A tooling device and a production line for assembling a mechanical arm joint

Abstract

The present invention relates to the field of automation equipment technology, and in particular to a tooling device and a production line for assembling robot arm joints. The tooling device includes a bearing member, a locking assembly, a sliding drive assembly and a rotating drive assembly. The bearing member is used to bear a workpiece, and the bearing member is assembled by sliding and rotating. The locking assembly includes a locking plate and at least one locking member. The locking plate is movably assembled on the bearing member, and the locking member is fixedly assembled. At least two locking holes are formed on the locking plate. The locking plate slides toward the locking member with the bearing member, so that the locking member can be extended into the locking hole to achieve locking. The locking plate slides away from the locking member with the bearing member, so that the locking member can be disengaged from the locking hole to achieve unlocking. The sliding drive assembly drives the bearing member to slide, and the rotating drive assembly drives the sliding drive assembly and the bearing member to rotate, thereby solving the technical problem of poor assembly accuracy between the two ends of the workpiece and other parts in the prior art.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a tooling device and a production line for assembling robot arm joints. Background Art

[0002] With the advancement of mechatronics technology and the vigorous development of the wave of artificial intelligence, industrial products are developing in the direction of intelligence, systematization, miniaturization, modularization and human-machine collaboration. Especially in the field of light robotic arms, robotic arms have a development trend of high precision, modularization, lightweight and multi-degree of freedom. Robotic arms are widely used in various fields, so there is a great demand for robotic arms. The shell of the joint on the robotic arm is generally set to be cylindrical, and other parts need to be assembled at both ends of the cylindrical shell. Multiple workstations used in the prior art cooperate to assemble the joints. After one workstation assembles one end of the shell, the shell needs to be flipped by the next workstation, and then assembled by another workstation on the other end of the workpiece. This makes it impossible to assemble the two ends of the workpiece at the same station. In this process, multiple positioning actions are required, and the workpiece is not limited during rotation. The accumulation of positioning tolerances and the deflection of the workpiece during rotation due to vibration make the assembly action accuracy at both ends of the workpiece low. Summary of the invention

[0003] In order to solve the technical problem of poor assembly accuracy between the two ends of a workpiece and other parts in the prior art, the present invention provides a tooling device and a production line for assembling a robot arm joint, which solves the above technical problem. The technical solution of the present invention is as follows:

[0004] A tooling device comprises: a carrier, which is used to carry a workpiece and is assembled by sliding and rotating; a locking assembly, which comprises a locking plate and at least one locking member, the locking plate is movably assembled on the carrier, the locking member is fixedly assembled, at least two locking holes are formed on the locking plate, the locking plate slides toward the locking member with the carrier, and the locking member can be extended into the locking hole to achieve locking, and the locking plate slides away from the locking member with the carrier, and the locking member can be disengaged from the locking hole to achieve unlocking; a sliding drive assembly, which drives the carrier to perform sliding motion; and a rotating drive assembly, which drives the sliding drive assembly and the carrier to perform rotating motion.

[0005] According to one embodiment of the present invention, it also includes a support seat, in which a penetrating limiting channel is formed, the non-load-bearing sliding assembly of the support member is assembled on the limiting channel, and the non-load-bearing end of the support member is hingedly assembled with the sliding drive assembly, and the sliding drive assembly is swung relative to the support seat to drive the support member to reciprocate.

[0006] According to one embodiment of the present invention, it also includes a limiting member, which is sleeved on the supporting member, and the supporting member is formed with an annular protrusion along the radial direction, one end of the limiting member abuts against the annular protrusion, and the other end of the limiting member abuts against the inner wall of the support seat.

[0007] According to one embodiment of the present invention, the sliding drive assembly includes: an eccentric wheel, which is hingedly matched with the non-load-bearing end of the bearing member; and a toggle member, which is fixedly assembled with the eccentric wheel and drives the eccentric wheel to swing, so as to drive the bearing member to reciprocate.

[0008] According to an embodiment of the present invention, it further comprises a toggle drive module, wherein the toggle drive module drives the toggle member and the eccentric wheel to perform a toggle motion.

[0009] According to an embodiment of the present invention, the toggle drive module includes a drive rod and a toggle drive member, the drive rod and the toggle drive member are rotationally matched, the toggle drive member drives the drive rod to rotate, and the rotation of the drive rod drives the toggle member to swing.

[0010] According to one embodiment of the present invention, the toggle drive module also includes a telescopic drive component, which is arranged on the toggle drive member. The telescopic drive component includes a telescopic drive member and the supporting plate. A slide groove is formed on the supporting plate, and the drive rod is passed through the slide groove. When driven by the telescopic drive member, the drive rod and the supporting plate move toward or away from the toggle member.

[0011] According to one embodiment of the present invention, the rotating drive assembly includes a rotating drive member and a first turntable, the rotating drive member rotates in cooperation with the first turntable, and two clamping drive members are connected to one end of the first turntable facing the sliding drive assembly, and the two clamping drive members drive the clamping members to move toward each other to clamp the sliding drive assembly.

[0012] According to one embodiment of the present invention, the axis of the rotary drive assembly and the axis of the carrier are located on the same straight line.

[0013] A production line for assembling robot arm joints adopts the above-mentioned tooling device.

[0014] Based on the above technical solution, the technical effects that can be achieved by the present invention are:

[0015] 1. The sliding drive assembly of the present application drives the carrier to move toward the locking member, and the locking plate slides with the carrier toward the locking member, so that the locking member can be extended into the locking hole to achieve locking, so that the workpiece is positioned, and then one end of the workpiece is assembled. When the other end of the workpiece needs to be assembled with the workpiece, the sliding drive assembly drives the carrier to move away from the locking member, so that the locking member is disengaged from the locking hole to achieve unlocking, and the rotating drive assembly drives the sliding drive assembly and the carrier to rotate, and then the locking member is extended into the locking hole to achieve locking, so that the other end of the workpiece is assembled with parts, relatively. In the prior art, one workstation assembles one end of a workpiece, and the workpiece is flipped over by the next workstation before another workstation assembles the other end of the workpiece, resulting in the inability of the two ends of the workpiece to be assembled by the same workstation in a locked state, and multiple positioning leads to the accumulation of positioning tolerances, which in turn makes the assembly accuracy of the two ends of the workpiece with other parts poor. The workpiece of the present application is in a locked state, and the two ends of the workpiece are assembled by the same workstation, which reduces the number of positioning times, thereby ensuring the assembly accuracy of the two ends of the workpiece with other parts.

[0016] 2. The bearing member of the present application is slidably assembled in the support seat, and the non-bearing end of the bearing member is hingedly assembled with the sliding drive assembly. The sliding drive assembly swings relative to the support seat to drive the bearing member to reciprocate. In this way, the rotational movement and sliding movement of the bearing member are limited, that is, it cannot shake arbitrarily, thereby ensuring the accuracy of the workpiece moving to the specified position.

[0017] 3. The limit member of the present application is sleeved on the carrier, and the carrier is formed with an annular protrusion along the radial direction. One end of the limit member abuts against the annular protrusion, and the other end of the limit member abuts against the inner wall of the support seat. In this way, when the carrier is in a locked state, the limit member provides a force to make the sliding drive assembly press against the support seat to prevent the sliding drive assembly from making unnecessary deflection, thereby making the carrier in an unlocked state, thereby affecting the assembly accuracy of the workpiece and other parts.

[0018] 4. The sliding drive assembly of the present application includes an eccentric wheel and a toggle member. The eccentric wheel is hingedly matched with the non-load-bearing end of the support member, and the toggle member is fixedly assembled with the eccentric wheel. The toggle member drives the eccentric wheel to swing to drive the support member to reciprocate. In this way, there is no need to set a driving member such as a motor to connect with the support member, which simplifies the structure of the tooling device and saves space. In addition, the toggle drive module that drives the toggle member is slidably assembled, and the rotation drive assembly that drives the support member to rotate is also slidably assembled. In this way, the toggle drive module and the rotation drive assembly can share space by staggered sliding, and can drive the support member to slide and rotate respectively without interfering with each other, that is, through integrated installation, the occupied space of the workstation device is reduced.

[0019] 5. The axis of the rotary drive assembly and the axis of the carrier of the present application are located on the same straight line, which reduces the alignment action of the rotary drive assembly and the carrier. That is, after the rotary drive assembly slides to the specified position, it can clamp the eccentric wheel, thereby driving the carrier to rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of an assembly station;

[0021] Figure 2 It is a structural schematic diagram of the tooling device;

[0022] Figure 3 for Figure 2 A cross-sectional view of

[0023] Figure 4 for Figure 2 A partial enlarged view of A;

[0024] Figure 5 is a schematic diagram of the structure of the bearing member;

[0025] Figure 6 An exploded view of the lock, support seat and workpiece;

[0026] Figure 7 is a structural schematic diagram of a sliding drive assembly;

[0027] Figure 8 is a schematic diagram of the structure of a rotary drive assembly;

[0028] Fig. 9 It is a structural schematic diagram of the toggle drive module;

[0029] In the figure:

[0030] 1-carrying member; 11-locking part; 12-assembly part; 13-annular protrusion; 2-locking assembly; 21-locking plate; 211-locking hole; 212-locking hole; 22-locking member; 3-sliding drive assembly; 31-eccentric wheel; 311-assembly port; 32-sliding member; 4-rotational drive assembly; 41-rotational drive member; 42-first rotary disk; 43-clamping drive member; 44-clamping member; 45-first connecting plate; 46-first Driving member; 47-first guide rail; 5-support seat; 51-limiting channel; 52-copper sleeve; 6-sliding driving module; 61-driving rod; 62-sliding driving member; 63-second turntable; 64-telescopic driving assembly; 641-telescopic driving member; 642-carrying plate; 6421-slide groove; 65-limiting protrusion; 66-second connecting plate; 67-second driving member; 68-second guide rail; 7-limiting member, 8-workpiece; 9-blocking assembly. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0034] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0035] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0036] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0037] like Figure 1-9 As shown, the tooling device of this embodiment includes a carrier 1, a locking assembly 2, a sliding drive assembly 3 and a rotating drive assembly 4. The carrier 1 is used to carry a workpiece 8. The carrier 1 is assembled by sliding and rotating. The locking assembly 2 includes a locking plate 21 and at least one locking member 22. The locking plate 21 is movably assembled on the carrier 1, and the locking member 22 is fixedly assembled. At least two locking holes 211 are formed on the locking plate 21. The locking plate 21 slides toward the locking member 22 with the carrier 1, so that the locking member 22 can be extended into the locking hole 211 to achieve locking. The locking plate 21 slides away from the locking member 22 with the carrier 1, so that the locking member 22 can be disengaged from the locking hole 211 to achieve unlocking. The sliding drive assembly 3 drives the carrier 1 to slide, and the rotating drive assembly 4 drives the sliding drive assembly 3 and the carrier 1 to rotate.

[0038] The carrier 1 of this embodiment is connected to the workpiece 8 by means of a locking plate 21. Specifically, a locking portion 11 is formed on the carrier 1, and a locking hole 212 corresponding to the locking portion 11 is formed on one side of the locking plate 21. The locking portion 11 extends into the locking hole 212. The two can be welded, threaded, and bonded to achieve a fixed connection between the carrier 1 and the locking plate 21. The other side of the locking plate 21 is fixedly connected to the workpiece 8, so that the workpiece 8 can move with the carrier 1.

[0039] The sliding and rotation of the support member 1 of the present embodiment is supported and limited by the limiting seat 5. Specifically, the support member 1 is configured to be columnar, and the tooling device also includes a support seat 5, which is fixedly assembled, and a penetrating limiting channel 51 is formed in the support seat 5. The non-load-bearing sliding assembly of the support member 1 is in the limiting channel 51, so that the sliding and rotation of the support member 1 are limited by the limiting channel 51, that is, the support member 1 cannot shake arbitrarily during sliding and rotating, so that the positioning of the support member 1 and the locking member 22 is accurate, thereby ensuring the assembly accuracy of the workpiece 8.

[0040] Preferably, in order to reduce the friction between the carrier 1 and the support seat 5, a graphite copper sleeve 52 is provided in the limiting channel 51 of the present embodiment. The lubricating properties of graphite are utilized to reduce the friction between the carrier 1 and the support seat 5, thereby extending the service life of the carrier 1 and the support seat 5.

[0041] In order to reduce the space occupied, in the present embodiment, the locking member 22 is configured as a locking column, and two locking columns are configured. The locking columns are fixedly connected to the support seat 5, thereby reducing the fixing device of the locking column. The central angle between the two locking columns is 180°, so that after the workpiece 8 is rotated 180°, the workpiece 8 can be locked, thereby realizing the assembly of the two ends of the workpiece 8.

[0042] The sliding drive assembly 3 of this embodiment drives the carrier 1 to slide along the limiting channel 51, thereby controlling the locking member 22 and the locking plate 21 to be in a locked state or an unlocked state. Specifically, the sliding drive assembly 3 is arranged at one end of the support seat 5 away from the locking plate 21. The sliding drive assembly 3 includes an eccentric wheel 31 and a toggle member 32. The middle of one side of the eccentric wheel 31 is concave to form an assembly opening 311. An assembly portion 12 is formed on the non-bearing end of the carrier 1. The assembly portion 12 is set to a plane so that the non-bearing end of the carrier 1 is hingedly matched with the eccentric wheel 31. The toggle member 32 is fixedly assembled with the non-opening side of the eccentric wheel 31. Under the action of external force, the toggle member 32 drives the eccentric wheel 31 to rotate forwardly, and the forward rotation of the eccentric wheel 31 brings The carrier 1 slides toward the locking member 22, so that the locking member 22 extends into the locking hole 211, so that the workpiece 8 is in a locked state for the transfer action. When the other end of the workpiece 8 needs to be assembled with parts, the toggle member 32 drives the eccentric wheel 31 to rotate in the opposite direction. The reverse rotation of the eccentric wheel 31 causes the carrier 1 to slide away from the locking member 22, and the locking member 22 escapes from the locking hole 211 to be unlocked. The rotating drive assembly 4 drives the sliding drive assembly 3 and the carrier 1 to rotate, and then the locking member 22 extends into another locking hole 211 to be locked, so that the other end of the workpiece 8 can be assembled with parts. Of course, the sliding drive assembly 3 can also be set to other structures such as a motor, which can drive the carrier 1 to reciprocate.

[0043] The toggle member 32 of the present embodiment is driven by the toggle drive module 6 to swing. Specifically, the toggle drive module 6 includes a drive rod 61 and a toggle drive member 62. In the present embodiment, the toggle drive member 62 is configured as a cylinder, and the telescopic end of the cylinder is connected to a second rack. The non-driving end of the drive rod 61 is fixedly connected to the second turntable 63. A gear tooth is formed on the side of the second turntable 63 away from the drive rod 61, and the gear tooth is meshed with the second rack. In this way, the toggle drive member 62 drives the second turntable 63 to rotate forward and reversely through the second rack, so that the drive rod 61 drives the toggle member 32 to swing forward and reverse.

[0044] Preferably, after the driving rod 61 of the present embodiment drives the toggle member 32 to deflect, it can also release the contact with the toggle member 32 under the drive of the telescopic driving assembly 64. Specifically, the toggle driving module 6 also includes a telescopic driving assembly 64, which is arranged on the toggle driving member 62. The telescopic driving assembly 64 includes a telescopic driving member 641 and a bearing plate 642. The telescopic driving member 641 is arranged as a cylinder, and a circular arc-shaped slide groove 6421 is formed on the bearing plate 642. The driving rod 61 is inserted into the slide groove 6421 so that the driving rod 61 can be circumferentially moved along the slide groove 6421. Movement, so that the driving rod 61 drives the toggle member 32 to perform a pendulum movement. An annular limiting protrusion 65 is provided on the driving rod 61, and the annular limiting protrusion 65 is sleeved on the driving rod 61 to prevent the driving rod 61 from moving along its axial direction relative to the supporting plate 642, that is, the driving rod 61 and the supporting plate 642 can only move together in the axial direction of the driving rod 61. Under the drive of the cylinder, the driving rod 61 and the supporting plate 642 move toward or away from the toggle member 32. The telescopic driving member 641 can be selected from but not limited to a cylinder, and can drive the movement of the supporting plate 642 and the driving rod 61.

[0045] Preferably, the toggle drive module 6 of this embodiment is slidably assembled, and the toggle drive module 6 is connected to the second drive member 67 by means of a second connecting plate 66. The second drive member 67 is configured as a cylinder, and the telescopic end of the cylinder is connected to the second connecting plate 66, thereby driving the second connecting plate 66 and the device thereon to reciprocate along the second guide rail 68 on the cylinder.

[0046] In order to prevent unnecessary deflection of the eccentric wheel 31 when the workpiece 8 is transferred, the tooling device of this embodiment also includes a limit member 7. In this embodiment, the limit member 7 is configured as a spring, which is arranged in the limit channel 51 and is sleeved on the carrier 1. The carrier 1 is formed with an annular protrusion 13 along the radial direction. One end of the spring abuts against the annular protrusion 13, and the other end of the spring abuts against the inner wall of the support seat 5. In this way, when the carrier 1 is in a locked state, the spring provides a force to make the eccentric wheel 31 press against the support seat 5, thereby preventing the sliding drive assembly 3 from performing unnecessary deflection, thereby avoiding affecting the assembly accuracy of the workpiece 8 and other parts; in addition, when the carrier plate moves away from the locking member 22, the spring can also provide a reset force, thereby reducing the force provided by the drive rod 61.

[0047] The carrier 1 of this embodiment rotates under the drive of the rotation drive component 4. Specifically, the rotation drive component 4 includes a rotation drive component 41 and a first turntable 42. The rotation drive component 41 is configured as a cylinder. The telescopic end of the cylinder is connected to a first rack. One side of the first turntable 42 is provided with gear teeth. The gear teeth and the first rack are meshed with each other. The cylinder drives the first rack to reciprocate, thereby driving the first turntable 42 to rotate forward and reverse. Two clamping drive components 43 are connected to the other side of the first turntable 42. The clamping drive component 43 is configured as a cylinder. The telescopic end of the cylinder is connected to a clamping component 44. The two cylinder drive components drive the two clamping components 44 to move toward each other to clamp the eccentric wheel 31, and then rotate under the drive of the first turntable 42. The rotation of the eccentric wheel 31 can drive the carrier 1 to rotate, so that parts can be assembled at both ends of the workpiece 8.

[0048] Preferably, the axis of the rotary drive assembly 4 of this embodiment and the axis of the carrier 1 are located on the same straight line, thereby reducing the alignment action of the rotary drive assembly 4 and the carrier 1. That is, after the rotary drive assembly 4 slides to the specified position, it can clamp the eccentric wheel 31, thereby driving the carrier 1 to rotate. This method reduces the alignment action.

[0049] Furthermore, the rotary drive assembly 4 of the present embodiment is slidably assembled, and the rotary drive assembly 4 is connected to the first drive member 46 by means of the first connecting plate 45. The first drive member 46 is configured as a cylinder, and the telescopic end of the cylinder is connected to the first connecting plate 45, thereby driving the first connecting plate 45 and the device thereon to reciprocate along the first guide rail 47 on the cylinder.

[0050] Preferably, the first driving member 46 and the second driving member 67 of the present embodiment are arranged in parallel, and the order of the first driving member 46 driving the rotation driving component 4 to move and the second driving member 67 driving the toggle driving module 6 to move is controlled, so that the rotation driving component 4 and the toggle driving module 6 can share a space to drive the carrier 1 to slide and rotate, that is, the rotation driving component 4 and the toggle driving module 6 can be installed in an integrated manner to save space.

[0051] The present embodiment also provides a production line for assembling robot arm joints, which adopts the above-mentioned tooling device to realize the assembly of the robot arm joints. Since the assembly accuracy of the two ends of the joints with other parts is guaranteed, the accuracy of the finished robot arm is guaranteed. In addition, in the present embodiment, the support member 1, the locking assembly 2 and the sliding drive assembly 3 have a compact structure and a small size, and can also be arranged as a sliding assembly, that is, it can be transferred to the next workstation of the production line, thereby playing the role of conveying the joints.

[0052] Based on the above structure, the working principle of the tooling device and the production line for assembling the robot arm joints of this embodiment is as follows:

[0053] After the joint is transported to the assembly station, it stops moving after being blocked by the blocking component 9. The assembly station assembles one end of the workpiece 8. After the second driving member 67 drives the toggle driving module 6 to move toward the workpiece 8 to the specified position, the telescopic driving member 641 drives the carrying plate 642 and the driving rod 61 to move toward the toggle member 32, so that the driving end of the driving rod 61 can drive the toggle member 32. The toggle driving member 62 drives the driving rod 61 to rotate in the opposite direction along the arc-shaped slide groove 6421. The reverse rotation of the driving rod 61 drives the toggle member 32 to deflect in the opposite direction. The reverse deflection of the toggle member 32 drives the carrying member 1 to move away from the locking member 22, so that the locking member 22 escapes from the locking hole 211 to be unlocked; the telescopic driving member 641 drives the carrying plate 642 and the driving rod 61 to move away from the toggle member 32, and the second driving member 67 drives the toggle driving module 6 to move away from the workpiece 8 to avoid interfering with the rotation driving assembly 4 to drive the workpiece 8 to rotate. The first driving member 46 drives the first connecting plate 45 and The rotary drive assembly 4 moves along the first guide rail 47 toward the eccentric wheel 31 to a specified position, the two clamping drive members 43 first drive the two clamping members 44 to move toward each other to clamp the eccentric wheel 31, the rotary drive member 41 drives the two clamping members 44, the eccentric wheel 31 and the workpiece 8 to rotate to a specified position, and then the two clamping drive members 43 drive the two clamping members 44 to move away from each other to release the eccentric wheel 31, and the first drive member 46 drives the first connecting plate 45 and the rotary drive assembly 4 along the first guide rail 47. A guide rail 47 moves away from the eccentric wheel 31, and then drives the drive module 6 to move to the corresponding position, so that the drive member 62 drives the drive rod 61 to rotate forward along the arc-shaped slide groove 6421. The forward rotation of the drive rod 61 drives the toggle member 32 to swing forward, and the positive swing of the toggle member 32 drives the carrier 1 to move toward the locking member 22, so that the locking member 22 extends into the locking hole 211 to achieve re-locking of the workpiece 8, so as to assemble the other end of the workpiece 8.

[0054] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A tooling device, characterized in that: include: A carrier (1), the carrier (1) being used to carry a workpiece (8), the carrier (1) being assembled by sliding and rotating; A locking assembly (2), the locking assembly (2) comprising a locking plate (21) and at least one locking member (22), the locking plate (21) being movably mounted on the carrier (1), the locking member (22) being fixedly mounted, the locking plate (21) being formed with at least two locking holes (211), the locking plate (21) sliding along with the carrier (1) towards the locking member (22) so that the locking member (22) can be extended into the locking hole (211) to achieve locking, and the locking plate (21) sliding along with the carrier (1) away from the locking member (22) so that the locking member (22) can be disengaged from the locking hole (211) to achieve unlocking; A sliding drive assembly (3), wherein the sliding drive assembly (3) drives the bearing member (1) to perform sliding motion; A rotation drive assembly (4), the rotation drive assembly (4) drives the sliding drive assembly (3) and the bearing member (1) to perform rotational motion, and the axis of the rotation drive assembly (4) and the axis of the bearing member (1) are located on the same straight line; A support seat (5), wherein a through-limiting channel (51) is formed in the support seat (5), a non-load-bearing end of the bearing member (1) is slidably mounted on the limit channel (51), and the non-load-bearing end of the bearing member (1) is hingedly assembled with the sliding drive assembly (3), and the sliding drive assembly (3) is deflected relative to the support seat (5) to drive the bearing member (1) to reciprocate; The support member (1) further comprises a limiting member (7), wherein the limiting member (7) is sleeved on the supporting member (1), the supporting member (1) is provided with an annular protrusion (13) along a radial direction, one end of the limiting member (7) abuts against the annular protrusion (13), and the other end of the limiting member (7) abuts against the inner wall of the supporting seat (5).

2. The tooling device according to claim 1, characterized in that: The sliding drive assembly (3) comprises: An eccentric wheel (31), the eccentric wheel (31) being hingedly matched with a non-load-bearing end of the load-bearing member (1); A toggle member (32), the toggle member (32) being fixedly assembled with the eccentric wheel (31), the toggle member (32) driving the eccentric wheel (31) to swing, thereby driving the bearing member (1) to reciprocate.

3. The tooling device according to claim 2, characterized in that: It also comprises a toggle drive module (6), wherein the toggle drive module (6) drives the toggle member (32) and the eccentric wheel (31) to perform a toggle motion.

4. The tooling device according to claim 3, characterized in that: The toggle drive module (6) comprises a drive rod (61) and a toggle drive member (62); the drive rod (61) and the toggle drive member (62) are rotationally matched; the toggle drive member (62) drives the drive rod (61) to rotate; and the rotation of the drive rod (61) drives the toggle member (32) to swing.

5. The tooling device according to claim 4, characterized in that: The toggle drive module (6) further comprises a telescopic drive assembly (64), wherein the telescopic drive assembly (64) is arranged on the toggle drive member (62), wherein the telescopic drive assembly (64) comprises a telescopic drive member (641) and a carrier plate (642), wherein a slide groove (6421) is formed on the carrier plate (642), and the drive rod (61) is inserted into the slide groove (6421). When driven by the telescopic drive member (641), the drive rod (61) and the carrier plate (642) move toward or away from the toggle member (32).

6. The tooling device according to claim 1, characterized in that: The rotary drive assembly (4) comprises a rotary drive member (41) and a first rotating disk (42), wherein the rotary drive member (41) and the first rotating disk (42) are rotationally matched, and one end of the first rotating disk (42) facing the sliding drive assembly (3) is connected to two clamping drive members (43), and the two clamping drive members (43) drive the clamping members (44) to move towards each other so as to clamp the sliding drive assembly (3).

7. A production line for assembling robot arm joints, characterized in that: Comprising a tooling device as described in any one of claims 1-6.

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