An assembly angle adjustment mechanism and automated device

Abstract

The utility model relates to the field of automatic assembly discloses an assembly angle adjusting mechanism and automation equipment, including stand, x axle sliding assembly, y axle sliding assembly, z axle sliding assembly, first lifting claw and second lifting claw, x axle sliding assembly and stand fixed connection, y axle sliding assembly and x axle sliding assembly left and right slide connection, z axle sliding assembly and y axle sliding assembly front and back slide connection, first lifting claw and second lifting claw all with z axle sliding assembly up and down slide connection, first lifting claw and second lifting claw are used for respectively the both sides of the workpiece of grabbing, to adjust the assembly angle of workpiece. The utility model discloses an assembly angle adjusting mechanism, makes first lifting claw and second lifting claw can move in x axle, y axle, z axle direction, when grabbing workpiece, can change the assembly angle of workpiece through the position of first lifting claw and second lifting claw to move to no longer rely on manpower to butt joint, and the assembly angle adjusting effect is better.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly technology, and more specifically, to an assembly angle adjustment mechanism and automated equipment. Background Technology

[0002] Existing large and heavy equipment can only be assembled manually. Due to the large size and weight of the workpieces, it is difficult to adjust the assembly angle and connect them. There is a lack of automated integrated equipment that can adjust the assembly angle to assemble equipment containing large and heavy workpieces. Utility Model Content

[0003] To address at least one of the aforementioned problems, this utility model first provides an assembly angle adjustment mechanism, including a column, an x-axis sliding assembly, a y-axis sliding assembly, a z-axis sliding assembly, a first lifting claw, and a second lifting claw. The x-axis sliding assembly is fixedly connected to the column, the y-axis sliding assembly is slidably connected to the x-axis sliding assembly in the left-right direction, and the z-axis sliding assembly is slidably connected to the y-axis sliding assembly in the front-back direction. The first lifting claw and the second lifting claw are both slidably connected to the z-axis sliding assembly in the up-down direction. The first lifting claw and the second lifting claw are respectively used to grip both sides of the workpiece to adjust the assembly angle of the workpiece.

[0004] The x-axis sliding assembly has two adjacent columns along the x-axis at both ends. The x-axis sliding assembly includes a first x-axis sliding frame, a second x-axis sliding frame, and a third x-axis sliding frame that are parallel to each other. The y-axis sliding assembly includes a first y-axis sliding frame and a second y-axis sliding frame. The two ends of the first y-axis sliding frame are slidably connected to the first x-axis sliding frame and the second x-axis sliding frame, respectively. The two ends of the second y-axis sliding frame are slidably connected to the second x-axis sliding frame and the third x-axis sliding frame, respectively. The z-axis sliding assembly includes a first z-axis sliding frame and a second z-axis sliding frame. The first z-axis sliding frame and the first y-axis sliding frame are slidably connected front to back. The second z-axis sliding frame and the second y-axis sliding frame are slidably connected front to back. The first lifting claw and the first z-axis sliding frame are slidably connected vertically. The second lifting claw and the second z-axis sliding frame are slidably connected vertically. The first lifting claw and the second lifting claw are respectively used to grip the two sides of the workpiece to adjust the assembly angle.

[0005] Optionally, a motor is connected to the first x-axis sliding frame, and a lead screw is connected to the motor shaft of the motor. The lead screw is set in the x-axis direction, and a connecting seat is slidably connected to the lead screw. The connecting seat is fixedly connected to the first y-axis sliding frame. When the motor drives the lead screw to rotate, the connecting seat drives the first y-axis sliding frame to slide along the lead screw.

[0006] Optionally, both the first x-axis sliding frame and the second x-axis sliding frame are provided with slide rails, and the bottom of the first y-axis sliding frame is provided with a slide block. The slide block and the slide rail are slidably connected, and the two ends of the first y-axis sliding frame slide synchronously.

[0007] Optionally, a grating ruler is connected to the first x-axis sliding frame. The grating ruler is located in the x-axis direction. When the first y-axis sliding frame slides along the first x-axis sliding frame, the grating ruler can measure the movement position of the first y-axis sliding frame.

[0008] Optionally, the first z-axis sliding frame is sleeved on the first y-axis sliding frame, the first y-axis sliding frame is provided with a first opening that extends vertically, the first z-axis sliding frame is provided with a second opening that connects to the first opening, and the first claw moves vertically in the first opening and the second opening.

[0009] Optionally, it also includes a vision component, which is slidably connected to the x-axis sliding component. The vision component includes a camera, and the vision component slides up and down so that the camera can capture the position of the workpiece to facilitate adjustment of the assembly angle.

[0010] Optionally, it also includes a track and a trolley for transporting the workpiece, the trolley being slidably connected to the track, the track being disposed on the moving path of the first lifting claw and the second lifting claw.

[0011] Optionally, the track is arranged along the y-axis, there are two first claws and two second claws, and the adjacent first claws and second claws in the y-axis direction cooperate to grip the side of the workpiece.

[0012] Compared with the prior art, the assembly angle adjustment mechanism in this utility model allows both the first and second lifting claws to move in the x, y, and z axes. When gripping a workpiece, the assembly angle of the workpiece can be changed by moving the positions of the first and second lifting claws, eliminating the need for manual docking and improving the assembly angle adjustment effect.

[0013] In addition, this utility model provides an automated device, including the assembly angle adjustment mechanism described above.

[0014] Compared with the prior art, the automated equipment described in this utility model has the same advantages as the assembly angle adjustment mechanism described above, and will not be repeated here. Attached Figure Description

[0015] Figure 1 This is a structural diagram of the automated equipment according to an embodiment of the present utility model;

[0016] Figure 2This is a schematic diagram showing the connection between the first x-axis sliding frame and the column in an embodiment of this utility model;

[0017] Figure 3 This is a schematic diagram showing the connection of the first y-axis sliding frame, the first z-axis sliding frame, and the first lifting claw in an embodiment of the present invention;

[0018] Figure 4 This is a structural diagram of the first z-axis sliding frame according to an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Column; 2. First x-axis sliding frame; 2-1. Motor; 2-2. Lead screw; 2-3. Connecting seat; 2-4. Slide rail; 2-5. Grating ruler; 3. Second x-axis sliding frame; 4. Third x-axis sliding frame; 5. First y-axis sliding frame; 5-1. Slide block; 5-2. First opening; 5-3. Weight reduction hole; 6. Second y-axis sliding frame; 7. First z-axis sliding frame; 7-1. Second opening; 8. Second z-axis sliding frame; 9. First lifting claw; 10. Second lifting claw; 11. Vision component; 12. Track; 13. Trolley. Detailed Implementation

[0021] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0022] In the description of this utility model, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship when the product is in normal use.

[0023] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. The accompanying drawings of embodiments of this utility model provide a coordinate system XYZ, where the positive direction of the X-axis represents the left, the negative direction of the X-axis represents the right, the positive direction of the Y-axis represents the front, the negative direction of the Y-axis represents the rear, the positive direction of the Z-axis represents the top, and the negative direction of the Z-axis represents the bottom.

[0024] This utility model embodiment provides an assembly angle adjustment mechanism, combined with Figure 1-4As shown, the assembly includes a column 1, an x-axis sliding assembly, a y-axis sliding assembly, a z-axis sliding assembly, a first lifting jaw 9, and a second lifting jaw 10. The x-axis sliding assembly is fixedly connected to the column 1. The y-axis sliding assembly is slidably connected to the x-axis sliding assembly in the left and right directions. The z-axis sliding assembly is slidably connected to the y-axis sliding assembly in the front and back directions. The first lifting jaw 9 and the second lifting jaw 10 are both slidably connected to the z-axis sliding assembly in the up and down directions. The first lifting jaw 9 and the second lifting jaw 10 are respectively used to grip both sides of the workpiece to adjust the assembly angle of the workpiece.

[0025] The x-axis sliding assembly has two adjacent columns 1 connected to each other along the x-axis at both ends. The x-axis sliding assembly includes a first x-axis sliding frame 2, a second x-axis sliding frame 3, and a third x-axis sliding frame 4 that are parallel to each other. The y-axis sliding assembly includes a first y-axis sliding frame 5 and a second y-axis sliding frame 6. The two ends of the first y-axis sliding frame 5 are slidably connected to the first x-axis sliding frame 2 and the second x-axis sliding frame 3, respectively. The two ends of the second y-axis sliding frame 6 are slidably connected to the second x-axis sliding frame 3 and the third x-axis sliding frame 4, respectively. The z-axis sliding assembly includes a first z-axis sliding frame 7 and a second z-axis sliding frame 8. The first z-axis sliding frame 7 and the first y-axis sliding frame 5 are slidably connected front to back. The second z-axis sliding frame 8 and the second y-axis sliding frame 6 are slidably connected front to back. The first lifting claw 9 and the first z-axis sliding frame 7 are slidably connected vertically. The second lifting claw 10 and the second z-axis sliding frame 8 are slidably connected vertically. The first lifting claw 9 and the second lifting claw 10 are respectively used to grip the two sides of the workpiece to adjust the assembly angle.

[0026] like Figure 1 As shown, in this embodiment, the x-axis sliding assembly is located in the x-axis direction, the y-axis sliding assembly is located in the y-axis direction, and the z-axis sliding assembly is located in the z-axis direction. The first y-axis sliding frame 5 can move simultaneously along the first x-axis sliding frame 2 and the second x-axis sliding frame 3 to change its position in the x-axis direction; the first z-axis sliding frame 7 can move along the first y-axis sliding frame 5 to change its position in the y-axis direction; and the first lifting claw 9 can move along the first z-axis sliding frame 7 to change its position in the z-axis direction. When the first lifting claw 9 grips the workpiece to be assembled, it can move the workpiece along the x-axis, y-axis, and z-axis, thereby adjusting the assembly angle of the workpiece in mid-air for easy docking with other workpieces.

[0027] The assembly angle adjustment mechanism in this invention allows the first lifting claw 9 and the second lifting claw 10 to move in the x-axis, y-axis, and z-axis directions. When gripping a workpiece, the assembly angle of the workpiece can be changed by moving the positions of the first lifting claw 9 and the second lifting claw 10, eliminating the need for manual docking and improving the assembly angle adjustment effect.

[0028] A motor 2-1 is connected to the first x-axis sliding frame 2. The motor shaft of the motor 2-1 is connected to a lead screw 2-2. The lead screw 2-2 is set in the x-axis direction. A connecting seat 2-3 is slidably connected to the lead screw 2-2. The connecting seat 2-3 is fixedly connected to the first y-axis sliding frame 5. When the motor 2-1 drives the lead screw 2-2 to rotate, the connecting seat 2-3 drives the first y-axis sliding frame 5 to slide along the lead screw 2-2.

[0029] like Figure 2 As shown, in this embodiment, both the second x-axis sliding frame 3 and the third x-axis sliding frame 4 are equipped with a motor 2-1, a lead screw 2-2, and a connecting seat 2-3 to cooperate with each other, so that the first y-axis sliding frame 5 and the second y-axis sliding frame 6 can slide and adjust their positions along the x-axis. Similarly, the first y-axis sliding frame 5 and the second y-axis sliding frame 6 are also equipped with a motor 2-1, a lead screw 2-2, and a connecting seat 2-3 to cooperate with each other, so that the first z-axis sliding frame 7 and the second z-axis sliding frame 8 can slide and adjust their positions along the y-axis. The first z-axis sliding frame 7 and the second z-axis sliding frame 8 are also equipped with a motor 2-1, a lead screw 2-2, and a connecting seat 2-3 to cooperate with each other, so that the first lifting claw 9 and the second lifting claw 10 can slide and adjust their positions along the z-axis.

[0030] The assembly angle adjustment mechanism also includes a main controller, which is electrically connected to each motor 2-1 for overall control.

[0031] The first x-axis sliding frame 2 and the second x-axis sliding frame 3 are both provided with slide rails 2-4. The bottom of the first y-axis sliding frame 5 is provided with a slide block 5-1. The slide block 5-1 and the slide rails 2-4 are slidably connected, and the two ends of the first y-axis sliding frame 5 slide synchronously.

[0032] like Figure 2 and 3 As shown, in this embodiment, the slide rail 2-4 and the slide block 5-1 cooperate to make the connection structure of the first y-axis slide frame 5 more stable when sliding, and at the same time reduce the load pressure on the connecting seat 2-3. The first y-axis slide frame 5 is cuboid in shape. In the y-axis direction, the bottom of both ends of the first y-axis slide frame 5 is provided with slide blocks 5-1, so as to adapt to the slide rail 2-4 on the first x-axis slide frame 2 and the second x-axis slide frame 3 respectively.

[0033] The third x-axis sliding frame 4 and the second y-axis sliding frame 6 are also provided with slide rail 2-4 and slide block 5-1 to cooperate with each other. The same applies to the first z-axis sliding frame 7, the second z-axis sliding frame 8, the first lifting claw 9 and the second lifting claw 10, which will not be described in detail here.

[0034] A grating ruler 2-5 is connected to the first x-axis sliding frame 2. The grating ruler 2-5 is located in the x-axis direction. When the first y-axis sliding frame 5 slides along the first x-axis sliding frame 2, the grating ruler 2-5 can measure the moving position of the first y-axis sliding frame 5.

[0035] like Figure 2 As shown, the grating ruler 2-5, also known as the grating ruler 2-5 displacement sensor, is a measurement feedback device that works using the optical principle of a grating. The grating ruler 2-5 can measure the position of the first y-axis sliding frame 5 in the x-axis direction. The grating ruler 2-5 is electrically connected to the main controller, thus working in conjunction with the main controller.

[0036] A grating ruler 2-5 is provided on the first x-axis sliding frame 2, the second x-axis sliding frame 3, the third x-axis sliding frame 4, the first y-axis sliding frame 5, the second y-axis sliding frame 6, the first z-axis sliding frame 7, and the second z-axis sliding frame 8 to measure the position in the x-axis, y-axis, and z-axis directions, and to coordinate with the main controller for control and adjustment.

[0037] The first z-axis sliding frame 7 is sleeved on the first y-axis sliding frame 5. The first y-axis sliding frame 5 has a first opening 5-2 that extends vertically through it. The first z-axis sliding frame 7 has a second opening 7-1 that connects to the first opening 5-2. The first lifting claw 9 moves vertically between the first opening 5-2 and the second opening 7-1.

[0038] like Figure 3 and 4 As shown, in this embodiment, both the first z-axis sliding frame 7 and the first y-axis sliding frame 5 are cuboid in shape. When the first lifting claw 9 slides on the first z-axis sliding frame 7, it also slides up and down relative to the first y-axis sliding frame 5. This arrangement makes the structure more compact and reduces the space occupied.

[0039] The assembly angle adjustment mechanism further includes a vision component 11, which is slidably connected to the x-axis sliding component. The vision component 11 includes a camera, and the vision component 11 slides up and down so that the camera can capture the position of the workpiece to facilitate the adjustment of the assembly angle.

[0040] The assembly angle adjustment mechanism also includes a track 12 and a trolley 13 for transporting the workpiece. The trolley 13 is slidably connected to the track 12, and the track 12 is located on the moving path of the first lifting claw 9 and the second lifting claw 10.

[0041] like Figure 1As shown, in this embodiment, the vision component 11 is electrically connected to the main controller and transmits the captured data to the main controller. The track 12 and the trolley 13 cooperate to transport the workpiece. The first workpiece is placed on the trolley 13, and the trolley 13 is controlled to transport on the track 12, so that the first workpiece enters the assembly area. At this time, the vision component 11 moves down to capture the position of the first workpiece and transmits the captured position information to the main controller. The vision component 11 moves up to return to its original position, and the first workpiece is moved away. After the second workpiece enters the assembly area through the trolley 13, it is picked up by the first claw 9 and the second claw 10. The vision component 11 moves down to capture the position of the second workpiece and transmits it to the main controller. The main controller compares and processes the position information of the first workpiece and the second workpiece, thereby controlling the motor 2-1 to work and adjusting the position of the first claw 9 and the second claw 10 in the xyz axis direction so that the position of the second workpiece matches the position of the first workpiece. At this time, the first workpiece enters the assembly area again, and the second workpiece is connected to the first workpiece by the first claw 9 and the second claw 10. The worker then installs the screws, thereby completing the assembly.

[0042] Both the first y-axis sliding frame 5 and the second y-axis sliding frame 6 have several weight-reducing holes 5-3.

[0043] like Figure 2 As shown, in this embodiment, both the first z-axis sliding frame 7 and the second z-axis sliding frame 8 are provided with a plurality of weight-reducing holes 5-3, which are used to reduce the weight of the sliding frame.

[0044] The track 12 is arranged along the y-axis. There are two first lifting claws 9 and two second lifting claws 10. The adjacent first lifting claws 9 and second lifting claws 10 in the y-axis direction cooperate to grip the side of the workpiece.

[0045] like Figure 1 As shown, in this embodiment, both first lifting jaws 9 and both second lifting jaws 10 can adjust their positions by moving along the x-axis, y-axis, and z-axis. When the four lifting jaws cooperate and simultaneously grip the bottom of the workpiece, the workpiece can have positional changes in 12 directions with the four connection positions as four points of change, thereby allowing the workpiece to freely change its assembly angle.

[0046] Another embodiment of this utility model provides an automated device, including the assembly angle adjustment mechanism described above.

[0047] Although the disclosure is as stated above, the scope of protection of this disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this utility model.

Claims

1. An assembly angle adjustment mechanism, characterized in that, The assembly includes a column (1), an x-axis sliding assembly, a y-axis sliding assembly, a z-axis sliding assembly, a first lifting claw (9), and a second lifting claw (10). The x-axis sliding assembly is fixedly connected to the column (1). The y-axis sliding assembly is slidably connected to the x-axis sliding assembly in the left and right directions. The z-axis sliding assembly is slidably connected to the y-axis sliding assembly in the front and back directions. The first lifting claw (9) and the second lifting claw (10) are both slidably connected to the z-axis sliding assembly in the up and down directions. The first lifting claw (9) and the second lifting claw (10) are respectively used to grip the two sides of the workpiece to adjust the assembly angle of the workpiece.

2. The assembly angle adjustment mechanism according to claim 1, characterized in that, The x-axis sliding assembly is connected to two adjacent columns (1) along the x-axis at both ends. The x-axis sliding assembly includes a first x-axis sliding frame (2), a second x-axis sliding frame (3), and a third x-axis sliding frame (4) that are parallel to each other. The y-axis sliding assembly includes a first y-axis sliding frame (5) and a second y-axis sliding frame (6). The two ends of the first y-axis sliding frame (5) are slidably connected to the first x-axis sliding frame (2) and the second x-axis sliding frame (3), respectively. The two ends of the second y-axis sliding frame (6) are slidably connected to the second x-axis sliding frame (3) and the third x-axis sliding frame (4), respectively. The z-axis sliding assembly includes a first z-axis sliding frame (7) and a second z-axis sliding frame (8). The first z-axis sliding frame (7) and the first y-axis sliding frame (5) are slidably connected front to back. The second z-axis sliding frame (8) and the second y-axis sliding frame (6) are slidably connected front to back. The first lifting claw (9) and the first z-axis sliding frame (7) are slidably connected vertically. The second lifting claw (10) and the second z-axis sliding frame (8) are slidably connected vertically.

3. The assembly angle adjustment mechanism according to claim 2, characterized in that, A motor (2-1) is connected to the first x-axis sliding frame (2). The motor shaft of the motor (2-1) is connected to a lead screw (2-2). The lead screw (2-2) is set in the x-axis direction. A connecting seat (2-3) is slidably connected to the lead screw (2-2). The connecting seat (2-3) is fixedly connected to the first y-axis sliding frame (5). When the motor (2-1) drives the lead screw (2-2) to rotate, the connecting seat (2-3) drives the first y-axis sliding frame (5) to slide along the lead screw (2-2).

4. The assembly angle adjustment mechanism according to claim 2, characterized in that, The first x-axis sliding frame (2) and the second x-axis sliding frame (3) are both provided with slide rails (2-4), and the bottom of the first y-axis sliding frame (5) is provided with a slide block (5-1). The slide block (5-1) and the slide rail (2-4) are slidably connected, and the two ends of the first y-axis sliding frame (5) slide synchronously.

5. The assembly angle adjustment mechanism according to claim 2, characterized in that, A grating ruler (2-5) is connected to the first x-axis sliding frame (2). The grating ruler (2-5) is located in the x-axis direction. When the first y-axis sliding frame (5) slides along the first x-axis sliding frame (2), the grating ruler (2-5) can measure the moving position of the first y-axis sliding frame (5).

6. The assembly angle adjustment mechanism according to claim 2, characterized in that, The first z-axis sliding frame (7) is sleeved on the first y-axis sliding frame (5). The first y-axis sliding frame (5) has a first opening (5-2) that extends vertically through it. The first z-axis sliding frame (7) has a second opening (7-1) that connects to the first opening (5-2). The first lifting claw (9) moves vertically in the first opening (5-2) and the second opening (7-1).

7. The assembly angle adjustment mechanism according to claim 1, characterized in that, It also includes a vision component (11), which is slidably connected to the x-axis sliding component. The vision component (11) includes a camera. The vision component (11) slides up and down so that the camera can capture the position of the workpiece in order to adjust the assembly angle.

8. The assembly angle adjustment mechanism according to claim 1, characterized in that, It also includes a track (12) and a trolley (13) for transporting the workpiece, the trolley (13) being slidably connected to the track (12), the track (12) being located on the moving path of the first lifting claw (9) and the second lifting claw (10).

9. The assembly angle adjustment mechanism according to claim 8, characterized in that, The track (12) is arranged along the y-axis. There are two first claws (9) and two second claws (10). The first claws (9) and the second claws (10) adjacent to each other in the y-axis direction cooperate to grip the side of the workpiece.

10. An automated device, characterized in that, Includes the assembly angle adjustment mechanism as described in any one of claims 1-9.

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