A robot parts automatic assembly equipment based on intelligent manufacturing

Abstract

The present invention relates to the field of robot assembly technology, and in particular to an automatic assembly device for robot parts based on intelligent manufacturing, comprising a shell, a displacement component, a mounting plate, a turntable, a driving motor, a connecting shaft, a mounting frame, a first gear, a synchronous wheel, a linear driver, a lifting component and a plurality of connectors. The connecting shaft is driven by the linear driver, so that the transmission connection of the turntable is controlled through the transmission cooperation between the synchronous wheel and the first gear, and the replacement of the connector is realized. Then, the transmission connection state between the connector and the driving motor is switched through the lifting component, and the driving motor drives the connecting head. Then, the shell is driven to move by the displacement component, so that the device can be moved between multiple planes, which is convenient for the device to assemble robot parts, solves the problem of realizing automatic replacement of the connector without stopping production, can assemble a variety of connectors, improves the adaptability of the equipment, and improves production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robot assembly, and in particular to an automatic assembly device for robot parts based on intelligent manufacturing. Background Art

[0002] In the assembly process of the robot, the circuit board, related parts and shells are generally assembled and connected. This process is the assembly process, that is, the assembly process between assemblies. In the existing technology, the assembly between the parts of the robot is generally achieved manually. Manual assembly is the traditional assembly method, but the efficiency of manual assembly is relatively low and the cost is high. Negligence during assembly may occur, resulting in the failure to connect the parts, resulting in poor quality and the need to return for rework. Chinese invention CN202110748719.3 discloses a robot parts matching assembly device for intelligent manufacturing, including a device bracket and a rotating disk. The top of the rotating disk is provided with a linear transmission mechanism composed of a No. 2 motor, a ball screw, a moving block and a transmission rod. The front end of the transmission rod passes through the support rod and is fixedly connected There is a slider No. 1 that is slidably installed on the rotating disk, which drives the gear ring and the rotating disk to rotate through gears and No. 1 motor, and the screwdriver will also undergo synchronous axial rotation due to the rotation of the rotating disk, and the No. 2 motor, ball screw, moving block and transmission rod together constitute a linear transmission mechanism, and the transmission screwdriver can move radially along the diameter direction of the rotating disk. Therefore, the screwdriver has the functions of axial and radial movement at the same time, so that it can realize the covering screwing of the positioning hole in an annular plane, thereby improving the work efficiency of the device for connecting parts during the assembly process. However, in the actual production process, a variety of connection methods are used for the connection between parts. In actual work, due to the replacement of the connecting parts, it is necessary to replace the assembly device with a connecting head that matches the connecting parts, and it is necessary to stop production to replace the connecting head. Summary of the invention

[0003] Based on this, it is necessary to provide an automatic assembly equipment of robot parts based on intelligent manufacturing to address the existing technical problems.

[0004] In order to solve the problems of the prior art, the technical solution adopted by the present invention is:

[0005] A robot parts automatic assembly equipment based on intelligent manufacturing, comprising a shell, a displacement component for driving the shell to move, a mounting plate and a turntable, the shell is fixedly connected to the displacement component, the mounting plate is located in the center of the shell, the turntable is located below the mounting plate, a drive motor is arranged above the mounting plate, a connecting shaft parallel to the axis of its output shaft is arranged beside the drive motor, the turntable is sleeved at the bottom of the connecting shaft and is transmission-connected with it, a mounting frame is arranged beside the connecting shaft, a first gear is arranged on the mounting frame, the connecting shaft passes through the first gear, a synchronous wheel is fixedly connected to the connecting shaft, the synchronous wheel is transmission-matched with the first gear, a linear driver for driving the axis direction of the connecting shaft is arranged at the top of the connecting shaft, a second gear is sleeved on the output shaft of the drive motor, the first gear and the second gear are meshingly connected, a plurality of connectors evenly distributed around the axis are arranged on the turntable, the drive motor is transmission-connected with the connector coaxially with its axis, and a lifting component for switching the transmission connection state between the connector and the drive motor is arranged at the bottom of the turntable.

[0006] Preferably, the linear drive is a first cylinder, which is located above the mounting plate. A rectangular push plate is arranged on the top of the first cylinder, and the push plate is fixedly connected to the output shaft of the first cylinder. The connecting shaft is vertically located beside the first cylinder, and the connecting shaft is fixedly connected to one side of the push plate. A guide column placed vertically is arranged on the opposite side of the first cylinder to the connecting shaft, and the guide column passes through the push plate and is slidably connected thereto, and the axis of the guide column and the axis of the connecting shaft are parallel to each other.

[0007] Preferably, a third gear is also provided on the mounting frame, the third gear is placed coaxially with the first gear, the third gear is matched with the synchronous wheel transmission, a fourth gear matching the third gear is provided on the output shaft of the driving motor, an idler gear is provided between the third gear and the fourth gear, and the third gear and the fourth gear are both meshed and connected with the idler gear.

[0008] Preferably, the outer side of the synchronous wheel is provided with latching teeth, and the first gear and the third gear are provided with latching grooves matching with the synchronous wheel on one side close to the synchronous wheel.

[0009] Preferably, the turntable includes a first support ring, a second support ring and a plurality of sleeves, the first support ring and the second support ring are placed coaxially, the plurality of sleeves are vertically arranged around the axis of the first support ring and are evenly arranged between the first support ring and the second support ring, a mounting seat matching the connecting shaft is arranged in the center of the first support ring, the mounting seat and the first support ring are connected by a plurality of connecting rods, and the connecting head is arranged in the sleeve.

[0010] Preferably, the lifting assembly is a second cylinder, the second cylinder is located at the bottom of the turntable, the output shaft of the second cylinder is fixedly connected to the bottom of the mounting seat, the bottom of the connecting shaft is a polygonal structure, and the mounting seat is provided with a polygonal connecting hole that matches the connecting shaft, and the top of all sleeves is provided with a transmission part that matches the output shaft of the drive motor.

[0011] Preferably, the bottom of all the transmission parts in the sleeve is a polygonal transmission rod, the top of the connecting head is provided with a mounting hole matching the transmission rod, the middle of the connecting head is provided with a fixing plate, the connecting head is slidingly connected to the sleeve through the fixing plate, and an electromagnetic spring is fixedly connected between the fixing plate and the bottom of the sleeve.

[0012] Preferably, the displacement component is a multi-axis manipulator.

[0013] Preferably, a positioning frame is provided at the bottom of the shell, and a positioning hole is provided on the positioning frame which is coaxial with the output shaft of the driving motor. Sliding rods placed in a vertical state are provided at both ends of the positioning frame, and connecting seats matching the sliding rods are provided on both sides of the shell. The sliding rod is sleeved in the connecting seat, and a first spring is provided between the positioning frame and the connecting seat.

[0014] Preferably, a camera is further provided in the shell, and a sensor is further provided on the positioning frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present application drives the connecting shaft through a linear drive, thereby realizing the control of the transmission connection of the turntable through the transmission cooperation between the synchronous wheel and the first gear, realizing the replacement of the connecting head, and then switching the transmission connection state between the connecting head and the driving motor through the lifting component, realizing the driving of the connecting head by the driving motor, and then driving the shell to move through the displacement component, thereby realizing the movement of the equipment between multiple planes, facilitating the equipment to assemble robot parts, solving the problem of realizing automatic replacement of the connecting head without stopping production, and being able to assemble a variety of connecting parts, thereby improving the adaptability of the equipment and improving production efficiency;

[0017] 2. The present application drives the push plate to move by the first cylinder, thereby driving the connecting shaft to move along with the push plate. The setting of the guide column provides a guiding function, which facilitates the sliding of the connecting shaft and makes the operation of the equipment more stable. The synchronous wheel at the bottom of the connecting shaft moves, thereby facilitating the control of the connection state of the turntable, solving the technical problem of the linear drive driving the connecting shaft to move along its axis.

[0018] 3. The turntable provided by the present application makes the rotation direction of the third gear the same as the rotation direction of the fourth gear through the setting of the idler wheel, so that the forward and reverse rotation of the turntable can be adjusted by moving the driving connecting shaft of the first cylinder and driving the synchronous wheel to cooperate with the first gear and the third gear respectively through the connecting shaft, so as to facilitate the adjustment of the connector on the turntable, and the connector matching with the robot parts can be adjusted more quickly for installation, thereby improving production efficiency and solving the defect that the turntable and the connector can only rotate in one direction, thus making it inconvenient to automatically replace the connector;

[0019] 4. The present application uses the mutual matching of the latch teeth and the latch grooves to enable the first gear and the third gear to drive the synchronous wheel to rotate, thereby driving the rotation of the connecting shaft. When the synchronous wheel is away from the first gear and the third gear, the connecting shaft loses power, thereby facilitating the adjustment of the rotation state and transmission state of the turntable, improving production efficiency, and solving the technical problem of the transmission cooperation between the synchronous wheel and the first gear and the third gear.

[0020] 5. The turntable provided by the present application places the connector through a sleeve, which is convenient for protecting the connector and extending its service life. The first support ring and the second support ring are provided to improve the overall strength of the turntable. The installation seat is provided to facilitate connection with the connecting shaft. The connection rod is provided to further improve the support strength, ensure the stability of the equipment, and solve the technical problem of the turntable driving the connector to move.

[0021] 6. The present application provides a polygonal structure at the bottom of the connecting shaft and a matching connecting hole on the turntable, so that no matter how the turntable moves on the connecting shaft, it can maintain transmission with the connecting shaft, which is convenient for driving the rotation of the connecting head. The output shaft of the second cylinder is pushed out and retracted to connect and separate the transmission member with the output shaft of the drive motor, so as to achieve the connection between the connecting head and the drive motor, thus solving the technical problem of switching the transmission connection state between the lifting assembly and the drive motor.

[0022] 7. The connector provided by the present application realizes the control of the extension and contraction of the electromagnetic spring by energizing and deenergizing the electromagnetic spring, thereby facilitating the replacement of the connector and the assembly of robot parts through the connector. The electromagnetic spring can also play a certain buffering role. At the same time, through the polygonal structure of the transmission rod, the connector can slide to any position in the sleeve and maintain transmission connection with the transmission member. The movement of the connector is not affected during transmission, which solves the problem that the sleeve still has the inconvenience of installing the head to install the parts;

[0023] 8. The multi-axis manipulator provided in the present application can realize automatic control and multi-degree-of-freedom motion operations, can move freely in a three-dimensional space, is convenient for assembling robot parts, is not restricted by various positions, expands the use scenarios of the equipment, and solves the technical problem in the prior art that the displacement component can only be displaced on a plane, thereby limiting the application scenarios;

[0024] 9. The present application assists the positioning of the connector by setting a positioning frame, which plays a certain protective role for the connector, and the first springs on both sides play a certain buffering role, thereby solving the problem that the housing still has the defect of inconvenient installation head positioning for the connector;

[0025] 10. The shell provided in the present application uses a camera to measure the distance that the displacement component needs to move, which facilitates the realization of automated operation. The setting of sensors assists in the positioning and movement of the displacement component, making the movement of the equipment more accurate, solving the problem of improving the accuracy of equipment operation and improving production efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the embodiment;

[0027] Figure 2 is a side view of a housing of an embodiment;

[0028] Figure 3 is a schematic diagram of the three-dimensional structure of the housing of the embodiment;

[0029] Figure 4 is a side view of the interior of the housing of the embodiment;

[0030] Figure 5 is a schematic diagram of the three-dimensional structure inside the housing of the embodiment;

[0031] Figure 6 is a schematic diagram of a partial three-dimensional structure inside the housing of the embodiment;

[0032] Figure 7 1 is a schematic diagram of the three-dimensional structure of a turntable of an embodiment;

[0033] Figure 8 is a three-dimensional structural schematic diagram of the first gear, the third gear and the synchronous gear of the embodiment;

[0034] Fig. 9 It is an embodiment of Figure 3 The enlarged schematic diagram of point A in the middle;

[0035] Fig.10 is a schematic diagram of the three-dimensional structure of the transmission member and the connector of the embodiment;

[0036] Fig.11is a schematic diagram of the three-dimensional structure of the displacement assembly of the embodiment;

[0037] The numbers in the figure are:

[0038] 1-housing; 1a-mounting plate; 1a1-driving motor; 1a2-second gear; 1a3-fourth gear; 1b-mounting frame; 1b1-first gear; 1b2-third gear; 1b3-idle gear; 1b4-slot; 1c-positioning frame; 1c1-positioning hole; 1c2-sliding rod; 1c3-first spring; 1c4-connecting seat; 1c5-sensor; 1d-camera;

[0039] 2-turntable; 2a-connector; 2a1-mounting hole; 2a2-fixing plate; 2a3-electromagnetic spring; 2b-first support ring; 2b1-mounting seat; 2b2-connecting rod; 2b3-connecting hole; 2b4-second support ring; 2c-sleeve; 2c1-transmission member; 2c2-transmission rod; 2d-lifting assembly; 2d1-second cylinder;

[0040] 3-connecting shaft; 3a-synchronizing wheel; 3a1-grip; 3b1-first cylinder; 3b2-push plate; 3b3-guide column;

[0041] 4-displacement component; 4a-multi-axis manipulator. DETAILED DESCRIPTION

[0042] In order to further understand the features, technical means, specific objectives and functions of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0043] like Figure 1-10 As shown:

[0044] A robot parts automatic assembly device based on intelligent manufacturing includes a housing 1, a displacement component 4 for driving the housing 1 to move, a mounting plate 1a and a turntable 2, wherein the housing 1 is fixedly connected to the displacement component 4, the mounting plate 1a is located in the center of the housing 1, and the turntable 2 is located below the mounting plate 1a.

[0045] A driving motor 1a1 is arranged above the mounting plate 1a, and a connecting shaft 3 parallel to the axis of the output shaft of the driving motor 1a1 is arranged beside the driving motor 1a1. The turntable 2 is sleeved on the bottom of the connecting shaft 3 and is transmission-connected thereto.

[0046] A mounting frame 1b is provided beside the connecting shaft 3, and a first gear 1b1 is provided on the mounting frame 1b. The connecting shaft 3 passes through the first gear 1b1. A synchronous wheel 3a is fixedly connected to the connecting shaft 3, and the synchronous wheel 3a cooperates with the first gear 1b1 in transmission. A linear driver for driving the movement in the axial direction of the connecting shaft 3 is provided on the top of the connecting shaft 3. A second gear 1a2 is sleeved on the output shaft of the driving motor 1a1, and the first gear 1b1 and the second gear 1a2 are meshed and connected. A plurality of connectors 2a evenly distributed around the axis of the turntable 2 are provided on the turntable 2. The driving motor 1a1 is transmission-connected with the connector 2a coaxial with its axis. A lifting component 2d for switching the transmission connection state between the connector 2a and the driving motor 1a1 is provided at the bottom of the turntable 2.

[0047] Based on the above embodiment, when it is necessary to assemble the parts, firstly, the driving motor 1a1 is started, and the output shaft of the driving motor 1a1 drives the second gear 1a2 to rotate, and the rotation of the second gear 1a2 drives the first gear 1b1 meshing with it to rotate, and the linear drive is started, and the linear drive drives the connecting shaft 3 to move along its axial direction, thereby driving the synchronous wheel 3a on the connecting shaft 3 to move along its axis, so that the synchronous wheel 3a contacts the first gear 1b1, thereby driving the synchronous wheel 3a that is in transmission cooperation with it to rotate through the first gear 1b1, and the synchronous wheel 3a drives the connecting shaft 3 to rotate, and the rotating disk 2 connected to its bottom end is driven to rotate through the connecting shaft 3, and the rotation of the rotating disk 2 drives all the connecting heads 2a to rotate together, and the linear drive drives the connecting shaft 3 to make the synchronous wheel 3a When moving away from the first gear 1b1, the connecting shaft 3 loses power, and the second gear 1a2 can only drive the first gear 1b1 to rotate idly, thereby rotating one of the connectors 2a matching the component to the coaxial position of the output shaft of the drive motor 1a1, and starting the lifting component 2d, the lifting component 2d drives the turntable 2 to rise and fall, so that the connector 2a is connected to the output shaft of the drive motor 1a1 to maintain transmission, and the drive motor 1a1 drives the connector 2a to assemble the robot's components, and the displacement component 4 drives the shell 1 to move, so that the equipment can be moved between multiple planes, which is convenient for the equipment to assemble the robot's components, and solves the problem of automatically replacing the connector 2a without stopping production, and can assemble a variety of connectors, thereby improving the adaptability of the equipment and improving production efficiency.

[0048] Furthermore, in order to solve the technical problem of the linear drive driving the connecting shaft 3 to move along its axis, as Figure 4-6 As shown:

[0049] The linear actuator is a first cylinder 3b1, which is located above the mounting plate 1a. A rectangular push plate 3b2 is arranged on the top of the first cylinder 3b1, and the push plate 3b2 is fixedly connected to the output shaft of the first cylinder 3b1. The connecting shaft 3 is vertically located beside the first cylinder 3b1, and the connecting shaft 3 is fixedly connected to one side of the push plate 3b2. A guide column 3b3 placed vertically is arranged on the opposite side of the first cylinder 3b1 to the connecting shaft 3. The guide column 3b3 passes through the push plate 3b2 and is slidably connected thereto, and the axis of the guide column 3b3 is parallel to the axis of the connecting shaft 3.

[0050] Based on the above embodiment, the connecting shaft 3 provided in the present application starts the first cylinder 3b1, and the output shaft of the first cylinder 3b1 drives the movement of the push plate 3b2. Since the guide column 3b3 and the push plate 3b2 are slidingly connected, the push plate 3b2 slides along the axial direction of the guide column 3b3, thereby driving the connecting shaft 3 to move with the push plate 3b2, so that the connecting shaft 3 can move along its axial direction. The setting of the guide column 3b3 provides a guiding function, which facilitates the sliding of the connecting shaft 3 and makes the operation of the equipment more stable. By moving the connecting shaft 3, the synchronous wheel 3a at the bottom thereof moves, thereby facilitating the control of the connection state of the turntable 2, thereby solving the above-mentioned problem.

[0051] Furthermore, the turntable 2 and the connector 2a provided in the present application still have the defect that they can only rotate in one direction, so it is not convenient to automatically replace the connector 2a. In order to solve this problem, Figure 4-6 and Figure 8 As shown:

[0052] The mounting frame 1b is also provided with a third gear 1b2, which is coaxially placed with the first gear 1b1, and the third gear 1b2 is in transmission cooperation with the synchronous wheel 3a, and the output shaft of the driving motor 1a1 is provided with a fourth gear 1a3 which matches the third gear 1b2, and an idler gear 1b3 is provided between the third gear 1b2 and the fourth gear 1a3, and the third gear 1b2 and the fourth gear 1a3 are both meshedly connected with the idler gear 1b3.

[0053] Based on the above embodiment, the turntable 2 provided by the present application drives the synchronous wheel 3a to move through the connecting shaft 3, so that the synchronous wheel 3a is in transmission cooperation with the third gear 1b2. At this time, the second gear 1a2 can only drive the first gear 1b1 to rotate idly, and the output shaft of the driving motor 1a1 drives the fourth gear 1a3 to rotate, and the fourth gear 1a3 drives the idler wheel 1b3 meshing with it to rotate, and the rotation of the idler wheel 1b3 drives the rotation of the third gear 1b2, thereby driving the synchronous wheel 3a to rotate through the third gear 1b2, and driving the connecting gear 1b1 through the synchronous wheel 3a. The connecting shaft 3 rotates, and due to the setting of the idler wheel 1b3, the rotation direction of the third gear 1b2 is the same as the rotation direction of the fourth gear 1a3, so that by driving the connecting shaft 3 driven by the first cylinder 3b1 to move, the connecting shaft 3 drives the synchronous wheel 3a to cooperate with the first gear 1b1 and the third gear 1b2 respectively, so that the forward and reverse rotation of the turntable 2 can be adjusted, thereby facilitating the adjustment of the connecting head 2a on the turntable 2, and the connecting head 2a that matches the robot parts can be adjusted more quickly for installation, thereby improving production efficiency and solving the above-mentioned problems.

[0054] Furthermore, in order to solve the technical problem of transmission cooperation between the synchronous wheel 3a and the first gear 1b1 and the third gear 1b2, as Figure 8 As shown:

[0055] The outer side of the synchronous wheel 3a is provided with a latching tooth 3a1, and the first gear 1b1 and the third gear 1b2 are provided with a latching groove 1b4 matching with the synchronous wheel 3a on one side close to the synchronous wheel 3a.

[0056] Based on the above embodiments, the synchronous wheel 3a provided in the present application is provided with the latching teeth 3a1, so that when the synchronous wheel 3a is driven by the connecting shaft 3 to contact the first gear 1b1 and the third gear 1b2, the synchronous wheel 3a is latched into the latching groove 1b4 of the first gear 1b1 and the third gear 1b2, and the first gear 1b1 and the third gear 1b2 drive the synchronous wheel 3a to rotate through the mutual matching of the latching teeth 3a1 and the latching groove 1b4. When the synchronous wheel 3a is away from the first gear 1b1 and the third gear 1b2, the first gear 1b1 and the third gear 1b2 idle, thereby facilitating the adjustment of the rotation state and the transmission state of the turntable 2, improving the production efficiency, and solving the above problems.

[0057] Further, in order to solve the technical problem that the turntable 2 drives the connector 2a to move, as Figure 4 , Figure 7 and Fig.10 As shown:

[0058] The turntable 2 includes a first support ring 2b, a second support ring 2b4 and a plurality of sleeves 2c. The first support ring 2b and the second support ring 2b4 are coaxially arranged. The plurality of sleeves 2c are vertically arranged around the axis of the first support ring 2b and are evenly sleeved between the first support ring 2b and the second support ring 2b4. A mounting seat 2b1 matching the connecting shaft 3 is arranged in the center of the first support ring 2b. The mounting seat 2b1 and the first support ring 2b are connected by a plurality of connecting rods 2b2. The connecting head 2a is sleeved in the sleeve 2c.

[0059] Based on the above embodiments, the turntable 2 provided in the present application places the connecting head 2a through the sleeve 2c, which is convenient for protecting the connecting head 2a and extending its service life. The overall strength of the turntable 2 is improved by the arrangement of the first support ring 2b and the second support ring 2b4. The connection with the connecting shaft 3 is conveniently performed by the arrangement of the mounting seat 2b1. The arrangement of the connecting rod 2b2 further improves the supporting strength, ensures the stability of the equipment, and solves the above problems.

[0060] Furthermore, in order to solve the technical problem of the lifting assembly 2d switching the transmission connection state between the connecting head 2a and the driving motor 1a1, as Figure 4 , Figure 5 , Figure 7 and Fig.10 As shown:

[0061] The lifting component 2d is a second cylinder 2d1, which is located at the bottom of the turntable 2. The output shaft of the second cylinder 2d1 is fixedly connected to the bottom of the mounting seat 2b1. The bottom of the connecting shaft 3 is a polygonal structure. The mounting seat 2b1 is provided with a polygonal connecting hole 2b3 that matches the connecting shaft 3. The top of all sleeves 2c is provided with a transmission part 2c1 that matches the output shaft of the drive motor 1a1.

[0062] Based on the above embodiment, the turntable 2 provided in the present application starts the second cylinder 2d1, and the output shaft of the second cylinder 2d1 extends, so that the turntable 2 moves along the axial direction of the connecting shaft 3. Since the bottom of the connecting shaft 3 is a polygonal structure and the turntable 2 is provided with a connecting hole 2b3 matching it, the turntable 2 can maintain transmission with the connecting shaft 3 no matter how it moves on the connecting shaft 3, so as to drive the rotation of the connecting head 2a conveniently. The movement of the turntable 2 drives the rotation of all the sleeves 2c, so that the transmission member 2c1 at the top of the sleeve 2c is connected to the output shaft of the driving motor 1a1. When the second cylinder 2d1 is pushed upward, the transmission member 2c1 is connected to the output shaft of the driving motor 1a1. When the second cylinder 2d1 falls, the transmission member 2c1 loses the transmission of the output shaft of the driving motor 1a1, so that it is convenient for the turntable 2 to drive the connecting head 2a to move, and it is convenient to automatically replace the connecting head 2a, thereby solving the above problems.

[0063] Furthermore, the sleeve 2c provided in the present application still has the defect that it is inconvenient for the installation head to install the parts. In order to solve this problem, Figure 7 and Fig.10 As shown:

[0064] The bottom of all transmission parts 2c1 in the sleeve 2c is a polygonal transmission rod 2c2, the top of the connecting head 2a is provided with a mounting hole 2a1 matching the transmission rod 2c2, the middle of the connecting head 2a is provided with a fixing plate 2a2, the connecting head 2a is slidably connected to the sleeve 2c through the fixing plate 2a2, and an electromagnetic spring 2a3 is fixedly connected between the fixing plate 2a2 and the bottom of the sleeve 2c.

[0065] Based on the above embodiments, the connector 2a provided in the present application contracts the electromagnetic spring 2a3 by powering on, thereby driving the connector 2a to slide along the inner wall of the sleeve 2c toward its bottom, so that the connector 2a extends out of the sleeve 2c, thereby assembling the parts of the robot; the electromagnetic spring 2a3 is reset by powering off, and the connector 2a is returned to the inside of the sleeve 2c along the inner wall of the sleeve 2c, which is convenient for replacing the connector 2a. The electromagnetic spring 2a3 can also play a certain buffering role, and the connector 2a is slidably connected to the sleeve 2c through the fixed plate 2a2. At the same time, through the cooperation of the transmission rod 2c2 and the mounting hole 2a1, since the transmission rod 2c2 is a polygonal structure, the connector 2a can maintain a transmission connection with the transmission member 2c1 when it slides to any position in the sleeve 2c, and does not affect the movement of the connector 2a during transmission, thereby solving the above problems.

[0066] Furthermore, in order to solve the technical problem that the displacement component 4 in the prior art can only be displaced on a plane, thereby limiting the application scenarios, such as Fig.11 As shown:

[0067] The displacement component 4 is a multi-axis manipulator 4a.

[0068] Based on the above embodiments, the multi-axis manipulator 4a provided in the present application can realize automatic control and multi-degree-of-freedom movement operations, can move freely in a three-dimensional space, is convenient for assembling robot parts, is not restricted by various positions, expands the use scenarios of the equipment, and solves the above problems.

[0069] Furthermore, the housing 1 provided in the present application still has the defect that it is inconvenient for the mounting head to position the connector. To solve this problem, Figure 2 , Figure 3 and Fig. 9 As shown:

[0070] A positioning frame 1c is provided at the bottom of the shell 1, and a positioning hole 1c1 coaxial with the output shaft of the driving motor 1a1 is provided on the positioning frame 1c, and sliding rods 1c2 placed in a vertical state are provided at both ends of the positioning frame 1c, and connecting seats 1c4 matching with the sliding rods 1c2 are provided on both sides of the shell 1, and the sliding rods 1c2 are sleeved in the connecting seats 1c4, and a first spring 1c3 is provided between the positioning frame 1c and the connecting seat 1c4.

[0071] Based on the above embodiments, the shell 1 provided in the present application first aligns the positioning hole 1c1 on the positioning frame 1c with the position where the robot parts need to be assembled, and drives the shell 1 to move through the displacement assembly 4, thereby driving the movement of the positioning frame 1c. The positioning frame 1c is squeezed, so that the sliding rods 1c2 on both sides slide in the connecting seat 1c4, so that the positioning frame 1c approaches the shell 1 until the connecting head 2a in the shell 1 completes the assembly of the connecting parts of the parts. The positioning frame 1c is set to assist the positioning of the connecting head 2a, which plays a certain protective role for the connecting head 2a, and the first springs 1c3 on both sides play a certain buffering role, thereby solving the above problems.

[0072] Furthermore, in order to improve the technical problems of equipment operation accuracy, such as Figure 2 and Fig. 9 As shown:

[0073] A camera 1d is also provided in the housing 1, and a sensor 1c5 is also provided on the positioning frame 1c.

[0074] Based on the above embodiment, the shell 1 provided in the present application uses the camera 1d to shoot the hole positions on the robot parts, uses the terminal device to perform real-time calculations on the shot images, and then uses the displacement component 4 to measure the moving distance. At the same time, the turntable 2 moves the connector 2a that matches the hole position to be assembled, which facilitates the realization of automated operation. The setting of the sensor 1c5 assists the positioning and movement of the displacement component 4, making the movement of the equipment more accurate, improving the accuracy of equipment operation, improving production efficiency and quality, and solving the above problems.

[0075] The above embodiments only express one or several implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A robot parts automatic assembly device based on intelligent manufacturing, comprising a housing (1), a displacement assembly (4) for driving the housing (1) to move, a mounting plate (1a) and a turntable (2), wherein the housing (1) is fixedly connected to the displacement assembly (4), the mounting plate (1a) is located at the center of the housing (1), and the turntable (2) is located below the mounting plate (1a). It is characterized in that A driving motor (1a1) is arranged above the mounting plate (1a), a connecting shaft (3) parallel to the axis of the output shaft of the driving motor (1a1) is arranged beside the driving motor (1a1), the turntable (2) is sleeved on the bottom of the connecting shaft (3) and is transmission-connected thereto, a mounting frame (1b) is arranged beside the connecting shaft (3), a first gear (1b1) is arranged on the mounting frame (1b), the connecting shaft (3) passes through the first gear (1b1), a synchronous wheel (3a) is fixedly connected to the connecting shaft (3), the synchronous wheel (3a) and the first gear (1b1) are transmission-matched, and the connecting shaft (3) a linear drive for driving the rotation of the rotating disk (2) in the direction of its axis is arranged on the top, a second gear (1a2) is sleeved on the output shaft of the driving motor (1a1), the first gear (1b1) and the second gear (1a2) are meshingly connected, a plurality of connectors (2a) evenly distributed around the axis are arranged on the rotating disk (2), the driving motor (1a1) is transmission-connected to the connector (2a) coaxially with the axis, and a lifting assembly (2d) for switching the transmission connection state between the connector (2a) and the driving motor (1a1) is arranged at the bottom of the rotating disk (2); The turntable (2) comprises a first support ring (2b), a second support ring (2b4) and a plurality of sleeves (2c); the first support ring (2b) and the second support ring (2b4) are coaxially arranged; the plurality of sleeves (2c) are vertically arranged around the axis of the first support ring (2b) and are evenly sleeved between the first support ring (2b) and the second support ring (2b4); a mounting seat (2b1) matching the connecting shaft (3) is arranged at the center of the first support ring (2b); the mounting seat (2b1) and the first support ring (2b) are connected via a plurality of connecting rods (2b2); and the connecting head (2a) is sleeved in the sleeve (2c); The lifting component (2d) is a second cylinder (2d1), the second cylinder (2d1) is located at the bottom of the turntable (2), the output shaft of the second cylinder (2d1) is fixedly connected to the bottom of the mounting seat (2b1), the bottom of the connecting shaft (3) is a polygonal structure, the mounting seat (2b1) is provided with a polygonal connecting hole (2b3) that matches the connecting shaft (3), and the top of all sleeves (2c) is provided with a transmission member (2c1) that matches the output shaft of the drive motor (1a1); The bottom of all transmission members (2c1) in the sleeves (2c) is a polygonal transmission rod (2c2); a mounting hole (2a1) matching the transmission rod (2c2) is provided at the top of the connector (2a); a fixing plate (2a2) is provided in the middle of the connector (2a); the connector (2a) is slidably connected to the sleeve (2c) via the fixing plate (2a2); and an electromagnetic spring (2a3) is fixedly connected between the fixing plate (2a2) and the bottom of the sleeve (2c).

2. According to the intelligent manufacturing-based robot parts automatic assembly equipment according to claim 1, it is characterized in that: The linear actuator is a first cylinder (3b1), the first cylinder (3b1) is located above the mounting plate (1a), a rectangular push plate (3b2) is arranged on the top of the first cylinder (3b1), the push plate (3b2) is fixedly connected to the output shaft of the first cylinder (3b1), the connecting shaft (3) is vertically located beside the first cylinder (3b1), and the connecting shaft (3) is fixedly connected to one side of the push plate (3b2), a guide column (3b3) placed in a vertical state is arranged on the side opposite to the connecting shaft (3) on the first cylinder (3b1), the guide column (3b3) passes through the push plate (3b2) and is slidably connected thereto, and the axis of the guide column (3b3) is parallel to the axis of the connecting shaft (3).

3. The robot parts automatic assembly equipment based on intelligent manufacturing according to claim 2 is characterized in that: The mounting frame (1b) is also provided with a third gear (1b2), the third gear (1b2) is coaxially arranged with the first gear (1b1), the third gear (1b2) is in transmission cooperation with the synchronous wheel (3a), the output shaft of the driving motor (1a1) is provided with a fourth gear (1a3) which matches the third gear (1b2), an idler wheel (1b3) is provided between the third gear (1b2) and the fourth gear (1a3), and the third gear (1b2) and the fourth gear (1a3) are both meshingly connected with the idler wheel (1b3).

4. The robot parts automatic assembly equipment based on intelligent manufacturing according to claim 3 is characterized in that: The outer side of the synchronous wheel (3a) is provided with latch teeth (3a1), and the first gear (1b1) and the third gear (1b2) are provided with latch grooves (1b4) matching with the synchronous wheel (3a) on one side close to the synchronous wheel (3a).

5. The robot parts automatic assembly equipment based on intelligent manufacturing according to claim 1 is characterized in that: The displacement component (4) is a multi-axis manipulator (4a).

6. The robot parts automatic assembly equipment based on intelligent manufacturing according to claim 1 is characterized in that: A positioning frame (1c) is provided at the bottom of the housing (1), a positioning hole (1c1) coaxial with the output shaft of the driving motor (1a1) is provided on the positioning frame (1c), sliding rods (1c2) placed in a vertical state are provided at both ends of the positioning frame (1c), connecting seats (1c4) matching the sliding rods (1c2) are provided on both sides of the housing (1), the sliding rods (1c2) are sleeved in the connecting seats (1c4), and a first spring (1c3) is provided between the positioning frame (1c) and the connecting seat (1c4).

7. The robot parts automatic assembly equipment based on intelligent manufacturing according to claim 6 is characterized in that: A camera (1d) is also provided in the housing (1), and a sensor (1c5) is also provided on the positioning frame (1c).

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