Flexible mounting robot

Abstract

A flexible installation mechanical hand, it includes, walking trolley, X-Y direction moving mechanism, lifting mechanism, including, main machine, lifting slide rail, lifting sliding block, lifting arm rod, lifting seat, lifting drive device, first arm rod, one end is movably connected to the bottom surface of the lifting seat through the first rotary joint, second arm rod, one end is movably connected to the other end of the first arm rod through the second rotary joint, the other end of the second arm rod is provided with the third rotary joint, clamp, first-third rotary brake device, respectively arranged on one side of the first rotary joint, the second rotary joint and the third rotary joint, two area scanners are respectively installed on both ends of the lifting seat, a plurality of protection inductive rods are respectively installed on both ends of the lifting seat, and the controller, the walking drive motor, the lifting drive device, the first-third rotary brake device, the area scanner and the protection inductive rod are electrically connected with the controller.

Description

Technical Field

[0001] This utility model relates to the fields of transfer, handling, and assembly, and in particular to a flexible installation robot. Background Technology

[0002] Traditional methods of moving and installing automotive fuel tanks involve manually removing the tank from the rack, moving it to the installation location, and then installing it. This process is time-consuming, labor-intensive, and carries a high risk of collisions with personnel.

[0003] Current fuel tank installation methods mostly employ strapping to lock the fuel tank in place. The strapping is then secured to the vehicle body with bolts to achieve the purpose of fuel tank installation. This method is flexible and simple, but the installation is highly flexible and non-standard, resulting in inconsistent installation quality.

[0004] The current fuel tank installation requires the use of auxiliary tools. The operator selects the appropriate tools to pre-tighten the fuel tank bolts, and then tightens them with a tightening gun to complete the fuel tank installation. Due to the difference in fuel tank specifications between different models, special auxiliary tools need to be developed for each model, resulting in high production costs.

[0005] The existing oil tank is equipped with a robotic arm, but none of the rotating mechanisms have safety protection devices or area scanning. Safety collisions are very likely to occur within the robotic arm's working area, creating potential hazards. Summary of the Invention

[0006] The purpose of this utility model is to provide a flexible installation robot that assists in easy manual installation, realizes integrated fuel tank transportation and installation, saves energy and reduces consumption, and improves new quality productivity; it solves the bottleneck of single automobile fuel tank installation and realizes flexible installation of fuel tanks of various models and specifications.

[0007] To achieve the above objectives, the technical solution of this utility model is as follows:

[0008] A flexible installation robot, comprising,

[0009] Walking carts, including

[0010] The fixed base is a rectangular frame with rollers on its two side edges that can run on tracks;

[0011] The travel drive motor and reducer are mounted on one side of the fixed base;

[0012] The traveling wheels are located at the output end of the reducer and run on the track;

[0013] XY-direction moving mechanisms, including,

[0014] Two X-axis slide rails and an X-axis slider; the X-axis slide rails are set on both sides of the bottom surface of the fixed base, and their axis is perpendicular to the rail.

[0015] The top surface of the X-axis movable plate is connected to the X-axis slider.

[0016] Two Y-axis slide rails and a Y-axis slider. The Y-axis slide rails are set on both sides of the bottom surface of the X-axis moving plate, and their axes are perpendicular to the X-axis slide rails.

[0017] The top surface of the Y-axis movable plate is connected to the bottom of the Y-axis slider;

[0018] Two buffer devices are installed on both sides of the bottom surface of the X-axis moving plate. Each buffer device includes a guide rod, one end of which is connected to one side of the bottom surface of the X-axis moving plate through a support, and the other end of which is connected to the bottom surface of the Y-axis moving plate through a support. The guide rod is parallel to the Y-axis slide rail. A spring is sleeved on the guide rod, and the two ends of the spring abut against the two supports.

[0019] Limit switch, located on the bottom surface of the X-axis moving plate;

[0020] The sensing plate is located on the bottom surface of the Y-axis movable plate and works in conjunction with the limit switch.

[0021] Lifting mechanism, including,

[0022] The main unit is vertically connected to the center of the bottom surface of the Y-axis moving plate;

[0023] The lifting slide rail and lifting slider are arranged on one side of the lifting slide rail along the length of the main unit;

[0024] The lifting arm is connected to the lifting slider on one side;

[0025] A lifting seat is connected to the lower end of the lifting arm;

[0026] A lifting drive device is located on one side of the main unit, and its output end is connected to the lifting base;

[0027] The first boom has one end movably connected to the bottom surface of the lifting seat via the first rotary joint;

[0028] The second boom has one end movably connected to the other end of the first boom via a second rotary joint; the other end of the second boom is provided with a third rotary joint.

[0029] Fixtures, including,

[0030] A fixed frame with several parallel fixed plates arranged on it, and sliding parts are provided on the fixed plates; a connecting plate is provided in the center of the bottom surface of the fixed frame, and the connecting plate is connected to the third rotary joint 8.

[0031] The inlet roller is located at one end of the fixed frame width direction;

[0032] Several fixed limiting rods are set on the outer side of the other end of the fixed frame in the width direction and on the outer side of one side of the fixed frame in the length direction;

[0033] An adjustable limiting rod is set outside one side of the fixed frame along the length direction, on the same side as the fixed limiting rod, and the distance between the adjustable limiting rod and the fixed frame frame is less than the distance between the fixed limiting rod and the fixed frame frame.

[0034] The first rotary brake device, the second rotary brake device, and the third rotary brake device are respectively located on one side of the first rotary joint, the second rotary joint, and the third rotary joint;

[0035] Two area scanners are respectively installed at both ends of the lifting platform;

[0036] Several protective sensor rods are respectively installed at both ends of the lifting base;

[0037] The controller is electrically connected to the walking drive motor, limit switch, lifting drive device, first to third rotary brake devices, area scanner, and protection sensor rod.

[0038] Preferably, the first rotary joint includes:

[0039] The first sleeve has connecting flanges at its upper and lower ends, and bearings are installed inside it at its upper and lower ends. The lower end of the first sleeve is connected to the bottom surface of the lifting seat.

[0040] The first rotating shaft has one end disposed inside the bearing, and the other end extends out of the first sleeve and is inserted and fixed to one end of the first arm.

[0041] The second rotary joint includes:

[0042] The second sleeve is connected to the other end of the first arm, and bearings are installed inside it at the top and bottom.

[0043] The second rotating shaft has one end disposed inside the bearing and the other end inserted into one end of the second arm;

[0044] The third rotary joint includes:

[0045] The third sleeve has bearings installed at the top and bottom inside;

[0046] The third rotating shaft has one end located inside the bearing and the other end inserted into the other end of the second arm.

[0047] Preferably, the first slewing brake device includes,

[0048] The first brake disc is fitted onto the first rotary shaft that extends from the first sleeve of the first rotary joint, and a stop block is protruding from the outer edge of its bottom surface.

[0049] The first brake cylinder has its cylinder body vertically upwardly mounted at one end of the first arm, and its piston rod end is provided with a first brake block;

[0050] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the first brake cylinder and the other end located above the first brake disc and corresponding to the first brake block;

[0051] The second rotary brake device includes,

[0052] The second brake disc is fitted onto the second rotating shaft that extends out of the second sleeve in the second rotating joint;

[0053] The second brake cylinder has its cylinder body vertically upwardly mounted at the other end of the first arm; its piston rod end is provided with a second brake block, which corresponds to the bottom surface of the second brake disc.

[0054] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the second brake cylinder and the other end located above the second brake disc and corresponding to the second brake block;

[0055] The third rotary brake device includes,

[0056] The third brake disc includes a base plate with a central through hole and a ring body vertically fixed to the outer edge of the base plate; the base plate is sleeved on the outer wall of the third sleeve of the third rotary joint;

[0057] The third brake cylinder has its cylinder body horizontally mounted on the outer side of the other end of the second arm via a connecting piece; its piston rod end is provided with a third brake block, which corresponds to the outer wall of the annular surface of the third brake disc.

[0058] The fixed brake block is L-shaped, with one end fixed to the cylinder body of the third brake cylinder and the other end located inside the ring of the second brake disc, corresponding to the third brake block.

[0059] Preferably, a stop limiting block is provided on the upper end surface of the first brake disc along the circumferential direction, corresponding to both sides of the fixed brake block; and / or, a stop limiting block is provided on the upper end surface of the second brake disc along the circumferential direction, corresponding to both sides of the fixed brake block; and / or, a stop limiting block is provided on the inner wall of the ring of the third brake disc, corresponding to both sides of the fixed brake block.

[0060] Preferably, a sensor plate is provided on each side of the middle part of the upper end face of the first arm, and correspondingly, limit switches are provided on the upper end faces of the first brake disc and the second brake disc.

[0061] Preferably, a fall arrestor is also provided, one end of which is connected to the main unit of the lifting mechanism, and the other end is connected to the lifting seat.

[0062] Preferably, three protective covers are also provided, which are respectively disposed on the outside of the first rotary joint, the second rotary joint, the third rotary joint and the corresponding first rotary brake device, the second rotary brake device and the third rotary brake device, and connected to the first boom and the second boom.

[0063] Preferably, the area scanner is an infrared scanner.

[0064] Preferably, the lifting drive device is a rodless cylinder.

[0065] Preferably, the protective sensing rod is equipped with buffer foam and a pressure sensor.

[0066] In the design of the flexible installation robot described in this utility model:

[0067] 1) The flexible installation robot includes a traveling trolley, main unit, arm, and grippers; multiple switches are installed on the track (aluminum alloy) to enable the equipment to automatically reach the initial position, material picking position, and installation position with precise positioning, saving installation time. If the oil tank installation is not completed when moving to the end of the track with the conveyor above, a three-level detection switch (end alarm, end deceleration, end stop) can be triggered by the sensor plate. The alarm will sound first, then the deceleration will be accelerated, and finally the line will stop to ensure the safety of the equipment.

[0068] 2) The traveling trolley is equipped with a main unit, a lifting drive device (rodless cylinder), linear guide rails, and sliders. The rodless cylinders greatly save structural space. After the oil tank is installed, the robot arm can be driven by the rodless cylinders to move along the linear guide rails perpendicular to the line, away from the line and maintaining a sufficient safe distance. The traveling trolley is equipped with an overload device, which consists of a spring, a slide rail, a slider, and a limit switch. If the equipment is interfered with and cannot move during the oil tank installation process, but the line is still moving the equipment forward, the equipment will compress the spring and move along the slide rail. The sensor plate will trigger the limit switch, and the line will receive the signal and stop immediately. This flexible device design greatly improves the safety of the line.

[0069] 3) An area scanner is added at the front and back of the main unit. If a person is detected during forward or backward movement, the equipment will stop immediately. A safety contact edge (protective sensor rod) is added at the rear of the main unit. It contains a pressure sensor and is wrapped in foam. If the safety contact edge hits a worker during the movement of the equipment, the foam will cushion the impact, and the pressure sensor will be pressured and send a signal, causing the equipment to stop immediately. The safety contact edge and area scanner are used together to greatly improve the safety of the equipment.

[0070] 4) There are three slewing joints on the two booms. Each joint has been equipped with a sensor plate and a limit switch. After installation, the worker rotates each joint of the boom to a fixed angle (touching the stop limit block). At the same time, the sensor plate triggers the limit switch, the joint brakes and locks, and the equipment automatically returns to the initial position. This ensures that the equipment maintains the same posture each time it automatically returns, thus ensuring the safety of the equipment.

[0071] 5) The clamp is a non-powered pallet type, with added inlet rollers, bullseye universal bearings, etc. The oil tank slides from the material rack onto the clamp, which is more labor-saving and convenient. A manual switching device is added to switch between vertical and horizontal states around the rotating shaft, and to limit or avoid the oil tank, which can adapt to the installation of different models of oil tanks.

[0072] Compared with the prior art, the advantages of this utility model are:

[0073] The flexible installation robot described in this utility model solves the problem of complex, time-consuming, and labor-intensive traditional oil tank installation, assisting manual installation with ease, saving energy and reducing consumption, improving new quality productivity, eliminating safety hazards in automatic operation, realizing integrated oil tank transportation and installation, and flexible installation of oil tanks of various models and specifications. It improves the operability, suitability, safety, and reliability of oil tank assembly, not only effectively saving the time required for oil tank assembly, but also significantly improving assembly efficiency and equipment safety. Attached Figure Description

[0074] Figure 1 Three-dimensional representation of the present utility model Figure 1 ;

[0075] Figure 2 Three-dimensional representation of the present utility model Figure 2 ;

[0076] Figure 3 This is a perspective view of the traveling trolley in an embodiment of this utility model;

[0077] Figure 4 This is a perspective view of the lifting mechanism in an embodiment of this utility model;

[0078] Figure 5 This is a perspective view of the assembly of the first and second booms and the first to third rotary joints in an embodiment of this utility model;

[0079] Figure 6 for Figure 5 Top view;

[0080] Figure 7 for Figure 6 AA section view;

[0081] Figure 8 This is a perspective view of the assembly of the first and second booms and the first to third rotary joints in an embodiment of this utility model;

[0082] Figure 9 This is a perspective view of the clamp in the embodiment of this utility model. Detailed Implementation

[0083] See Figures 1-9 The flexible installation robot of this utility model includes,

[0084] The mobile cart 1 includes,

[0085] The fixed base 11 is a rectangular frame with rollers 12 on its two side edges that can run on the track;

[0086] The travel drive motor 13 and the reducer are located on one side of the fixed base 11;

[0087] The traveling wheel 14 is located at the output end of the reducer and runs on the track;

[0088] XY-direction moving mechanism 2, including,

[0089] Two X-axis slide rails 21 and an X-axis slider 211 are provided. The X-axis slide rails 21 are located on both sides of the bottom surface of the fixed base 11, and their axes are perpendicular to the rails.

[0090] The top surface of the X-axis movable plate 22 is connected to the X-axis slider 211;

[0091] Two Y-axis slide rails 23 and a Y-axis slider. The Y-axis slide rails 23 are set on both sides of the bottom surface of the X-axis moving plate 22, and their axes are perpendicular to the X-axis slide rails 21.

[0092] Y-axis movable plate 24, the top surface of which is connected to the Y-axis slider;

[0093] Two buffer devices 25 are disposed on both sides of the bottom surface of the X-direction moving plate 22. Each buffer device 25 includes a guide rod 251, one end of which is connected to one side of the bottom surface of the X-direction moving plate 22 via a support 252, and the other end of which is connected to the bottom surface of the Y-direction moving plate 24 via a support 252. The guide rod 251 is parallel to the Y-direction slide rail 23. A spring 253 is sleeved on the guide rod 251, and both ends of the spring 252 abut against the two supports 252.

[0094] Limit switch 26 is located on the bottom surface of X-direction moving plate 22;

[0095] The sensing plate 27 is disposed on the bottom surface of the Y-direction moving plate 24 and cooperates with the limit switch 26;

[0096] Lifting mechanism 3 includes,

[0097] The host 31 is vertically connected to the center of the bottom surface of the Y-axis moving plate 24;

[0098] The lifting slide rail 32 and the lifting slider 321 are arranged on one side of the lifting slide rail 32 along the length direction of the main unit 31;

[0099] The lifting arm 33 is connected to the lifting slider 321 on one side;

[0100] The lifting seat 34 is connected to the lower end of the lifting arm 33;

[0101] A lifting drive device 35 is disposed on one side of the main unit 31, and its output end is connected to the lifting base 34;

[0102] The first boom 4 has one end movably connected to the bottom surface of the lifting seat 34 via the first rotary joint 5;

[0103] The second boom 6 has one end movably connected to the other end of the first boom 4 via a second rotary joint 7; the other end of the second boom 6 is provided with a third rotary joint 8;

[0104] Fixture 9 includes,

[0105] A fixed frame 91 is provided with several fixed plates 92 arranged in parallel on it. Sliding parts 93 (ball bearings, bullseye universal bearings) are provided on the fixed plates 92. A connecting plate 911 is provided in the center of the bottom surface of the fixed frame 91, and the connecting plate 911 is connected to the third rotary joint 8.

[0106] An inlet roller 94 is located at one end of the fixed frame 91 in the width direction;

[0107] Several fixed limiting rods 95 are provided on the outer side of the other end of the fixed frame 91 in the width direction and on the outer side of one side of the fixed frame 91 in the length direction.

[0108] An adjustable limiting rod 96 is located outside one side of the fixed frame 91 along its length, on the same side as the fixed limiting rod 95, and the distance between the adjustable limiting rod 96 and the fixed frame frame is less than the distance between the fixed limiting rod 95 and the fixed frame frame.

[0109] The first rotary brake device 15, the second rotary brake device 17, and the third rotary brake device 18 are respectively located on one side of the first rotary joint 5, the second rotary joint 7, and the third rotary joint 8.

[0110] Two area scanners 37 are respectively installed at both ends of the lifting base 34;

[0111] Several protective sensor rods 38 are respectively installed at both ends of the lifting seat 34;

[0112] The controller 19 is electrically connected to the walking drive motor, limit switch, lifting drive device, first to third rotary brake devices, area scanner, and protection sensor rod.

[0113] Preferably, the first rotary joint 5 includes:

[0114] The first sleeve 51 has connecting flanges at its upper and lower ends, and bearings 52 are installed inside it at its upper and lower ends. The lower end of the first sleeve 51 is connected to the bottom surface of the lifting seat 34.

[0115] The first rotating shaft 53 has one end disposed in the bearing 52, and the other end extends out of the first sleeve 51 and is inserted and fixed to one end of the first arm 4.

[0116] The second rotary joint 7 includes:

[0117] The second sleeve 71 is connected to the other end of the first arm 4, and bearings 72 are provided inside it.

[0118] The second rotating shaft 73 has one end disposed in the bearing 72 and the other end inserted into one end of the second arm 6;

[0119] The third rotary joint 8 includes:

[0120] The third sleeve 81 has bearings 82 installed inside it at the top and bottom;

[0121] The third rotating shaft 83 has one end located inside the bearing 82 and the other end inserted into the other end of the second arm 6.

[0122] Preferably, the first slewing brake device 15 includes,

[0123] The first brake disc 151 is sleeved on the first rotary shaft 53 extending from the first sleeve 51 of the first rotary joint 5, and a stop block is protruding from the outer edge of its bottom surface.

[0124] The first brake cylinder 152 has its cylinder body vertically upwardly mounted at one end of the first arm 4, and its piston rod end is provided with a first brake block 153.

[0125] The fixed brake block 154 is L-shaped, with one end fixed to the cylinder body of the first brake cylinder 152 and the other end located above the first brake disc 72 and corresponding to the first brake block 153.

[0126] The second rotary brake device 17 includes,

[0127] The second brake disc 171 is sleeved on the second rotary shaft 73 that extends out of the second sleeve 71 in the second rotary joint 7;

[0128] The second brake cylinder 172 has its cylinder body vertically upwardly mounted at the other end of the first arm 4; its piston rod end is provided with a second brake block 173, which corresponds to the bottom surface of the second brake disc 171.

[0129] The fixed brake block 174 is L-shaped, with one end fixed to the cylinder body of the second brake cylinder 172 and the other end located above the second brake disc 171 and corresponding to the second brake block 173.

[0130] The third rotary brake device 18 includes,

[0131] The third brake disc 181 includes a base plate with a central through hole and a ring body vertically fixed to the outer edge of the base plate; the base plate is sleeved on the outer wall of the third sleeve 81 of the third rotary joint 8;

[0132] The third brake cylinder 182 has its cylinder body horizontally mounted on the outer side of the other end of the second arm 6 via a connecting piece; its piston rod end is provided with a third brake block 183, which corresponds to the outer wall of the annular ring of the third brake disc 181.

[0133] The fixed brake block 184 is L-shaped, with one end fixed to the cylinder body of the third brake cylinder 182 and the other end located inside the ring of the second brake disc 181, corresponding to the third brake block 183.

[0134] Preferably, the upper end face of the first brake disc 151 is provided with two stop limiting blocks 155 along the circumferential direction, corresponding to both sides of the fixed brake block 154; and / or, the upper end face of the second brake disc 171 is provided with two stop limiting blocks 175 along the circumferential direction, corresponding to both sides of the fixed brake block 174; and / or, the inner wall of the ring of the third brake disc 181 is provided with two stop limiting blocks 185, corresponding to both sides of the fixed brake block 184.

[0135] Preferably, a sensor plate 41 and 41' are provided on both sides of the middle part of the upper end face of the first arm 4, and correspondingly, limit switches 42 and 42' are provided on the upper end faces of the first brake disc 151 and the second brake disc 171, respectively.

[0136] Preferably, a fall arrestor 36 is also provided, one end of which is connected to the main unit 31 of the lifting mechanism 3, and the other end is connected to the lifting seat 34.

[0137] Preferably, three protective covers 20 are also provided, which are respectively disposed on the outside of the first rotary joint 5, the second rotary joint 7, the third rotary joint 8 and the corresponding first rotary brake device 15, the second rotary brake device 17 and the third rotary brake device 18, and are connected to the first boom 4 and the second boom 6.

[0138] Preferably, the area scanner is an infrared scanner.

[0139] Preferably, the lifting drive device is a rodless cylinder.

[0140] Preferably, the protective sensing rod is equipped with buffer foam and a pressure sensor.

[0141] When operating this utility model:

[0142] 1) Move the equipment forward to the material handling position and remove the oil tank from the material rack;

[0143] 2) Press the forward button to move the equipment to the installation position (if the area scanner detects an obstacle, the equipment will stop immediately). Operate the equipment to move the oil tank below the installation position.

[0144] 3) Lift the main unit, align the fuel tank with the vehicle body, and manually tighten the fuel tank straps to secure the fuel tank;

[0145] 4) Move the device away from the vehicle body and press the return button. The device will return to the origin position (if the area scan detects an obstacle, the device will stop immediately) and move away from the line in the vertical direction of the line, waiting for the next cycle.

Claims

1. A flexible installation robot, characterized in that, include, Walking cart, include, The fixed base is a rectangular frame with rollers on its two side edges that can run on tracks; The travel drive motor and reducer are mounted on one side of the fixed base; The traveling wheels are located at the output end of the reducer and run on the track; XY-direction moving mechanisms, including, Two X-axis slide rails and an X-axis slider; the X-axis slide rails are set on both sides of the bottom surface of the fixed base, and their axis is perpendicular to the rail. The top surface of the X-axis movable plate is connected to the X-axis slider. Two Y-axis slide rails and a Y-axis slider. The Y-axis slide rails are set on both sides of the bottom surface of the X-axis moving plate, and their axes are perpendicular to the X-axis slide rails. The top surface of the Y-axis movable plate is connected to the bottom of the Y-axis slider; Two buffer devices are installed on both sides of the bottom surface of the X-axis moving plate. Each buffer device includes a guide rod, one end of which is connected to one side of the bottom surface of the X-axis moving plate through a support, and the other end of which is connected to the bottom surface of the Y-axis moving plate through a support. The guide rod is parallel to the Y-axis slide rail. A spring is sleeved on the guide rod, and the two ends of the spring abut against the two supports. Limit switch, located on the bottom surface of the X-axis moving plate; The sensing plate is located on the bottom surface of the Y-axis movable plate and works in conjunction with the limit switch. Lifting mechanism, including, The main unit is vertically connected to the center of the bottom surface of the Y-axis moving plate; The lifting slide rail and lifting slider are arranged on one side of the lifting slide rail along the length of the main unit; The lifting arm is connected to the lifting slider on one side; A lifting seat is connected to the lower end of the lifting arm; A lifting drive device is located on one side of the main unit, and its output end is connected to the lifting base; The first boom has one end movably connected to the bottom surface of the lifting seat via the first rotary joint; The second boom has one end movably connected to the other end of the first boom via a second slewing joint; A third rotary joint is installed at the other end of the second boom; Fixture, include, A fixed frame with several parallel fixed plates arranged on it, and sliding parts are provided on the fixed plates; a connecting plate is provided in the center of the bottom surface of the fixed frame, and the connecting plate is connected to the third rotary joint. The inlet roller is located at one end of the fixed frame width direction; Several fixed limiting rods are set on the outer side of the other end of the fixed frame in the width direction and on the outer side of one side of the fixed frame in the length direction; An adjustable limit rod is located outside one side of the fixed frame along the length direction, on the same side as the fixed limit rod, and the distance between the adjustable limit rod and the fixed frame frame is less than the distance between the fixed limit rod and the fixed frame frame. The first rotary brake device, the second rotary brake device, and the third rotary brake device are respectively located on one side of the first rotary joint, the second rotary joint, and the third rotary joint; Two area scanners are respectively installed at both ends of the lifting platform; Several protective sensor rods are respectively installed at both ends of the lifting base; The controller is electrically connected to the walking drive motor, limit switch, lifting drive device, first to third rotary brake devices, area scanner, and protection sensor rod.

2. The flexible installation robot as described in claim 1, characterized in that, The first rotary joint includes: The first sleeve has connecting flanges at its upper and lower ends, and bearings are installed inside it at its upper and lower ends. The lower end of the first sleeve is connected to the bottom surface of the lifting seat. The first rotating shaft has one end disposed inside the bearing, and the other end extends out of the first sleeve and is inserted and fixed to one end of the first arm. The second rotary joint includes: The second sleeve is connected to the other end of the first arm, and bearings are installed inside it at the top and bottom. The second rotating shaft has one end disposed inside the bearing and the other end inserted into one end of the second arm; The third rotary joint includes: The third sleeve has bearings installed at the top and bottom inside; The third rotating shaft has one end located inside the bearing and the other end inserted into the other end of the second arm.

3. The flexible installation robot as described in claim 2, characterized in that, The first slewing brake device includes, The first brake disc is fitted onto the first rotary shaft that extends from the first sleeve of the first rotary joint, and a stop block is protruding from the outer edge of its bottom surface. The first brake cylinder has its cylinder body vertically upwardly mounted at one end of the first arm, and its piston rod end is provided with a first brake block; The fixed brake block is L-shaped, with one end fixed to the cylinder body of the first brake cylinder and the other end located above the first brake disc and corresponding to the first brake block; The second rotary brake device includes, The second brake disc is fitted onto the second rotating shaft that extends out of the second sleeve in the second rotating joint; The second brake cylinder has its cylinder body vertically upwardly mounted at the other end of the first arm; its piston rod end is provided with a second brake block, which corresponds to the bottom surface of the second brake disc. The fixed brake block is L-shaped, with one end fixed to the cylinder body of the second brake cylinder and the other end located above the second brake disc and corresponding to the second brake block; The third rotary brake device includes, The third brake disc includes a base plate with a central through hole and a ring body vertically fixed to the outer edge of the base plate; the base plate is sleeved on the outer wall of the third sleeve of the third rotary joint; The third brake cylinder has its cylinder body horizontally mounted on the outer side of the other end of the second arm via a connecting piece; its piston rod end is provided with a third brake block, which corresponds to the outer wall of the annular surface of the third brake disc. The fixed brake block is L-shaped, with one end fixed to the cylinder body of the third brake cylinder and the other end located inside the ring of the second brake disc, corresponding to the third brake block.

4. The flexible installation robot as described in claim 3, characterized in that, A stop limiting block is provided on the upper end surface of the first brake disc along the circumferential direction, corresponding to both sides of the fixed brake block; and / or, a stop limiting block is provided on the upper end surface of the second brake disc along the circumferential direction, corresponding to both sides of the fixed brake block; and / or, a stop limiting block is provided on the inner wall of the ring of the third brake disc, corresponding to both sides of the fixed brake block.

5. The flexible installation robot as described in claim 1, characterized in that, A sensor plate is provided on each side of the middle part of the upper end face of the first arm, and correspondingly, limit switches are provided on the upper end faces of the first brake disc and the second brake disc.

6. The flexible installation robot as described in claim 1, characterized in that, It is also equipped with a fall arrestor, one end of which is connected to the main unit of the lifting mechanism, and the other end is connected to the lifting seat.

7. The flexible installation robot as described in claim 3, characterized in that, Three protective covers are also provided, which are respectively set on the outside of the first slewing joint, the second slewing joint, the third slewing joint and the corresponding first slewing brake device, the second slewing brake device and the third slewing brake device, and connected to the first boom and the second boom.

8. The flexible installation robot as described in claim 1, characterized in that, The area scanner is an infrared scanner.

9. The flexible installation robot as described in claim 1, characterized in that, The lifting drive device is a rodless cylinder.

10. The flexible installation robot as described in claim 1, characterized in that, The protective sensing rod is equipped with buffer foam and a pressure sensor.

Images