear meshes with the X-axis moving rack. The X-axis servo motor is electrically connected to the controller.

[0203] Preferably, the bottom surface of the Y-axis track 2 is provided with a Y-axis moving rack 2001. Correspondingly, the walking drive device 33 on the fixed frame 31 of the driving trolley 3 includes a Y-axis servo motor 331 disposed on the fixed frame 31 and a Y-axis drive gear 332 disposed at the output end of the Y-axis servo motor. The Y-axis drive gear meshes with the Y-axis moving rack. The Y-axis servo motor is electrically connected to the controller.

[0204] Preferably, the first clamping pin assembly 93 is provided with two slide rails 931 and 931' arranged in parallel at the top and bottom and a slider. The lower slide rail 931' is disposed on the support plate 923, and the upper slide rail 931 is connected to the slider on the lower slide rail 931'.

[0205] Furthermore, locking control components 15' and 15' are also provided, respectively corresponding to the first clamping pin component 93 and the second clamping pin component 94. The locking control component 15 (taking the locking control component 15 as an example, the same below) includes,

[0206] The locking base 151 is vertically disposed on the fixing base plate 943, and a through hole for the locking member 934 is provided on one side of the fixing base plate 943.

[0207] The lever 152 is L-shaped, with one end pivotally connected to the upper end of the locking seat 151 at the other end;

[0208] The insertion and removal lever 153 has one end connected to the bend of the lever 152, and the other end is pluggably connected to the upper part of the locking member 154.

[0209] The locking member 154 has its lower part passing through a through hole in the fixing base plate 943, and the support plate 923 has a limiting hole that matches the locking member 154.

[0210] Preferably, the second clamping pin assembly 94 includes,

[0211] The slide rail 941 and its slider, and the slide rail is fixed to the support plate 923 on the U-shaped fixing part 922;

[0212] A bearing seat 942 is disposed on a fixed base plate 943, which is connected to a slider on the slide rail 941;

[0213] Clamping pin 944, the rear of which is disposed inside the bearing of the bearing housing 942;

[0214] A limiting turntable 945 is coaxially connected to the rear end of the clamping pin 944; the limiting turntable 945 is provided with several limiting holes along its circumferential direction.

[0215] A variable clamping pin 946 is disposed on one side of a connecting plate 947, the other end of which is connected to the front end of the clamping pin 944, and the variable clamping pin is parallel to the clamping pin.

[0216] Locking component 948, including,

[0217] A fixed support plate 9481 is vertically connected to the outer wall of the bearing seat 942 on one side, and a through hole through which a locking member 9482 passes is also provided on this side.

[0218] A locking seat 9483 is vertically mounted on the other side of a fixed support plate 9481; preferably, an adjusting handle 9484 is vertically mounted on the fixed support plate located outside the locking seat 948.

[0219] The adjusting lever 9485 is L-shaped, with one end pivotally connected to the upper end of the locking seat 9483 at the other end;

[0220] The adjusting plug-in rod 9486 has one end connected to the bend of the adjusting lever 9485, and the other end is pluggably connected to the upper end of the locking member 9482, thereby controlling the locking member 9482 to pass through the through hole on the fixed support plate 9481 and be limited to the limiting hole on the limiting turntable 945.

[0221] Furthermore, an X-axis holding mechanism 17 is also provided, including,

[0222] X-axis slide rail 171 and its slider, the slider being disposed on the bottom surface of the fixed base plate of the fixed base of the lifting host;

[0223] The connecting base plate 172 has its top surface connected to the X-axis slide rail 171 and its bottom surface connected to the top surface of the mounting housing of the Z-axis rotating component.

[0224] The X-direction holding cylinder 73 has its cylinder body connected to one side of the connecting base plate via a connector, and its piston rod end connected to the fixed base plate of the fixed base of the lifting host via a connector.

[0225] The lifting and pushing mechanism enables the robotic arm to pick up the part, and the process is as follows:

[0226] a) The lifting device, by clamping the pin-loaded instrument workpiece, travels along the conveyor line to the instrument installation and material handling position;

[0227] b) The positioning unit below the spreader performs precise positioning of the spreader;

[0228] c) The first frame positioning gripper opens the blocking frame, the second frame positioning gripper opens and clamps the frame, and the X / Y direction straightening mechanism cylinder extends the straightening frame.

[0229] d) The cylinders of the ejection mechanism extend fully, and the positioning pin sleeves cooperate to position and eject the positioning tray out of the lifting frame;

[0230] e) Extend the rodless cylinder in the Y direction to send the positioning pallet carrying the workpiece out along the Y direction via the guide rail, waiting for the instrument robot to pick up the workpiece;

[0231] f) After the robot arm clamps and positions the workpiece in the lifting device, the chuck separation mechanism opens the clamping pin on the lifting device, and after opening, the robot arm removes the workpiece.

Claims

1. A special-purpose robotic arm for instrument installation, characterized in that, include, Two X-axis tracks and two Y-axis tracks are arranged perpendicularly to each other in pairs. The Y-axis tracks are movably set under the X-axis tracks by rollers and X-axis drive devices. The driving trolley includes a fixed frame and its wheels and driving device, and moves under a Y-axis track; the fixed frame has a fixed plate inside; The lifting unit includes, The fixed base mainly consists of a fixed base plate and a column vertically set on the bottom surface of the fixed base plate. The fixed base plate has a mounting through hole in the center; the column is a U-shaped frame. Two lifting guide rails and their upper sliders are respectively set on both sides of one side of the column along the height direction of the column; A lifting seat, with a slider mounted on the lifting guide rail; Z-axis lifting servo electric cylinder, the cylinder body is vertically set at the center of the bottom surface of the fixed base plate; Z-axis holding cylinder, the cylinder body is vertically set at the output end of Z-axis lifting servo electric cylinder, and its output end is connected to the lifting seat; The clamping balance cylinder has its cylinder body vertically mounted on one side of the bottom surface of the fixed base plate, and its output end is connected to the lifting seat. Z-axis rotating component include, The mounting housing is located at the mounting through hole on the top surface of the fixed base plate, and a transmission gear is installed inside it. A Z-axis rotating gear is coaxially connected to the transmission gear on the outside of the mounting housing. The Z-axis rotary gear is connected to the fixed plate; The Z-axis rotary motor is located on one side of the mounting housing. Its output end is equipped with a drive shaft with transmission gears. The drive shaft meshes with the transmission gears to form a worm gear drive. The Y-axis rotation mechanism includes, A fixed housing is provided on the lifting seat, and a transmission gear is provided inside the fixed housing. A Y-axis rotating gear is provided on the outside of the fixed housing and coaxially connected to the transmission gear. The Y-axis rotary motor is located on one side of the fixed housing. Its output end is equipped with a drive shaft with transmission teeth. The drive shaft meshes with the transmission gear to form a worm gear drive. A support beam, one end of which is connected to the center of the outer side of the Y-axis rotating gear; Two clamping assemblies are respectively disposed on both sides of the support beam, and the clamping assemblies include: A linear slide is located on one side of the supporting crossbeam; At least two positioning clamping pins are set on the slider of the linear slide via a connector; A clamping motor is mounted on a support beam on one side of the linear slide, and its output end is connected to the lead screw of the linear slide. Push location agencies, including, The support base is a rectangular frame with a support rod in the middle; Two Y-shaped guide rails and their sliders are respectively set on the top surface of the two side frames of the support base; The Y-axis push cylinder is located on the support rod in the middle of the support base, and the cylinder body is parallel to the Y-axis guide rail. The support frame, set on the support base, is a rectangular frame with a rod symmetrically arranged on each side inside. A connecting rod is arranged between the two rods, and they are respectively connected to the sliders on the two Y guide rails and the output part of the Y push cylinder. Two X-axis straightening components are disposed opposite to each other on both sides of the middle part of the connecting rod of the support frame. The X-axis straightening components include: The X-axis support frame is L-shaped, with one end connected to one side of the connecting rod via a connector, and the other side parallel to the connecting rod, with a through hole at the end of this side. The X-axis cylinder has its cylinder body pivotally connected to one end of the X-axis support frame; the piston rods of the two X-axis straightening components move in opposite directions. The X-axis straightening gripper has its lower end pivotally connected to the piston rod end of the X-axis cylinder, and a connecting part protrudes from its middle part and is pivotally connected to the end hole of one side of the X-axis support frame. Two Y-axis straightening components are symmetrically arranged on both sides of the support frame. Each Y-axis straightening component includes... The Y-axis support frame is L-shaped, with one end of it vertically connected to one side frame of the support frame via a connector, so that the other side is parallel to the connecting rod, and a through hole is provided at the end of this side. The Y-axis cylinder has its cylinder body pivotally connected to one end of the Y-axis support frame; The Y-axis straightening gripper has its lower end pivotally connected to the piston rod end of the Y-axis cylinder, and a connecting part protrudes from its middle part and is pivotally connected to the end through hole of one side of the Y-axis support frame. Two Z-axis lifting components are symmetrically arranged on both sides of the support frame. Each Z-axis lifting component includes... The Z-axis support frame has its two ends spanning the two side frames of the support frame and parallel to the connecting rod. The Z-axis support frame has a through hole in the middle and mounting holes on both sides. The Z-direction cylinder has its cylinder body vertically upward and located in the middle of the bottom surface of the Z-direction support frame, with its piston rod extending out of the through hole in the middle of the Z-direction support frame. The Z-axis lifting frame is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the Z-axis support frame, and its central bottom surface connected to the piston rod end of the Z-axis cylinder. Two sets of slide rails and sliders are provided. The two slide rails are respectively set on the two sides of the Z-axis lifting frame, and the sliders are set in the mounting holes on one side of the Z-axis support frame. Two lifting clamping assemblies are respectively disposed beside the two Z-axis lifting assemblies. The lifting clamping assemblies include, A fixed plate, one side of which is connected to the Z-axis lifting frame, moves up and down with the Z-axis lifting frame; Two lifting devices clamp the cylinders, with the cylinder bodies vertically upward and the two cylinder bodies arranged side by side on one side of the fixed plate on the other side; Two lifting clamping components, the lower part of which is pivotally connected to the piston rod end of the lifting clamping cylinder; Two lifting mechanisms are symmetrically arranged on both sides of the support frame. Each lifting mechanism includes... The lifting support frame has its two ends straddling the frame at both ends of the support frame and parallel to the connecting rod. The lifting support frame has a through hole in the middle and mounting holes on both sides. The lifting cylinder has its cylinder body vertically upward and located in the middle of the bottom surface of the lifting support frame, with its piston rod extending out of the through hole in the middle of the lifting support frame. The lifting frame is in the shape of an inverted U, with its two sides inserted into the mounting holes on both sides of the lifting support frame, and its bottom surface connected to the end of the piston rod of the lifting cylinder. Two sets of lifting slide rails and sliders are provided. The two lifting slide rails are respectively set on the two sides of the lifting frame, and the sliders are set in the mounting holes on one side of the lifting support frame. Two positioning pins are respectively set on both sides of the top surface of a positioning plate, which is set on the top surface of the middle part of the lifting frame; Lifting gear, including, The base consists of two parallel support rods and a connecting rod connecting the two; pin holes are provided at both ends of the bottom surface of the support rods, corresponding to the positioning pins; The hanger is a portal frame with its two side rods connected to the support rods of the base at their lower ends; each of the two side rods has a U-shaped fixing part in the middle, and a support plate is horizontally installed inside one side of the U-shaped fixing part; A first clamping pin assembly and a second clamping pin assembly are respectively disposed on the U-shaped fixing portions of the rods on both sides of the hanger; the first and second clamping pin assemblies each include, At least one slide rail and its slider, the slide rail being fixed to the support plate on the U-shaped fixing part; A clamping pin is disposed on a fixed base plate, which is connected to the slider. Two locking control components, which include, The locking seat is vertically mounted on the fixed base plate, and a through hole is provided on one side of the fixed base plate for the locking member to pass through; The lever is L-shaped, with one end pivotally connected to the upper end of the locking seat at the other end; The insertion and removal lever has one end connected to the bend of the lever and the other end detachably connected to the upper part of the locking element. The locking component has its lower part passing through a through hole on the fixed base plate, and the support plate is provided with a limiting hole that matches the locking component. Two clamp separation mechanisms are respectively disposed on both sides of the support frame. Each clamp separation mechanism includes... The support pole is vertically installed on the outside of one side frame of the support frame via a connector, and a base plate parallel to the frame of the support pole is provided at the upper end of the support pole. The drive cylinder has its cylinder body mounted on the base plate, parallel to the frame of the support frame. The fixed support frame is L-shaped, with one end vertically mounted on the moving part of the drive cylinder, and the other end having a through hole. The cylinder body is pivotally connected to one end of the fixed support frame and is parallel to the other side of the fixed support frame. The release lever has one end pivotally connected to the piston rod end of the release cylinder, and a connecting part protruding from its middle part, which is pivotally connected to a through hole on one side of the fixed support frame; the other end of the release lever corresponds to the locking member. The controller is electrically connected to the X-axis drive device, the walking drive device, the Z-axis lifting servo cylinder, the Z-axis holding cylinder, the clamping balance cylinder, the Z-axis rotary motor, the Y-axis rotary motor, the clamping motor, the Y-axis pushing cylinder, the X-axis cylinder, the Y-axis cylinder, the Z-axis cylinder, the lifting clamping cylinder, the lifting cylinder, the driving cylinder, and the separating cylinder.

2. The instrument installation assistive robotic arm as described in claim 1, characterized in that, It also includes a suction cup mechanism, which includes, Fixed column, located on one side of the support frame; The Y-axis suction cup cylinder has its cylinder body mounted on the top surface of the fixed column and perpendicular to the support frame frame; the Y-axis suction cup cylinder is electrically connected to the controller. At least one suction cup is connected to the end of the piston rod of the Y-axis suction cup cylinder via a connector.

3. The instrument installation assistive robotic arm as described in claim 1 or 2, characterized in that, It also includes a Y-axis horizontal adjustment mechanism, including, The Y-axis horizontal adjustment plate has its upper end pivotally connected to the lifting seat; the Y-axis rotation mechanism is disposed on the Y-axis horizontal adjustment plate; The Y-axis horizontal adjustment cylinder has its cylinder body horizontally mounted at the lower end of the column of the fixed base, and its piston end is connected to the lower part of the Y-axis horizontal adjustment plate; the Y-axis horizontal adjustment cylinder is electrically connected to the controller.

4. The instrument installation assistive robotic arm as described in claim 1, characterized in that, The first clamping pin assembly has two slide rails and a slider arranged in parallel. The lower slide rail is set on the support plate, and the upper slide rail is connected to the slider located on the lower slide rail.

5. The instrument installation assistive robotic arm as described in claim 1, characterized in that, The second clamping pin assembly includes, The slide rail and its slider, the slide rail being fixed to the support plate on the U-shaped fixing part; A bearing housing is disposed on a fixed base plate, which is connected to a slider on the slide rail; A clamping pin, the rear of which is located inside the bearing of the bearing housing; A limiting turntable is coaxially connected to the rear end of the clamping pin; the limiting turntable is provided with several limiting holes along its circumferential direction; A variable clamping pin is disposed on one side of a connecting plate, the other end of which is connected to the front end of the clamping pin, and the variable clamping pin is parallel to the clamping pin. Locking components, including, A fixed support plate is vertically connected to the outer wall of the bearing housing on one side, and a through hole for the locking element to pass through is also provided on this side; The locking seat is vertically mounted on the other side of the fixed support plate; The adjusting lever is L-shaped, with one end pivotally connected to the upper end of the locking seat at the other end; The adjusting plug-in rod has one end connected to the bend of the adjusting lever and the other end detachably connected to the upper end of the locking component, thereby controlling the locking component to pass through the through hole on the fixed support plate and be limited to the limiting hole on the limiting turntable.

6. The instrument installation assistive robotic arm as described in claim 1, characterized in that, It also includes two positioning mechanisms, which are respectively set on the outer side of both ends of the support frame. Each positioning mechanism includes a fixed column, which is set on the outer side of one end of the support frame. The Y-axis cylinder has its cylinder body mounted on the top surface of the fixed column and perpendicular to the frame of the support frame; the Y-axis cylinder is electrically connected to the controller. The Z-axis cylinder has its cylinder body vertically mounted at the end of the piston rod of the Y-axis cylinder; the Z-axis cylinder is electrically connected to the controller. The locating pin is vertically upward and connected to the end of the piston rod of the Z-axis cylinder via a connector.

7. The instrument installation assist robotic cell of claim 1, wherein, The bottom surface of the X-axis track is provided with an X-axis moving rack. Correspondingly, the driving device on the Y-axis track includes an X-axis servo motor set on the Y-axis track and an X-axis driving gear set at the output end of the X-axis servo motor. The X-axis driving gear meshes with the X-axis moving rack. The X-axis servo motor is electrically connected to the controller.

8. The instrument installation assistive robotic arm as described in claim 1, characterized in that, The bottom surface of the Y-axis track is provided with a Y-axis moving rack. Correspondingly, the walking drive device on the fixed frame of the driving trolley includes a Y-axis servo motor set on the fixed frame and a Y-axis drive gear set at the output end of the Y-axis servo motor. The Y-axis drive gear meshes with the Y-axis moving rack. The Y-axis servo motor is electrically connected to the controller.

9. The instrument installation assistive robotic arm as described in claim 1, characterized in that, An adjustment handle is vertically mounted on the fixed support plate located outside the locking seat.

10. The instrument installation assistive robotic arm as described in claim 1, characterized in that, An X-axis holding mechanism is also provided, including, The X-axis slide rail and its slider are mounted on the bottom surface of the fixed base plate of the lifting host. The connecting base plate has its top surface connected to the X-axis slide rail and its bottom surface connected to the top surface of the mounting housing of the Z-axis rotating component. The X-axis holding cylinder has its cylinder body connected to one side of the connecting base plate via a connector, and its piston rod end connected to the fixed base plate of the fixed base of the lifting host via a connector.

Images