Intelligent robot automated assembly device and method

Abstract

The present application discloses an intelligent robot automated assembly device and method, wherein the assembly device includes: a base; a material shuffling and conveying system, which is used to shuffle the workpieces and convey the shuffled workpieces to the material fetching position through a conveyor belt; a robot identification and material fetching system, which is used to adjust the electric clamp position according to the identification information obtained by the identification camera, and use the electric clamp to place the workpiece at the material fetching position to a preset position; a first part positioning system, which is used to position the workpiece placed at the preset position; a vibration plate feeding system, which is used for screw feeding and screw distribution; a screw driving system, which includes a four-axis robot and a screw gun installed on a guide component driven by a cylinder, which is used to obtain screws from the vibration plate feeding system, and drive the screws into the positioned workpieces and tighten them, thereby completing the assembly. The present application can realize the automated assembly of a variety of products of certain specifications and sizes in the case of disordered incoming materials; and can adapt to the flexible production of a variety of products.

Description

Technical Field

[0001] The present application relates to the field of automated assembly technology, and in particular to an intelligent robot automated assembly device and method. Background Art

[0002] Traditional rigid production lines have shortcomings such as low production precision, large labor input, and high energy consumption. In order to solve this problem, industrial robots are needed as the main operating subjects, and production lines are uniformly controlled through intelligent terminals to realize intelligent manufacturing mode.

[0003] Flexible manufacturing is a type of intelligent manufacturing model. It is consumer-oriented and produces according to demand, which is the opposite of the traditional large-scale mass production model. In flexible manufacturing, the response speed of the production line and supply chain is tested. For example, the "C2B" and "C2P2B" models that have emerged in the field of e-commerce reflect the essence of flexible manufacturing. The first aspect is the ability of the system to adapt to changes in the external environment, which can be measured by the degree to which the system meets the requirements of new products; the second aspect is the ability of the system to adapt to internal changes, which can be measured by the ratio of the system's productivity in the presence of interference (such as machine failure) to the expected productivity in the absence of interference.

[0004] However, there are still some problems with current flexible manufacturing. For example, it is not suitable for the assembly of parts with particularly complex dimensions, resulting in flexible manufacturing still unable to meet user needs. Summary of the invention

[0005] The present application provides an intelligent robot automated assembly device and method to solve the problem that the prior art is not suitable for assembling parts with particularly complex dimensions.

[0006] In order to solve the above technical problems, the present application proposes an intelligent robot automated assembly device, comprising: a base for providing an installation platform; a material shuffling and conveying system, arranged on the base, comprising a material shuffling baffle, a fixed mounting seat, a motor and a conveyor belt, for shuffling the workpieces and conveying the shuffled workpieces to the material picking position through the conveyor belt; a robot identification and material picking system, arranged on the base, comprising an electric clamp and a recognition camera, for adjusting the position of the electric clamp according to the recognition information obtained by the recognition camera, and using the electric clamp to place the workpiece at the material picking position to a preset position; a first part positioning system, arranged on the base, comprising four electric cylinders, a push block and a placement plate, for positioning the workpiece placed at the preset position; a vibration plate feeding system, arranged on the base, comprising a vibration plate, a straight vibration feeder, a feeding guide rail and a material dividing mechanism, for screw feeding and screw dividing; a screw driving system, arranged on the base, comprising a four-axis robot and a screw gun installed on a guide component driven by a cylinder, for obtaining screws from the vibration plate feeding system, and driving the screws into the positioned workpieces and tightening them, thereby completing the assembly.

[0007] Optionally, it also includes: an assembly parts conveying system, a second parts positioning system and a screw disassembly system; a robot identification and material picking system, which is also used to place the assembled workpiece into one end of the assembly parts conveying system; the assembly parts conveying system is arranged on the base, including a rodless cylinder and a conveying plate, which is used to convey the workpiece from one end to the other end; the material disassembly and conveying system is also used to grab the workpiece at the other end of the assembly parts conveying system and place it into the second parts positioning system; the second part positioning system is arranged on the base, which is used to position the assembled workpiece; the screw disassembly system is arranged on the base, including a robot electric screw gun, an electric gripper and a recycling box, which is used to remove the screws in the workpiece, and put the removed screws into the recycling box, and put the remaining workpiece into the material disassembly and conveying system.

[0008] Optionally, it also includes: an electrical control cabinet, which is equipped with a control circuit and electrical components for controlling the device circuit; and a robot control cabinet, which is equipped with a robot controller for controlling the robot movement.

[0009] Optionally, it also includes: a protective cover, covering the base, for providing robot protection and display screen installation.

[0010] Optionally, the robot identification and material picking system is also used to: identify whether the workpiece at the preset position is in a correct posture, if not, adjust the workpiece to the correct posture; if not, there is no need to adjust the workpiece.

[0011] Optionally, the robot identification and material picking system includes a flipping mechanism; when the workpiece at the preset position is in an incorrect posture, the flipping mechanism is used to flip the workpiece 90 degrees or 180 degrees to adjust the workpiece to a correct posture.

[0012] In order to solve the above technical problems, the present application proposes an intelligent robot automated assembly method, including: disrupting the workpieces and conveying the disrupted workpieces to a material picking position through a conveyor belt; adjusting the position of the electric clamp according to the recognition information obtained by the recognition camera, and using the electric clamp to place the workpiece at the material picking position to a preset position and position it; obtaining screws from a vibration plate feeding system, and driving the screws into the positioned workpiece and tightening them to complete the assembly.

[0013] Optionally, before obtaining screws from the vibration plate feeding system, driving the screws into the positioned workpiece and tightening them to complete the assembly, it also includes: identifying whether the workpiece in the preset position is in the correct posture, if not, adjusting the workpiece to the correct posture; if not, there is no need to adjust the workpiece.

[0014] Optionally, the workpiece is adjusted to a correct posture by an electric clamp, including: using a flipping mechanism to flip the workpiece 90 degrees or 180 degrees to adjust the workpiece to a correct posture.

[0015] In order to solve the above technical problems, the present application proposes an intelligent robot automated assembly method, including: transporting the assembled workpiece to a second part positioning system and completing the positioning; using a screw disassembly system to remove the screws in the workpiece, placing the removed screws into a recycling box, and shuffling other parts into a shuffling system, and transporting them to the material picking area for identification through the conveyor belt of the shuffling system.

[0016] The present application proposes an intelligent robot automated assembly device and method, wherein the assembly device includes: a base; a material shuffling and conveying system, which is used to shuffle the workpieces and convey the shuffled workpieces to the material fetching position through a conveyor belt; a robot identification and material fetching system, which is used to adjust the electric gripper position according to the identification information obtained by the identification camera, and use the electric gripper to place the workpiece at the material fetching position to the preset position; a first part positioning system, which is used to position the workpiece placed at the preset position; a vibration plate feeding system, which is used for screw feeding and screw distribution; a screw driving system, which includes a four-axis robot and a screw gun installed on a guide component driven by a cylinder, which is used to obtain screws from the vibration plate feeding system, and drive the screws into the positioned workpiece and tighten them, thereby completing the assembly. The present application can realize the automated assembly of a variety of products of certain specifications and sizes in the case of disordered incoming materials; and can adapt to the flexible production of a variety of products. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the implementation manner will be briefly introduced below. Obviously, the drawings described below are only some implementation manners of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 It is a side view structural diagram of an embodiment of the intelligent robot automated assembly device of the present application;

[0019] Figure 2 This is a schematic diagram of a top view of an embodiment of an intelligent robot automated assembly device of the present application;

[0020] FIG3( a ) is a schematic diagram of an embodiment of a workpiece;

[0021] Figure 3(b)-Figure 3(e) They are schematic diagrams of an embodiment of a workpiece posture;

[0022] Figure 4(a)-4(c) They are schematic diagrams of an embodiment of a workpiece style;

[0023] Figure 5 is a schematic diagram of an embodiment in which a workpiece is transported to a material taking area via a conveyor belt;

[0024] Figure 6 This is a flow chart of an embodiment of the intelligent robot automated assembly method of the present application;

[0025] Figure 7 It is a flow chart of an embodiment of the intelligent robot automated disassembly and assembly method of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solution of the present application, the intelligent robot automated assembly device and method provided by the present application are further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] This application proposes an intelligent robot automated assembly device, see Figure 1 and Figure 2 , Figure 1 It is a side view structural diagram of an embodiment of the intelligent robot automated assembly device of the present application; Figure 2 1 is a top view of an embodiment of an intelligent robot automated assembly device of the present application. In this embodiment, the assembly device may include: a base 110, a material distributing and conveying system 120, a robot identification and material taking system 130, a first part positioning system 140, a vibration plate feeding system 150, and a screw driving system 160.

[0028] The base 110 is used to provide a mounting platform on which equipment and robots can be mounted.

[0029] The material disorganization and conveying system 120 is arranged on the base 110, and includes a material disorganization baffle, a fixed mounting seat, a motor and a conveyor belt, and is used to disorganize the workpieces and convey the disorganized workpieces to the material collection position through the conveyor belt.

[0030] The robot recognition and material picking system 130 is arranged on the base 110, and includes a robot and an electric gripper. The recognition camera can take a picture of the workpiece at the material picking position to obtain recognition information, wherein the recognition information may include the position and posture of the workpiece. The position of the electric gripper can be adjusted according to the recognition information obtained by the recognition camera, and the workpiece at the material picking position can be placed at a preset position by using the electric gripper.

[0031] The first part positioning system 140 is arranged on the base 110, and includes four electric cylinders, a push block and a placement plate, which are used to position the workpiece placed at a preset position; the four electric cylinders can control different push-out strokes according to different workpieces to position the workpiece.

[0032] The vibration plate feeding system 150 is arranged on the base 110, and includes a vibration plate, a direct vibration feeder, a feeding guide rail and a feeding mechanism, and is used for screw feeding and screw feeding.

[0033] The screw driving system 160 is arranged on the base 110, and includes a four-axis robot and a screw gun installed on a guide component driven by a cylinder, and is used to obtain screws from the vibration plate feeding system 150, and drive the screws into the positioned workpiece and tighten them to complete the assembly.

[0034] Optionally, the intelligent robot automated assembly device may further include: an assembly parts conveying system 170 , a second part positioning system 180 , a disassembly and assembly screw system 190 , a protective cover 210 , an electrical control cabinet 220 and a robot control cabinet 230 .

[0035] The robot identification and material picking system 130 is also used to place the assembled workpiece into one end of the assembly parts conveying system 170 .

[0036] The assembly component conveying system 170 is disposed on the base 110 and includes a rodless cylinder and a conveying plate for conveying the workpiece from one end to the other end.

[0037] The material handling and conveying system 120 is also used to grab the workpiece at the other end of the assembly parts conveying system 170 and place it into the second part positioning system 180.

[0038] The second part positioning system 180 is disposed on the base 110 and is used to position the assembled workpiece. The specific structure is the same as that of the first part positioning system 140 .

[0039] The screw disassembly and assembly system 190 is arranged on the base 110, and includes a robot electric screw gun, an electric clamp and a recycling box, which is used to remove screws from the workpiece, put the removed screws into the recycling box, and put the remaining workpiece into the material disassembly and conveying system 120.

[0040] The electrical control cabinet 220 is equipped with control circuits and electrical components for controlling the device circuits.

[0041] The robot control cabinet 230 is equipped with a robot controller for controlling the robot movements, and its main structure is the robot control cabinet 230 and a mounting frame.

[0042] The protective cover 210 covers the base 110 and is used to provide robot protection and display screen installation. Optionally, the protective cover 210 is also provided with a door that can be opened and closed to facilitate maintenance and debugging.

[0043] Optionally, the robot identification and picking system 130 is also used to: identify whether the workpiece at the preset position is in a correct posture, if not, adjust the workpiece to the correct posture; if not, there is no need to adjust the workpiece.

[0044] The robot identification and material picking system 130 includes a flipping mechanism; when the workpiece at the preset position is in an incorrect posture, the flipping mechanism is used to flip the workpiece 90 degrees or 180 degrees to adjust the workpiece to the correct posture.

[0045] The intelligent robot automated assembly device can verify the flexible production of both assembly and disassembly functions. It can assemble a single-specification screw and multiple workpieces of a certain size in a disordered manner at one time. It can identify and distinguish the appearance and size characteristics of different workpieces through cameras to determine and adjust the workpiece clamping method and the order of workpiece clamping.

[0046] See also Figure 3(a)-Figure 3(e) , FIG3(a) is a schematic diagram of an embodiment of a workpiece, Figure 3(b)-Figure 3(e) They are schematic diagrams of an embodiment of a workpiece posture. Among them, FIG3(c) is a correct posture, which can be directly positioned without flipping and adjustment.

[0047] After the materials are messed up, situations such as Figure 3(b), Figure 3(c), Figure 3(d), and Figure 3(e) may appear. When Figure 3(b) and Figure 3(d) appear, it is necessary to flip 90° for clamping, so the robot is required to clamp the workpiece and put it into the flipping mechanism, let the flipping mechanism clamp the workpiece and flip it 90°, and then the robot clamps the workpiece and puts it into the first part positioning system 140. If the situation in Figure 3(e) appears, it is necessary to flip 180° for clamping, so the robot is required to clamp the workpiece and put it into the flipping mechanism, let the flipping mechanism clamp the workpiece and flip it 90°, and then the robot clamps the workpiece and put it into the flipping mechanism, let the flipping mechanism clamp the workpiece and flip it 90°, and then the robot clamps the workpiece and put it into the first part positioning system 140.

[0048] Next, the first part positioning system 140 is used for positioning, and the camera recognizes the position for assembly and screwing. Then, the part is transported to the second part positioning system 180 for positioning and camera recognition for insertion, loosening of the workpiece and recovery of the screws.

[0049] Artifact styles can also be used Figure 4(a)-4(c) As shown. The workpieces are all equipped with threaded mounting holes. In this embodiment, the assembly device can assemble a variety of workpieces of a certain size without order.

[0050] The overall action flow of the assembly device is as follows:

[0051] The workpieces are transported to the pick-up area via a conveyor belt, see Figure 5Next, the recognition camera takes a picture to identify the position of the workpiece. After identification, the recognition camera moves away. The robot adjusts its position according to the information recognized by the camera, grabs the first workpiece and puts it into the positioning system for positioning (if the direction of the workpiece needs to be adjusted by 90°, then the robot clamps the workpiece and hands it to the workpiece, and the mechanism flips 90°). After positioning, the robot of the screw driving system 160 goes to the vibration plate feeding system 150 to take the screws. At the same time, the camera of the screw driving system 160 rotates to the photo taking position, determines the position of the workpiece and moves away. The robot recognition and material taking system 130 adjusts its position according to the information recognized by the camera, grabs the second workpiece and puts it into the corresponding position. The robot moves away, and the robot of the screw driving system 160 comes over to screw and tighten the workpiece, and the assembly is completed.

[0052] The robot of the screw-driving system 160 moves away, the first part positioning system 140 is loosened, the robot of the robot identification and material picking system 130 clamps the assembled parts and puts them into one end of the assembly part conveying system 170, the assembly part conveying system 170 delivers the parts to the other end, the robot of the material disassembly and conveying system 120 grabs the parts and puts them into the second part positioning system 180 of the material disassembly part for positioning and clamping, the camera of the material disassembly and conveying system 120 comes to take a picture to confirm the position, after confirming the position, the camera and the robot move away, the robot of the screw disassembly and assembly system 190 moves into place, removes the screws, and then After that, the robot of the screw disassembly and assembly system 190 sucks the screw and moves it to the screw clamp of the robot of the screw disassembly and assembly system 190. The air clamp clamps the screw, and the robot of the screw disassembly and assembly system 190 moves up, the air clamp releases, and the screw falls into the recovery box; the second part positioning system 180 on the left is released, and the robot of the material disassembly and conveying system 120 comes over to grab the workpiece, and then moves to the top of the material disassembly and conveying system 120, the robot clamp releases, and the workpiece falls into the material disassembly and conveying system 120 and is shuffled and falls onto the conveyor belt; the workpiece is transported to the material picking area through the conveyor belt; the above steps are repeated.

[0053] In summary, the intelligent robot automated assembly device of this embodiment can process disordered workpieces: by using the camera to identify and distinguish the appearance and size characteristics of different workpieces, the robot can determine and adjust the way the robot grips the workpieces and the order of gripping the workpieces, and then use the positioning mechanism to locate, the camera to identify the position for assembly and screwing, and then transport it to another positioning mechanism for positioning and camera identification for insertion and disassembly of workpieces and screw recovery. Therefore, this embodiment can realize the automated assembly of multiple products of certain specifications and sizes in the case of disordered incoming materials; it can adapt to the flexible production of multiple products.

[0054] Based on the above-mentioned intelligent robot automated assembly device, this application proposes an intelligent robot automated assembly method, please refer to Figure 6 , Figure 6This is a flow chart of an embodiment of the intelligent robot automated assembly method of the present application. In this embodiment, the following steps may be specifically included:

[0055] S110: Disorganize the workpieces and convey the disrupted workpieces to a material taking position via a conveyor belt.

[0056] S120: adjusting the position of the electric gripper according to the recognition information obtained by the recognition camera, and placing the workpiece at the material picking position to a preset position by using the electric gripper, and positioning it.

[0057] S130: Get the screws from the vibrating plate feeding system, drive the screws into the positioned workpiece and tighten them to complete the assembly.

[0058] Optionally, before obtaining screws from the vibration plate feeding system, driving the screws into the positioned workpiece and tightening them to complete the assembly, it also includes: identifying whether the workpiece in the preset position is in the correct posture, if not, adjusting the workpiece to the correct posture; if not, there is no need to adjust the workpiece.

[0059] Optionally, the workpiece is adjusted to a correct posture by an electric clamp, including: using a flipping mechanism to flip the workpiece 90 degrees or 180 degrees to adjust the workpiece to a correct posture.

[0060] Based on the above-mentioned intelligent robot automated assembly device, this application proposes an intelligent robot automated disassembly and assembly method, please refer to Figure 7 , Figure 7 This is a flow chart of an embodiment of the intelligent robot automated disassembly and assembly method of the present application. In this embodiment, the following steps may be specifically included:

[0061] S210: The assembled workpiece is transported to the second part positioning system and the positioning is completed.

[0062] S220: Use the screw disassembly system to remove the screws in the workpiece, put the removed screws into the recycling box, and shuffle other parts into the shuffling system, and transport them to the material picking area for identification through the conveyor belt of the shuffling system.

[0063] The present application proposes an intelligent robot automated assembly device and method, wherein the assembly device includes: a base; a material shuffling and conveying system, which is used to shuffle the workpieces and convey the shuffled workpieces to the material fetching position through a conveyor belt; a robot identification and material fetching system, which is used to adjust the electric gripper position according to the identification information obtained by the identification camera, and use the electric gripper to place the workpiece at the material fetching position to the preset position; a first part positioning system, which is used to position the workpiece placed at the preset position; a vibration plate feeding system, which is used for screw feeding and screw distribution; a screw driving system, which includes a four-axis robot and a screw gun installed on a guide component driven by a cylinder, which is used to obtain screws from the vibration plate feeding system, and drive the screws into the positioned workpiece and tighten them, thereby completing the assembly. The present application can realize the automated assembly of a variety of products of certain specifications and sizes in the case of disordered incoming materials; and can adapt to the flexible production of a variety of products.

[0064] It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. In addition, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. The step numbers used in the text are also only for the convenience of description and are not used as a limitation on the order in which the steps are executed. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0065] The terms "first", "second", etc. in this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0066] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent robot automated assembly device, characterized in that: include: A base, for providing a mounting platform; A material shuffling and conveying system is arranged on the base, and includes a material shuffling baffle, a fixed mounting seat, a motor and a conveyor belt, and is used to shuffle the workpieces and convey the shuffled workpieces to a material taking position through the conveyor belt; A robot identification and material picking system, arranged on the base, comprises an electric gripper and an identification camera, and is used to adjust the position of the electric gripper according to the identification information obtained by the identification camera, and to place the workpiece at the material picking position to a preset position by using the electric gripper; A first part positioning system, arranged on the base, comprises four electric cylinders, a push block and a placement plate, and is used to position the workpiece placed at the preset position; A vibration plate feeding system is arranged on the base, comprising a vibration plate, a direct vibration feeder, a feeding guide rail and a feeding mechanism, and is used for screw feeding and screw feeding; A screw driving system, arranged on the base, comprises a four-axis robot and a screw gun mounted on a guide component driven by a cylinder, and is used to obtain screws from the vibrating plate feeding system, and drive the screws into the positioned workpiece and tighten them, thereby completing the assembly; A protective cover is provided with a door that can be opened and closed to facilitate maintenance and debugging; The robot identification and material picking system is also used to identify whether the workpiece at the preset position is in a correct posture. If not, the workpiece is adjusted to the correct posture; if yes, there is no need to adjust the workpiece; The robot identification and material taking system includes a turning mechanism; When the workpiece at the preset position is in an incorrect posture, the flipping mechanism is used to flip the workpiece 90 degrees or 180 degrees so that the workpiece is adjusted to a correct posture.

2. The intelligent robot automated assembly device according to claim 1, characterized in that: Also includes: Assemble parts conveying system, second part positioning system and screw disassembly system; The robot identification and material picking system is also used to place the assembled workpiece into one end of the assembly parts conveying system; The assembly parts conveying system is arranged on the base and includes a rodless cylinder and a conveying plate for conveying the workpiece from one end to the other end; The said material disorganization and conveying system is also used to grab the workpiece at the other end of the said assembly parts conveying system and put it into the second parts positioning system; The second part positioning system is arranged on the base and is used to position the assembled workpiece; The screw disassembly and assembly system is arranged on the base, and includes a robot electric screw gun, an electric clamp and a recycling box, which is used to remove the screws in the workpiece, put the removed screws into the recycling box, and put the remaining workpiece into the material disassembly and conveying system.

3. The intelligent robot automated assembly device according to claim 2, characterized in that: Also includes: An electrical control cabinet, equipped with a control circuit and electrical components, for controlling the circuit of the device; The robot control cabinet is equipped with a robot controller for controlling the robot's movements.

4. The intelligent robot automated assembly device according to claim 3, characterized in that: The protective cover covers the base and is used to provide robot protection and display screen installation.

5. An intelligent robot automated assembly method, characterized in that: An intelligent robot automated assembly device applicable to any one of claims 1 to 4, comprising: Disorganize the workpieces and transport the disorganized workpieces to the material collection position through a conveyor belt; The electric gripper position is adjusted according to the identification information obtained by the identification camera, and the workpiece at the material picking position is placed at a preset position by the electric gripper for positioning; The screws are obtained from the vibrating plate feeding system, driven into the positioned workpiece and tightened to complete the assembly.

6. The intelligent robot automated assembly method according to claim 5, characterized in that: Before obtaining the screws from the vibrating plate feeding system and driving the screws into the positioned workpieces and tightening them to complete the assembly, the process further includes: It is identified whether the workpiece at the preset position is in a correct posture. If not, the workpiece is adjusted to the correct posture; if so, there is no need to adjust the workpiece.

7. The intelligent robot automated assembly method according to claim 6, characterized in that: The workpiece is adjusted to a correct posture by an electric clamp, including: The workpiece is turned 90 degrees or 180 degrees by using a turning mechanism so as to adjust the workpiece to a correct posture.

8. An automated disassembly and assembly method for an intelligent robot, characterized in that: An intelligent robot automated assembly device applicable to any one of claims 1 to 4, comprising: The assembled workpiece is transported to the second part positioning system and positioned; The screws in the workpiece are removed by using the screw disassembly system, the removed screws are placed in a recycling box, and other parts are placed in a shuffling system to be shuffled, and are transported to the material picking area for identification through the conveyor belt of the shuffling system.

Images