Automatic assembly device for small arm wrist

Abstract

The utility model provides a kind of forearm wrist body automatic assembly equipment, the forearm wrist body automatic assembly equipment includes forearm wrist body combined assembly component, the forearm wrist body combined assembly component is used to install forearm and wrist body to form forearm wrist body structure, the forearm wrist body combined assembly component includes forearm positioning module to place forearm, wrist body positioning and press-in module to place wrist body;Final assembly component, the final assembly component is used to install forearm wrist body structure with side arm to form final assembly structure;Mechanical hand lock attachment module, the mechanical hand lock attachment module is used to complete the screw automatic lock attachment of forearm and wrist body and the screw automatic lock attachment of side arm and forearm wrist body structure.The forearm wrist body automatic assembly equipment of the utility model, the automation assembly of wrist body, forearm, side arm is realized, artificial labor intensity is low, and degree of automation and production efficiency are high.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment, specifically to an automatic forearm and wrist assembly device. Background Technology

[0002] As an essential part of automated equipment, the assembly of the forearm (including the forearm and side arm) and wrist of the existing six-axis robot mainly relies on manual labor. During the manual operation, the operator repeatedly adjusts and locks the wrist to the forearm, and then locks the side arm to the forearm to complete the installation of the forearm of the six-axis robot.

[0003] However, this method suffers from low efficiency, poor consistency, and high intensity of repetitive labor. Furthermore, the training time for skilled assembly workers is long and the staff turnover is high. Therefore, there is a need for an efficient and highly automated forearm and wrist assembly equipment.

[0004] In view of this, it is necessary to improve the existing forearm and wrist assembly method to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an automatic forearm and wrist assembly device to solve the problems of low efficiency and low degree of automation in existing manual assembly.

[0006] To achieve the above objectives, this utility model provides an automatic forearm and wrist assembly device, the automatic forearm and wrist assembly device comprising: A forearm-wrist assembly is provided, which is used to install the forearm and wrist to form a forearm-wrist structure. The forearm-wrist assembly includes a forearm positioning module for placing the forearm and a wrist positioning and pressing module for placing the wrist. The forearm positioning module is used to drive the forearm to contact the wrist on the wrist positioning and pressing module. The wrist positioning and pressing module is used to press the forearm and wrist together. The forearm positioning module is provided with a precision compensation module to compensate for the gap error when the forearm and wrist are assembled. The assembly assembly is used to install the forearm wrist structure and the side arm to form an assembly structure. The assembly assembly includes an assembly positioning module for positioning and fixing the forearm wrist structure and a side arm transfer module for placing and moving the side arm. The side arm transfer module is used to press the side arm and the forearm wrist structure together. The assembly positioning module is provided with a precision compensation module. The robotic arm locking module is used to automatically lock the screws between the forearm and wrist, as well as the screws between the side arm and the forearm and wrist structure.

[0007] As a further improvement of this utility model, the forearm and wrist assembly further includes a first transmission module, wherein the forearm positioning module and the wrist positioning and pressing module are disposed on the first transmission module and are driven to move by the first transmission module.

[0008] As a further improvement of this utility model, the automatic forearm and wrist assembly equipment also includes a rotation module, which is a gantry structure spanning the first conveying module. The rotation module is used to rotate the harmonic reducer on the wrist.

[0009] As a further improvement of this utility model, the wrist positioning and pressing module is equipped with a pressure sensor to determine whether the forearm and wrist are installed in place.

[0010] As a further improvement of this utility model, the forearm wrist assembly also includes a forearm visual inspection module, which is used to take pictures and record the mounting holes on the forearm.

[0011] As a further improvement of this utility model, the automatic forearm wrist assembly equipment also includes a flipping module, which is used to flip the forearm wrist structure at a set angle.

[0012] As a further improvement of this utility model, the final assembly assembly also includes a second conveying module, and the final assembly positioning module is disposed on the second conveying module and driven to move by the second conveying module.

[0013] As a further improvement of this utility model, the final assembly also includes a side arm visual inspection module, which is used to take pictures and record the mounting holes on the side arm.

[0014] As a further improvement of this utility model, the automatic forearm and wrist assembly equipment also includes a side arm transport module, which is used to transport the side arm on the side arm transfer module to the side arm visual inspection module for taking pictures.

[0015] As a further improvement of this utility model, the automatic forearm and wrist assembly equipment also includes a screw receiving platform module disposed adjacent to the robotic arm locking module. The screw receiving platform module is used to place screws, thread-locking adhesive and tightening gun heads.

[0016] As a further improvement of this utility model, the forearm positioning module, wrist positioning and pressing module and the final assembly positioning module are detachable.

[0017] As a further improvement of this utility model, the automatic forearm wrist assembly equipment also includes a frame, which includes a lower frame, two support plates disposed on the lower frame, and an upper frame located at one end of the lower frame. The forearm wrist assembly assembly, the final assembly assembly, and the robotic arm locking module are disposed on the support plates or the lower frame.

[0018] The beneficial effects of this utility model are: 1. It achieves automated assembly of the wrist, forearm, and lateral arm, with low manual labor intensity and high automation and production efficiency.

[0019] 2. The forearm positioning module and the final assembly positioning module are equipped with precision compensation modules, which can compensate for gap errors during the assembly process.

[0020] 3. By setting a rotating module to rotate the harmonic reducer multiple times, it is ensured that there is no jamming during tightening.

[0021] 4. The forearm positioning module, wrist positioning and pressing module, and final assembly positioning module are detachable to accommodate products of different sizes and specifications, resulting in greater compatibility. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a three-dimensional structural diagram of the automatic forearm and wrist assembly equipment of this utility model; Figure 2 This is a top view of the automatic forearm and wrist assembly equipment of this utility model; Figure 3 This is a front view of the automatic forearm and wrist assembly equipment of this utility model.

[0023] Reference numerals: 100, Automatic forearm and wrist assembly equipment; 1, Forearm and wrist assembly assembly; 11, Forearm positioning module; 12, Wrist positioning and pressing module; 13, First conveying module; 14, Forearm visual inspection module; 2, Final assembly assembly; 21, Final assembly positioning module; 22, Side arm conveying module; 23, Second conveying module; 24, Side arm visual inspection module; 25, Side arm handling module; 3, Robotic arm locking module; 4, Frame; 41, Lower frame; 42, Support plate; 43, Upper frame; 5, Rotation module; 6, Screw receiving platform module; 7, Tilting module. Detailed Implementation

[0024] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0027] like Figures 1 to 3 As shown, the automatic forearm wrist assembly equipment 100 of this utility model includes a forearm wrist assembly component 1, a final assembly component 2, and a robotic arm locking module 3.

[0028] The forearm and wrist assembly 1 is used to install the forearm and wrist to form a forearm and wrist structure.

[0029] Assembly component 2 is used to install the forearm wrist structure and the side arm to form an assembly structure.

[0030] The robotic arm locking module 3 is used to automatically lock the screws between the forearm and wrist, as well as the screws between the side arm and the forearm and wrist structure.

[0031] In this embodiment, the forearm and wrist assembly 1 includes a forearm positioning module 11 for placing the forearm and a wrist positioning and pressing module 12 for placing the wrist.

[0032] An external loading and unloading robot can grab the forearm and place it on the forearm positioning module 11. The forearm positioning module 11 is used to drive the forearm to contact the wrist on the wrist positioning and pressing module 12.

[0033] The loading / unloading robot can grasp the wrist body and place it into the wrist body positioning and pressing module 12, which is used to press the forearm and wrist body together. The alignment of the mounting holes between the wrist body and the forearm can be confirmed by visual imaging of the loading / unloading robot. Specifically, since the harmonic reducer on the wrist body is movable and the mounting hole positions are random and uncontrollable, the vision system on the loading / unloading robot takes pictures of the mounting hole positions of the wrist body to locate the reference hole on the wrist body. The hollow rotating platform at the bottom of the wrist body positioning and pressing module 12 rotates the wrist body to position the reference hole in the mounting position.

[0034] Because there are many irregular surfaces on the forearm, there will be certain gap errors when the loading and unloading robot grabs the forearm, places the forearm, and the forearm contacts the wrist. In this embodiment, the forearm positioning module 11 of the forearm is equipped with a precision compensation module to compensate for the gap error when the forearm and wrist are assembled, thereby improving the installation accuracy.

[0035] After the forearm and wrist are pressed together, the robotic arm locking module 3 performs two pre-locking and one locking of the harmonic reducer of the wrist and the forearm.

[0036] The assembly assembly 2 includes an assembly positioning module 21 for positioning and fixing the forearm wrist structure and a side arm transfer module 22 for placing and moving the side arm.

[0037] The external loading / unloading robot grips the side arm and places it on the side arm transfer module 22, which performs initial positioning of the side arm. The side arm transfer module 22 then moves the side arm from below to directly above the assembled forearm wrist structure. The clamping module of the side arm transfer module 22 clamps the side arm and forearm wrist structure together. The loading / unloading robot uses visual imaging to confirm that the mounting holes of the wrist and forearm are aligned.

[0038] The side arm transmission module 22 is used to press the side arm and forearm wrist structure together. The final assembly positioning module 21 is equipped with a precision compensation module.

[0039] Due to the numerous irregular surfaces on the side arm and the inherent errors in handling, there will be certain gap errors in the side arm transfer module 22's grasping, placement, and assembly of the side arm with the forearm wrist structure. The final assembly positioning module 21 is equipped with a precision compensation module to compensate for these gap errors during assembly.

[0040] The robotic arm locking module 3 locks the assembled side arm and forearm wrist structure.

[0041] In this embodiment, the forearm and wrist are assembled by setting the forearm and wrist assembly component 1, the side arm and forearm wrist structure is assembled by setting the final assembly component 2, and the robotic arm locking module 3 is set to achieve automatic locking. The precision compensation module can automatically compensate for assembly errors, reducing manual intervention, improving efficiency, and achieving a high degree of automation.

[0042] The forearm positioning module 11, wrist positioning and pressing module 12, and final assembly positioning module 21 are detachable. In this embodiment, this configuration allows for the replacement of different positioning fixtures according to different forearm and wrist structures, thus ensuring compatibility with products of different sizes and specifications, resulting in higher compatibility.

[0043] In this embodiment, the forearm wrist assembly 1 and the final assembly 2 are arranged at intervals in the left and right directions, while the robotic arm locking module 3 is arranged between the forearm wrist assembly 1 and the final assembly 2.

[0044] The forearm wrist assembly automatic assembly equipment 100 also includes a frame 4, which includes a lower frame 41, two support plates 42 mounted on the lower frame 41, and an upper frame 43 located at one end of the lower frame 41. The forearm wrist assembly component 1, the final assembly component 2, and the robotic arm locking module 3 are mounted on the support plates 42 or the lower frame 41. The upper frame 43 is located at the front end of the forearm wrist assembly component 1 and the final assembly component 2. Workers stand inside the upper frame 43 to perform a small amount of manual operation.

[0045] The forearm-wrist assembly 1 also includes a first transmission module 13, a forearm positioning module 11 and a wrist positioning and pressing module 12, which are mounted on the first transmission module 13 and driven to move by the first transmission module 13.

[0046] In this embodiment, the first conveying module 13 can drive the forearm positioning module 11 and the wrist positioning and pressing module 12 to move in the front-back direction. That is, the pressing and locking of the forearm and wrist can be performed at different positions, and the movement between different positions is achieved by the first conveying module 13. Of course, in other embodiments, if the robotic arm locking module 3 can cover a larger working area, the first conveying module 13 may not be provided.

[0047] The forearm-wrist assembly 1 also includes a forearm vision inspection module 14, which is used to photograph and record the mounting holes on the forearm. By matching the mounting holes on the forearm with the mounting holes on the wrist, the placement position of the forearm can be confirmed.

[0048] The wrist positioning and pressing module 12 is equipped with a pressure sensor to determine whether the forearm and wrist are installed in place.

[0049] In this embodiment, the automatic forearm and wrist assembly equipment 100 also includes a rotation module 5. The rotation module 5 is a gantry structure spanning the first conveying module 13. The rotation module 5 is used to rotate the harmonic reducer on the wrist.

[0050] In this embodiment, the automatic forearm and wrist assembly device 100 further includes a screw receiving platform module 6 adjacent to the robotic arm locking module 3. The screw receiving platform module 6 is used to place screws, thread-locking adhesive, and tightening gun heads. Of course, in other embodiments, the screw receiving platform module 6 may not be provided, and the robotic arm locking module 3 may be able to replace different tightening gun heads and carry its own screws.

[0051] In this embodiment, the specific process of screw fastening between the forearm and wrist is as follows: The first transmission module 13 works, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the vicinity of the robot arm locking module 3. The robot arm locking module 3 works, and according to the product type, the robot arm locking module 3 changes the corresponding tightening head and adsorbs the corresponding screw in the screw receiving platform module 6, and first pre-locks the harmonic reducer of the wrist body and the forearm. After the first pre-lock is completed, the first transmission module 13 works, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the rotating module 5. The rotating module 5 works, and the rotating head of the rotating module 5 is aligned with the rotating hole of the harmonic reducer of the wrist, driving the harmonic reducer to rotate a certain number of times. The first transmission module 13 works, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the vicinity of the robot arm locking module 3. The robot arm locking module 3 works to perform a second pre-locking of the harmonic reducer of the wrist body and the forearm. After the second pre-locking is completed, the first transmission module 13 works, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the rotation module 5. The rotation module 5 works, and the rotating head of the rotation module 5 is aligned with the rotating hole of the harmonic reducer of the wrist, driving the harmonic reducer to rotate a certain number of times. The rotation module 5 rotates the harmonic reducer multiple times to ensure that there is no jamming when tightening.

[0052] The first transmission module 13 operates, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the vicinity of the robotic arm locking module 3. The robotic arm locking module 3 operates, locking the screws between the harmonic reducer of the wrist and the forearm.

[0053] After locking is completed, the first transmission module 13 operates, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the front of the first transmission module 13 to the upper frame position, where manual installation, inspection, and installation of other components are performed.

[0054] In this embodiment, the forearm wrist automatic assembly equipment 100 also includes a flipping module 7, which is used to flip the forearm wrist structure at a set angle.

[0055] After manual installation and inspection, the first conveying module 13 operates, driving the forearm positioning module 11 and the wrist positioning and pressing module 12 to move to the vicinity of the flipping module 7. The loading and unloading robot grabs the assembled forearm and wrist structure and moves it to the flipping module 7. The flipping module 7 flips the assembled forearm and wrist structure 180°, and then the loading and unloading robot grabs the forearm and wrist structure and places it on the final assembly positioning module 21. In this embodiment, the final assembly component 2 further includes a second conveying module 23. The final assembly positioning module 21 is mounted on the second conveying module 23 and is driven to move by the second conveying module 23. The second conveying module 23 moves in the front-back direction.

[0056] To better achieve the alignment and installation of the side arm and forearm wrist structure, the assembly component 2 also includes a side arm visual inspection module 24, which is used to take pictures and record the mounting holes on the side arm.

[0057] To facilitate the loading and unloading of the side arms, in this embodiment, the automatic forearm and wrist assembly device 100 further includes a side arm transport module 25. The side arm transport module 25 is used to transport the side arms from the side arm transfer module 22 to the side arm visual inspection module 24 for photographing. The side arm transport module has a gantry structure and spans across the second transfer module 23.

[0058] The installation and locking of the side arm and forearm wrist structure specifically includes the following steps: The loading / unloading robot grips the side arm and places it on the side arm transfer module 22. The side arm transfer module 22 performs initial positioning of the side arm and transfers it to the vicinity of the side arm handling module 25. The side arm handling module 25 grips the side arm directly above the front end of the side arm transfer module 22 and moves it above the side arm vision inspection module 24. The side arm vision inspection module 24 takes pictures of the mounting hole positions of the side arm. After confirming the pictures, it moves the side arm above the final assembly positioning module 21. The side arm transfer module 22 moves the side arm downwards to directly above the assembled forearm wrist structure. The clamping module of the side arm transfer module 22 clamps the side arm and the assembled forearm wrist structure. The vision system of the loading / unloading robot takes pictures to confirm that the mounting holes of the wrist and the forearm are aligned. The pressing module of the side arm transfer module 22 is equipped with a pressure sensor to determine whether the pressing is in place.

[0059] The second conveying module 23 works, driving the final assembly positioning module 21 to move in front of the side arm handling module 25. The robotic arm locking module 3 works, and the robotic arm locking module 3 changes the corresponding tightening head and adsorbs the corresponding screw in the screw receiving platform module 6 according to the product type, locking the side arm with the assembled forearm wrist structure. The second conveying module 23 operates, driving the final assembly positioning module 21 to the upper frame position. Manual installation and inspection are performed, and other parts are installed. After the other parts are installed manually, the second conveying module 23 operates, driving the final assembly positioning module 21 to the side arm handling module 25. The loading and unloading robot grabs the assembled forearm wrist structure to complete the unloading.

[0060] The automatic forearm and wrist assembly equipment 100 of this utility model realizes the automated assembly of the wrist, forearm and lateral arm, with low manual labor intensity and high degree of automation and production efficiency.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A small arm wrist assembly automatic assembly apparatus, characterized by: The automatic forearm and wrist assembly device (100) includes: Forearm and wrist assembly assembly (1), the forearm and wrist assembly assembly (1) is used to install the forearm and wrist to form a forearm and wrist structure. The forearm and wrist assembly assembly (1) includes a forearm positioning module (11) for placing the forearm and a wrist positioning and pressing module (12) for placing the wrist. The forearm positioning module (11) is used to drive the forearm to contact the wrist on the wrist positioning and pressing module (12). The wrist positioning and pressing module (12) is used to press the forearm and wrist together. The forearm positioning module (11) is provided with a precision compensation module to compensate for the gap error when the forearm and wrist are assembled. The assembly assembly (2) is used to install the forearm wrist structure and the side arm to form an assembly structure. The assembly assembly (2) includes an assembly positioning module (21) for positioning and fixing the forearm wrist structure and a side arm transmission module (22) for placing and moving the side arm. The side arm transmission module (22) is used to press the side arm and the forearm wrist structure together. The assembly positioning module (21) is provided with a precision compensation module. The robotic arm locking module (3) is used to automatically lock the screws between the forearm and the wrist and the screws between the side arm and the forearm and wrist structure.

2. The automatic forearm and wrist assembly equipment according to claim 1, characterized in that: The forearm wrist assembly (1) further includes a first transmission module (13), the forearm positioning module (11) and the wrist positioning and pressing module (12) are mounted on the first transmission module (13) and are driven to move by the first transmission module (13).

3. The automatic forearm and wrist assembly equipment according to claim 2, characterized in that: The automatic forearm and wrist assembly equipment (100) also includes a rotating module (5), which is a gantry structure spanning the first transmission module (13). The rotating module (5) is used to rotate the harmonic reducer on the wrist.

4. The automatic forearm and wrist assembly equipment according to claim 1, characterized in that: The wrist positioning and pressing module (12) is equipped with a pressure sensor to determine whether the forearm and wrist are properly installed.

5. The automatic forearm and wrist assembly equipment according to claim 1, characterized in that: The forearm wrist assembly (1) also includes a forearm vision detection module (14), which is used to take pictures of the mounting holes on the forearm.

6. The automatic forearm wrist assembly apparatus of claim 1, wherein: The automatic forearm wrist assembly equipment (100) also includes a flipping module (7), which is used to flip the forearm wrist structure at a set angle.

7. The automatic forearm wrist assembly apparatus of claim 1, wherein: The final assembly component (2) further includes a second transmission module (23), and the final assembly positioning module (21) is disposed on the second transmission module (23) and is driven to move by the second transmission module (23).

8. The automatic forearm wrist assembly apparatus of claim 1, wherein: The assembly component (2) also includes a side arm visual inspection module (24), which is used to take pictures and record the mounting holes on the side arm.

9. The automatic forearm and wrist assembly equipment according to claim 8, characterized in that: The automatic forearm and wrist assembly equipment (100) also includes a side arm transport module (25), which is used to transport the side arm on the side arm transfer module (22) to the side arm visual inspection module (24) for taking pictures.

10. The automatic forearm and wrist assembly device according to claim 1, characterized in that: The automatic forearm and wrist assembly equipment (100) also includes a screw receiving platform module (6) adjacent to the robotic arm locking module (3), which is used to place screws, threading adhesive and tightening gun heads.

11. The automatic forearm and wrist assembly device according to claim 1, characterized in that: The forearm positioning module (11), wrist positioning and pressing module (12), and final assembly positioning module (21) are detachable.

12. The automatic forearm and wrist assembly device according to claim 1, characterized in that: The automatic forearm wrist assembly equipment also includes a frame (4), which includes a lower frame (41), two support plates (42) set on the lower frame (41), and an upper frame (43) located at one end of the lower frame (41). The forearm wrist assembly assembly (1), the final assembly assembly (2), and the robotic arm locking module (3) are set on the support plates (42) or the lower frame (41).

Images