阅读说明：本技术 一种机械臂气密连接件自动组装设备 (Automatic assembling equipment for airtight connecting piece of mechanical arm ) 是由 刘海燕 于 2021-11-01 设计创作，主要内容包括：本发明公开了一种机械臂气密连接件自动组装设备,包括机架、固定在所述机架左上方的供料组件,所述机架右上方还固定设有装配组件,所述装配组件包括固定在所述机架右上方的支撑架,所述支撑架内部设有夹爪组件、移载组件、六爪组件,所述夹爪组件通过夹爪固定板固定在所述移载组件上方,所述移载组件通过两个支撑柱与所述机架固定,所述六爪组件固定在活动板上且所述活动板下方通过六个支撑块与所述机架固定,所述移载组件还与所述活动板通过两个支柱固定连接；所述支撑架上方固定支撑板；本发明提供一种全自动操作、降低工作强度、组装质量好、工作效率高并且适用于不同型号大小的气密连接件自动组装设备。(The invention discloses automatic assembling equipment for an airtight connecting piece of a mechanical arm, which comprises a rack and a feeding assembly fixed on the upper left of the rack, wherein an assembling assembly is also fixedly arranged on the upper right of the rack, the assembling assembly comprises a supporting frame fixed on the upper right of the rack, a clamping jaw assembly, a transferring assembly and a six-jaw assembly are arranged in the supporting frame, the clamping jaw assembly is fixed above the transferring assembly through a clamping jaw fixing plate, the transferring assembly is fixed with the rack through two supporting columns, the six-jaw assembly is fixed on a movable plate, the lower part of the movable plate is fixed with the rack through six supporting blocks, and the transferring assembly is also fixedly connected with the movable plate through two supporting columns; a support plate is fixed above the support frame; the invention provides automatic assembling equipment for airtight connecting pieces, which is fully automatically operated, has the advantages of reduced working strength, good assembling quality and high working efficiency and is suitable for different types and sizes.)

1. The automatic assembling equipment for the airtight connecting piece of the mechanical arm comprises a rack and a feeding assembly fixed on the upper left of the rack, and is characterized in that an assembling assembly is fixedly arranged on the upper right of the rack and comprises a supporting frame fixed on the upper right of the rack, a clamping jaw assembly, a transferring assembly and a six-jaw assembly are arranged in the supporting frame, the clamping jaw assembly is fixed above the transferring assembly through a clamping jaw fixing plate, the transferring assembly is fixed with the rack through two supporting columns, the six-jaw assembly is fixed on a movable plate, the lower side of the movable plate is fixed with the rack through six supporting blocks, and the transferring assembly is fixedly connected with the movable plate through two supporting columns;

the supporting frame top fixed stay board, fixed material subassembly, camera subassembly, guide bar subassembly and the smelting tool subassembly of keeping off that is equipped with in the backup pad, be equipped with the opening in the backup pad, the open-ended front side sets up keep off the material subassembly, the camera subassembly is located keep off the right side of material subassembly, the opening rear side sets up the guide bar subassembly, the smelting tool subassembly is located the rear side of guide bar subassembly.

2. The automatic assembling equipment for the airtight connecting piece of the mechanical arm as claimed in claim 1, wherein the clamping jaw assembly includes a first pneumatic clamping jaw, a second pneumatic clamping jaw and a third pneumatic clamping jaw, the first pneumatic clamping jaw is fixed to the clamping jaw fixing plate through a cylinder fixing frame, two horizontal pushing cylinders are further fixed to the clamping jaw fixing plate, a cylinder moving plate is fixed above each horizontal pushing cylinder, a pneumatic jaw fixing vertical plate is fixed above each cylinder moving plate, and the second pneumatic clamping jaw and the third pneumatic clamping jaw are respectively fixed to one side of the two pneumatic jaw fixing vertical plates.

3. The automatic assembling equipment for airtight connectors of mechanical arm as claimed in claim 1, wherein said transferring assembly comprises a transferring fixing plate, said transferring fixing plate is fixed below to said frame by two support columns, said transferring fixing plate is fixed above to a transferring cylinder and a transferring slide rail, said transferring cylinder is fixed above to said clamping jaw fixing plate by a first fixing plate, said transferring slide rail is fixed above to said clamping jaw fixing plate by a first fixing block, and said transferring fixing plate is fixed below to said movable plate by two support columns.

4. The automatic assembling equipment for the airtight connecting piece of the mechanical arm according to claim 1, wherein the six-claw assembly comprises a pair of horizontal pushing slide rails which are oppositely arranged in parallel and fixed above the movable plate, a sliding platform is fixed above the two horizontal pushing slide rails, a sliding table supporting vertical plate is fixed above the sliding platform, the side surface of the sliding table supporting vertical plate is fixed with one side of a sliding table cylinder, and the other side of the sliding table cylinder is fixed with a fourth pneumatic clamping jaw through a pneumatic claw fixing frame; the fly leaf below is fixed through the stiff end of mounting with horizontal cylinder, horizontal cylinder's expansion end is fixed with first fixed plate, sliding platform's below is fixed with the top of connecting plate, the connecting plate passes to be established the activity hole on the fly leaf just the below of connecting plate with the upper portion of first fixed plate is fixed.

5. The automatic assembling equipment for the airtight connecting pieces of the mechanical arm as claimed in claim 1, wherein the stop lever assembly comprises a stop lever support fixed on the support plate, a first lifting cylinder is fixed on a side surface of the stop lever support, a rear side of the first lifting cylinder is fixed with a front side of a guide rod fixing block through a fixing plate, a lower side of the guide rod fixing block is fixed with a stop block fixing block through two guide rods, and a stop block is fixed on a rear side of the stop block fixing block.

6. The automatic assembling equipment for the airtight connection piece of mechanical arm according to claim 1, wherein said camera assembly comprises a camera support and a detection camera, said camera support is fixed on said support plate, a camera fixing plate is fixed on the upper portion of said camera support through a connecting rod, and said detection camera is fixed on said camera fixing plate.

7. The automatic assembling equipment for the airtight connecting piece of the mechanical arm according to claim 1, wherein the guide rod assembly comprises a guide rod support frame, the lower part of the guide rod support frame is fixed to the support plate, a second lifting cylinder is fixed to the front side of the guide rod support frame, a guide rod fixing plate is fixed to the front side of the second lifting cylinder, and a guide rod is fixed to the front side of the guide rod fixing plate through a support piece.

8. The automatic assembling equipment for airtight connecting pieces of mechanical arm as claimed in claim 1, wherein said jig assembly includes a clamping seat, said clamping seat is fixed with said supporting plate below, said clamping seat side is provided with a clamping block for fixing said clamping seat, said clamping seat is provided with a clamping position above, said clamping seat is provided with a sensor for monitoring product information inside, said clamping position is fixedly provided with a carrier for carrying a product to be processed.

Technical Field

The invention relates to the technical field of intelligent robot part manufacturing equipment, in particular to automatic assembling equipment for an airtight connecting piece of a mechanical arm.

Background

At present, robots are widely applied to the fields of intelligent manufacturing such as automobile assembly, electronic assembly and the like, and a mechanical arm which is one of essential key parts of the robot is important, so that the mechanical arm is used in a large quantity, the mechanical arm needs to be assembled in batch production before the robot is assembled, and due to the limitation of the using environment of the mechanical arm, the dustproof and waterproof functions need to be realized, so that an airtight connecting piece needs to be assembled at a corresponding connecting exposed position in the assembly of the mechanical arm, and further the dustproof and waterproof functions are achieved. The airtight connecting piece cannot be successfully assembled at one time, the efficiency is low, a large amount of labor is consumed, the cost is high, the problems of improper installation, neglected installation and the like are easy to occur, and the overall quality of the product is influenced.

Disclosure of Invention

In view of this, the invention provides an automatic assembling device for airtight connecting pieces, which is fully automatic, has low working strength, good assembling quality and high working efficiency, and is suitable for different types and sizes.

In order to solve the above problems, the technical scheme provided by the invention is as follows:

an automatic assembling device for airtight connecting pieces of a mechanical arm comprises a rack and a feeding assembly fixed on the upper left of the rack, wherein an assembling assembly is further fixedly arranged on the upper right of the rack and comprises a supporting frame fixed on the upper right of the rack, a clamping jaw assembly, a transferring assembly and a six-jaw assembly are arranged in the supporting frame, the clamping jaw assembly is fixed above the transferring assembly through a clamping jaw fixing plate, the transferring assembly is fixed with the rack through two supporting columns, the six-jaw assembly is fixed on a movable plate, the lower side of the movable plate is fixed with the rack through six supporting blocks, and the transferring assembly is further fixedly connected with the movable plate through two supporting columns;

the supporting frame top fixed stay board, fixed material subassembly, camera subassembly, guide bar subassembly and the smelting tool subassembly of keeping off that is equipped with in the backup pad, be equipped with the opening in the backup pad, the open-ended front side sets up keep off the material subassembly, the camera subassembly is located keep off the right side of material subassembly, the opening rear side sets up the guide bar subassembly, the smelting tool subassembly is located the rear side of guide bar subassembly.

Further, the clamping jaw assembly comprises a first pneumatic clamping jaw, a second pneumatic clamping jaw and a third pneumatic clamping jaw, the first pneumatic clamping jaw passes through a cylinder fixing frame and is fixed on a clamping jaw fixing plate, two flat push cylinders are further fixed on the clamping jaw fixing plate, a cylinder movable plate is fixed above the flat push cylinders, a gas jaw fixing vertical plate is fixed above the cylinder movable plate, the second pneumatic clamping jaw and the third pneumatic clamping jaw are fixed on one side of the gas jaw fixing vertical plate respectively.

Further, move and carry the subassembly including moving and carrying the fixed plate, move and carry fixed plate below through two spinal branch daggers with the frame is fixed, move and carry fixed plate top fixed be equipped with move and carry the cylinder and move and carry the slide rail, move and carry cylinder top through first fixed plate with the clamping jaw fixed plate is fixed, move and carry slide rail top through first fixed block with the clamping jaw fixed plate is fixed, move and carry fixed plate below still through two spinal branch daggers with the fly leaf is fixed.

Further, the six-claw assembly comprises a pair of horizontal pushing slide rails which are oppositely arranged in parallel and fixed above the movable plate, a sliding platform is fixed above the two horizontal pushing slide rails, a sliding platform supporting vertical plate is fixed above the sliding platform, the side surface of the sliding platform supporting vertical plate is fixed with one side of a sliding platform cylinder, and the other side of the sliding platform cylinder is fixed with a fourth pneumatic clamping jaw through a pneumatic claw fixing frame; the fly leaf below is fixed through the stiff end of mounting with horizontal cylinder, horizontal cylinder's expansion end is fixed with first fixed plate, sliding platform's below is fixed with the top of connecting plate, the connecting plate passes to be established the activity hole on the fly leaf just the below of connecting plate with the upper portion of first fixed plate is fixed.

Further, the stop lever subassembly is including fixing the stop lever support frame in the backup pad, the fixed first lift cylinder in side of stop lever support frame, the rear side of first lift cylinder is fixed through the front side of fixed plate and guide arm fixed block, the below of guide arm fixed block is fixed through two guide arms and dog fixed block, the fixed dog of rear side of dog fixed block.

Further, the camera assembly comprises a camera support and a detection camera, the camera support is fixed to the supporting plate, a camera fixing plate is fixed to the upper portion of the camera support through a connecting rod, and the detection camera is fixed to the camera fixing plate.

Furthermore, the guide rod assembly comprises a guide rod support frame, the lower portion of the guide rod support frame is fixed with the support plate, a second lifting cylinder is fixed on the front side of the guide rod support frame, a guide rod fixing plate is fixed on the front side of the second lifting cylinder, and a guide rod is fixed on the front side of the guide rod fixing plate through a support piece.

Further, the smelting tool subassembly includes the cassette, the cassette below with the backup pad is fixed, the cassette side is equipped with and is used for fixing the fixture block of cassette, the cassette top is equipped with the screens, the cassette inboard is equipped with the sensor that is used for monitoring product information, fixed being equipped with in the screens is used for bearing the carrier of treating the processing product.

Compared with the prior art, the automatic assembling equipment for the airtight connecting piece of the mechanical arm has the advantages that full-automatic operation of feeding, moving and assembling of accessories is achieved, labor intensity of operators is reduced, working efficiency is effectively improved, and product assembling quality is improved.

Drawings

For a clearer explanation of the embodiments or technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for a person skilled in the art that other drawings can be obtained from the drawings without creative efforts.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a right side view of the jaw assembly of the present invention;

FIG. 3 is a schematic view of a transfer assembly according to the present invention;

FIG. 4 is a schematic structural view of a six-jaw assembly of the present invention;

FIG. 5 is a schematic view of the stop lever assembly of the present invention;

FIG. 6 is a schematic view of the construction of the guide bar assembly of the present invention;

description of the drawings: 1-a machine frame, 2-a support frame, 3-a clamping jaw assembly, 4-a transfer assembly, 5-a six-jaw assembly, 6-a clamping jaw fixing plate, 7-a support column, 8-a movable plate, 9-a support plate, 10-a material blocking assembly, 11-a camera assembly, 12-a guide rod assembly, 13-a jig assembly, 14-a first pneumatic clamping jaw, 15-a second pneumatic clamping jaw, 16-a third pneumatic clamping jaw, 17-a cylinder fixing frame, 18-a horizontal pushing cylinder, 19-a cylinder movable plate, 20-a pneumatic jaw fixing vertical plate, 21-a transfer fixing plate, 22-a transfer cylinder, 23-a transfer sliding rail, 24-a first fixing plate, 25-a first fixing block, 26-a horizontal pushing sliding rail, 27-a sliding platform, 28-a sliding platform supporting vertical plate, 29-a sliding table cylinder, 30-a pneumatic claw fixing frame, 31-a fourth pneumatic clamping jaw, 32-a horizontal cylinder, 33-a second fixing plate, 34-a connecting plate, 35-a stop lever supporting frame, 36-a first lifting cylinder, 37-a guide rod fixing block, 38-a stop block, 39-a guide rod supporting frame, 40-a second lifting cylinder, 41-a guide rod fixing plate and 42-a guide rod.

Detailed Description

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1-6, one embodiment of the present invention is:

an automatic assembling device for airtight connecting pieces of a mechanical arm comprises a rack 1 and a feeding assembly fixed on the upper left of the rack 1, wherein an assembling assembly is further fixedly arranged on the upper right of the rack 1 and comprises a supporting frame 2 fixed on the upper right of the rack 1, a clamping jaw assembly 3, a transferring assembly 4 and a six-jaw assembly 5 are arranged inside the supporting frame 2, the clamping jaw assembly 3 is fixed above the transferring assembly 4 through a clamping jaw fixing plate 6, the transferring assembly 4 is fixed with the rack 1 through two supporting columns 7, the six-jaw assembly 5 is fixed on a movable plate 8, the lower side of the movable plate 8 is fixed with the rack 1 through six supporting blocks, and the transferring assembly 4 is further fixedly connected with the movable plate 8 through two supporting columns;

a supporting plate 9 is fixed above the supporting frame 2, a material blocking assembly 10, a camera assembly 11, a guide rod assembly 12 and a jig assembly 13 are fixedly arranged on the supporting plate 9, an opening is formed in the supporting plate 9, the material blocking assembly 10 is arranged on the front side of the opening, the camera assembly 11 is located on the right side of the material blocking assembly 10, the guide rod assembly 12 is arranged on the rear side of the opening, and the jig assembly 13 is located on the rear side of the guide rod assembly 12;

the feeding assembly comprises a vibration material tray and a linear vibration tray which are fixed above the rack, the material channel is fixed above the linear vibration tray, an outlet of the vibration material tray is connected with one end of the material channel, accessories are conveyed from the outlet of the vibration material tray to the assembly through the vibration effect of the linear vibration tray, and the linear vibration tray is of an HC-2G type.

Further, the clamping jaw assembly 3 includes a first pneumatic clamping jaw 14, a second pneumatic clamping jaw 15 and a third pneumatic clamping jaw 16, the first pneumatic clamping jaw 14 is fixed to the clamping jaw fixing plate 6 through a cylinder fixing frame 17, the clamping jaw fixing plate 6 is further fixed with two horizontal pushing cylinders 18, a cylinder moving plate 19 is fixed above each horizontal pushing cylinder 18, a gas jaw fixing vertical plate 20 is fixed above each cylinder moving plate 19, and the second pneumatic clamping jaw 15 and the third pneumatic clamping jaw 16 are respectively fixed to one side of the two gas jaw fixing vertical plates 20; the first pneumatic clamping jaw, the second pneumatic clamping jaw and the third pneumatic clamping jaw are all driven by MHZL2-20D3 type pneumatic fingers, the clamping jaws are identical in specification, or the pneumatic jaws with different specifications can be adopted to adapt to assembly of airtight connecting pieces with different specifications, and the horizontal pushing cylinder is an MXQ12A-10ZA3 type cylinder.

Further, move and carry subassembly 4 including moving and carrying fixed plate 21, move and carry fixed plate 21 below through two support columns 7 with frame 1 is fixed, move and carry fixed plate 21 top fixed being equipped with move and carry cylinder 22 and move and carry slide rail 23, move and carry cylinder 22 top through first fixed plate 24 with clamping jaw fixed plate 6 is fixed, move and carry slide rail 23 top through first fixed block 25 with clamping jaw fixed plate 6 is fixed, move and carry fixed plate 21 below still through two supports with movable plate 8 is fixed, wherein, move and carry the cylinder and adopt LEFS25AA-300 model cylinder, move and carry the slide rail and adopt EGH15CA model slide rail.

Further, the six-jaw assembly 5 comprises a pair of horizontal push sliding rails 26 which are fixed above the movable plate 8 and are arranged in parallel, a sliding platform 27 is fixed above the two horizontal push sliding rails 26, a sliding platform supporting vertical plate 28 is fixed above the sliding platform 27, the side surface of the sliding platform supporting vertical plate 28 is fixed with one side of a sliding platform cylinder 29, and the other side of the sliding platform cylinder 29 is fixed with a fourth pneumatic clamping jaw 31 through a pneumatic jaw fixing frame 30; the mounting is fixed through with horizontal cylinder 32's fixed end below activity board 8, horizontal cylinder 32's expansion end is fixed with second fixed plate 33, sliding platform 27's below is fixed with the top of connecting plate 34, connecting plate 34 passes to be established activity hole on the activity board 8 just the below of connecting plate 34 with the upper portion of first fixed plate 33 is fixed, and wherein, the flat push slide rail adopts EGH15CA model slide rail, and the slip table cylinder adopts MXS12-75AS-X11 model cylinder, and horizontal cylinder adopts DGC-25-350-kf model cylinder.

Further, the stop lever assembly 10 comprises a stop lever support frame 35 fixed on the support plate 9, a first lifting cylinder 36 is fixed on the side surface of the stop lever support frame 35, the rear side of the first lifting cylinder 36 is fixed with the front side of a guide rod fixing block 37 through a fixing plate, the lower part of the guide rod fixing block 37 is fixed with a stop block fixing block through two guide rods, a stop block 38 is fixed on the rear side of the stop block fixing block, and the first lifting cylinder is an MXS12-10AS model cylinder.

Further, the camera assembly 11 comprises a camera support and a detection camera, the camera support is fixed on the support plate 9, a camera fixing plate is fixed on the upper portion of the camera support through a connecting rod, the detection camera is fixed on the camera fixing plate, and the detection camera is an IV-150MA type camera.

Further, the guide rod assembly 12 includes a guide rod support frame 39, the lower portion of the guide rod support frame 39 is fixed to the support plate 9, a second lifting cylinder 40 is fixed to the front side of the guide rod support frame 39, a guide rod fixing plate 41 is fixed to the front side of the second lifting cylinder 40, a guide rod 42 is fixed to the front side of the guide rod fixing plate 41 through a support, and the second lifting cylinder is an MXS16-30AS cylinder.

Further, the jig assembly 13 includes a clamping seat, the lower portion of the clamping seat is fixed to the supporting plate, a clamping block for fixing the clamping seat is arranged on the side edge of the clamping seat, a clamping position is arranged above the clamping seat, a sensor for monitoring product information is arranged on the inner side of the clamping seat, and a carrier for carrying a product to be processed is fixedly arranged on the clamping position; the sensor is a sensor of model FU-77 TZ.

When the pneumatic clamping device is used, firstly, accessories are placed on a carrier of a jig assembly and fixed through a manual or mechanical arm, the accessories are conveyed to an assembly through an airtight connecting piece under the action of a vibration material tray and a linear vibration plate through a material channel, clamping is completed through a first pneumatic clamping jaw, a second pneumatic clamping jaw and a third pneumatic clamping jaw of a clamping jaw assembly, at the moment, a first lifting cylinder of a stop lever assembly works to drive a stop block to downwards block the airtight connecting piece for controlling the conveying and the suspension of the airtight connecting piece, then a shifting cylinder of the shifting assembly works to drive the pneumatic clamping jaw assembly to move backwards, the airtight connecting piece is moved to the position below a guide rod assembly, a second lifting cylinder of the guide rod assembly works to drive a guide rod to downwards position the airtight connecting piece on the pneumatic clamping jaw to avoid the position deviation of the airtight connecting piece, then the clamping jaw assembly continues to move backwards, then a horizontal cylinder of a six-jaw assembly works to drive a sliding platform to move, meanwhile, the fourth pneumatic clamping jaw is matched with the sliding table cylinder to work, so that the fourth pneumatic clamping jaw is sleeved with the airtight connecting piece to move towards the smelting tool assembly and complete the assembly of the airtight connecting piece, and then the accessory is taken away by a worker or a mechanical arm.

Compared with the prior art, the automatic assembling equipment for the airtight connecting piece of the mechanical arm has the advantages that full-automatic operation of feeding, moving and assembling of accessories is achieved, labor intensity of operators is reduced, working efficiency is effectively improved, and product assembling quality is improved.

The technical features mentioned above are combined with each other to form various embodiments which are not listed above, and all of them are regarded as the scope of the present invention described in the specification; also, modifications and variations may be suggested to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.