Reduction gear alignment device for industrial robot joints and automatic assembly apparatus

Abstract

The application discloses a speed reducer alignment device of an industrial robot joint and an automatic assembling device. The speed reducer alignment device comprises a feeding mechanism, a rotary alignment mechanism, a first visual positioning mechanism and a manipulator. The feeding mechanism comprises a positioning jig and a positioning column arranged on the positioning jig. The positioning jig is used for placing a speed reducer to be assembled. When the speed reducer is placed on the positioning jig, the positioning column is inserted into a first mounting hole, so that position information of the first mounting hole is obtained according to the positioning jig and the positioning column. The first visual positioning mechanism is arranged on the manipulator and is used for obtaining position information of a second mounting hole. The manipulator is used for moving the speed reducer on the positioning jig to the rotary alignment mechanism. The rotary alignment mechanism is used for rotating a fixing base or a flange disc to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole. The application can realize automatic alignment of the speed reducer and improve assembling efficiency.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and in particular to a speed reducer alignment device and an automatic assembly equipment for an industrial robot joint. Background Technology

[0002] Joints are key components in industrial robots. Generally, a joint includes at least a housing and a reducer, and the reducer itself contains a mounting base and a flange. During joint manufacturing, the mounting base and flange need to be manually connected, and the reducer needs to be connected to the housing. Current methods for connecting the reducer and housing involve setting mounting holes on both the reducer and the housing. The reducer and housing are then manually aligned according to these mounting holes, and screws are driven into these holes for fastening.

[0003] However, this method, which involves manually aligning and assembling the reducer's flange and mounting base, is inefficient and time-consuming. Summary of the Invention

[0004] The main objective of this invention is to provide a speed reducer alignment device for industrial robot joints, aiming to solve the technical problem of low assembly efficiency of existing robot joints.

[0005] To achieve the above objectives, the present invention proposes a speed reducer alignment device for an industrial robot joint. The speed reducer includes a fixed base and a flange. The fixed base has a plurality of first mounting holes, and the flange has a plurality of second mounting holes. The speed reducer alignment device is characterized in that it includes a feeding mechanism, a rotary alignment mechanism, a first vision positioning mechanism, and a robotic arm.

[0006] The feeding mechanism includes a positioning fixture and a positioning post disposed on the positioning fixture. The positioning fixture is used to place the speed reducer to be assembled. When the speed reducer is placed on the positioning fixture, the positioning post is inserted into the first mounting hole to obtain the position information of the first mounting hole according to the positioning fixture and the positioning post.

[0007] The first visual positioning mechanism is mounted on the robotic arm and is used to acquire the position information of the second mounting hole;

[0008] The robotic arm is used to transfer the reducer on the positioning fixture to the rotary alignment mechanism;

[0009] The rotation alignment mechanism is used to rotate the fixed seat or flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole.

[0010] In some embodiments, the rotation alignment mechanism includes a mounting frame, a drive member disposed on the mounting frame, and a support seat connected to the output execution end of the drive member. The support seat is used to place a speed reducer, and the drive member is used to drive the support seat to rotate.

[0011] In some embodiments, the reducer further includes an input shaft, an output shaft, and a rotor. The input shaft is hollow and connected to the fixed base. The output shaft is sleeved inside the input shaft and connected to the flange. The rotor is sleeved outside the input shaft.

[0012] The support base has a through hole. When the reducer is placed on the support base, the output shaft of the reducer passes through the through hole, and the rotor of the reducer abuts against the top surface of the support base, so that the driving component drives the fixed base of the reducer to rotate. The flange of the reducer is fixed by the robot arm.

[0013] In some embodiments, the support base includes a first support member and a second support member arranged at vertical intervals, and the through hole is opened in the middle of the first support member; a plurality of guide posts are arranged between the first support member and the second support member, and a telescopic spring is sleeved on each of the guide posts; the second support member is fixedly connected to the plurality of guide posts, and the first support member is slidably sleeved on the plurality of guide posts.

[0014] In some embodiments, the reducer alignment device of the industrial robot further includes a second vision positioning mechanism, which is located on one side of the rotary alignment mechanism. The robot arm moves the adjusted reducer above the second vision positioning mechanism to obtain the position information of the plurality of first mounting holes.

[0015] In some embodiments, the feeding mechanism further includes two support platforms, each of which is provided with a plurality of positioning fixtures, and the robotic arm and the rotary alignment mechanism are located between the two support platforms.

[0016] In some embodiments, a drive mechanism is provided below each of the carrier platforms, the drive mechanism being used to drive the carrier platform to move in a direction toward or away from the reducer assembly station.

[0017] In some embodiments, the driving mechanism includes a cylinder, two spaced linear guides, and two sliders that slide in cooperation with the two linear guides respectively. The two sliders are mounted on the bottom of the support platform, and the piston rod of the cylinder is connected to the support platform to drive the support platform to move along the linear guides.

[0018] In some embodiments, the robotic hand includes a robotic arm and a gripper assembly disposed at the end of the robotic arm.

[0019] The present invention further proposes an automatic assembly device for industrial robot joints, which includes the aforementioned reducer alignment device.

[0020] In the technical solution proposed in this invention, the reducer to be assembled is placed on the feeding mechanism. During assembly, the reducer on the feeding mechanism is first transferred to the rotary alignment mechanism by a robot arm. After the reducer is aligned, the reducer is then transferred from the rotary alignment mechanism to the reducer assembly station by the robot arm, thereby realizing automated alignment of the reducer and improving the assembly efficiency of the robot joint. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a reducer alignment device for an industrial robot joint in one embodiment of the present invention;

[0022] Figure 2 An exploded view of the joint shell and reducer of an industrial robot joint;

[0023] Figure 3 for Figure 1 Schematic diagram of the rotary alignment mechanism and reducer;

[0024] Figure 4 for Figure 3 Cross-sectional view of the rotary alignment mechanism and reducer;

[0025] Figure 5 for Figure 1 Schematic diagram of the rotating alignment mechanism;

[0026] Figure 6 for Figure 1 A schematic diagram of the structure of the robotic arm and the first vision positioning mechanism.

[0027] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0030] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0031] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0032] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the reducer alignment device for an industrial robot joint according to an embodiment of the present invention. Figure 2 This is an exploded view of the joint shell and reducer of an industrial robot joint.

[0033] The reducer includes a fixed base and a flange. The fixed base has several first mounting holes, the flange has several second mounting holes, and the joint housing has several third mounting holes. The assembly process of the joint housing and the reducer is as follows: During assembly, first align the first mounting holes with the second mounting holes, then install the reducer into the joint housing. Next, rotate the reducer so that the first mounting holes align with the third mounting holes on the housing. Then, pass a screw through the second mounting hole and place it at the first mounting hole. Finally, use a screwdriver to tighten the screw so that it passes through the first mounting hole and engages with the screw in the third mounting hole to secure the reducer to the joint housing, thus completing the assembly of the robot joint.

[0034] In some embodiments, the present invention provides a reducer alignment device for an industrial robot joint, including a feeding mechanism 10, a rotary alignment mechanism 20, a first vision positioning mechanism 30, and a robotic arm 40.

[0035] The feeding mechanism 10 includes a positioning fixture 11 and a positioning post (not shown) disposed on the positioning fixture 11. The positioning fixture 11 is used to place the reducer 200 to be assembled. When the reducer 200 is placed on the positioning fixture 11, the positioning post is inserted into the first mounting hole 203 to obtain the position information of the first mounting hole 203 according to the positioning fixture 11 and the positioning post.

[0036] The first visual positioning mechanism 30 is mounted on the robotic arm 40 and is used to obtain the position information of the second mounting hole 204.

[0037] The robotic arm 40 is used to transfer the reducer 200 on the positioning fixture 11 to the rotary alignment mechanism 20;

[0038] The rotation alignment mechanism 20 is used to rotate the fixed seat 201 or flange 202 to the corresponding angle according to the position information of the first mounting hole 203 and the position information of the second mounting hole 204, so that the first mounting hole 203 and the second mounting hole 204 correspond.

[0039] In this embodiment, the robot joint includes a joint housing 100 and a reducer 200. The reducer 200 includes a fixed base 201 and a flange 202. The fixed base 201 has a plurality of first mounting holes 203, the flange 202 has a plurality of second mounting holes 204, and the joint housing 100 has a plurality of third mounting holes 101. The fixed base 201 of the reducer 200 and the joint housing 100 are connected by fasteners that engage with the first mounting holes 203 and the third mounting holes 101, such as by threaded connection.

[0040] Specifically, the fasteners are screws, the first mounting hole 203 is a through hole, the second mounting hole 204 is a threaded hole or a through hole, and the third mounting hole 101 is a threaded hole. The joint housing 100 and the reducer 200 are fixed by screws connected to the threaded connection of the third mounting hole 101. The through hole has no threads, while the threaded hole has threads.

[0041] During assembly, due to the small distance between the mounting base 201 and the flange 202, it is difficult to place the screws between the mounting base 201 and the flange 202 into the first mounting hole 203 and the third mounting hole 101. Therefore, the screws need to be placed from the end of the flange 202 away from the mounting base 201 into the first mounting hole 203 and the third mounting hole 101, specifically through the second mounting hole 204 provided on the flange 202, and then dropped into the corresponding first mounting hole 203 and the third mounting hole 101.

[0042] It should be noted that the main function of the second mounting hole 204 in this embodiment is to provide clearance, allowing the screw to pass through the second mounting hole 204 and fall into the corresponding first mounting hole 203 and third mounting hole 101. The second mounting hole 204 may or may not be threaded, as long as the diameter of the second mounting hole 204 is larger than the diameter of the screw hole.

[0043] When assembling the joint housing 100 and the reducer 200, because the gap between the fixed seat 201 and the flange 202 is small, there will be interference when the fastener is directly inserted into the first mounting hole 203. Therefore, the fastener needs to be inserted into the second mounting hole 204. That is, after the fastener passes through the second mounting hole 204, it falls into the first mounting hole 203 and the third mounting hole 101, and then the fixed seat 201 of the reducer 200 and the joint housing 100 are fixed by the fastener.

[0044] To ensure that the fastener can pass through the second mounting hole 204 and fall into the first mounting hole 203, the first mounting hole 203 and the second mounting hole 204 need to be aligned before assembling the fastener. Specifically, the speed reducer alignment device proposed in this embodiment includes a rotation alignment mechanism 20, which drives the fixed seat 201 or flange 202 of the speed reducer 200 to rotate, so that the first mounting hole 203 on the fixed seat 201 corresponds to the second mounting hole 204 on the flange 202.

[0045] When assembling the joint housing 100 and the reducer 200, the reducer 200 is positioned on the positioning fixture 11 by the positioning pins on the fixture 11, thus the position information of the first mounting hole 203 on the fixed base 201 is known. Then, the robot arm 40 picks up the reducer 200 from the positioning fixture 11 and transfers it to the rotary alignment mechanism 20. During the picking up of the reducer 200 or after transferring it to the rotary alignment mechanism 20, the position information of the second mounting hole 204 on the flange 202 is obtained by the first visual positioning mechanism 30 on the robot arm 40. Knowing the positional information of the first mounting hole 203 and the second mounting hole 204, the rotation angle of the rotation alignment mechanism 20 can be determined based on their positional information. For example, if the center angle difference between the first mounting hole 203 and the second mounting hole 204 is 15°, the rotation alignment mechanism 20 can be controlled to drive the fixed base 201 or the flange 202 to rotate by 15°, thereby making the first mounting hole 203 correspond to the second mounting hole 204. After alignment is completed, the robot arm 40 will transfer it to the reducer assembly station, thereby realizing automated feeding and alignment of the reducer 200, and thus improving the assembly efficiency of the industrial robot joint.

[0046] The robotic arm 40 can be in the form of a multi-axis linear module + material handling component (suction nozzle or gripper, etc.), or it can be in the form of a robotic arm + material handling component (suction nozzle or gripper, etc.), and so on. Those skilled in the art can design it according to the actual situation.

[0047] Please see Figure 3-5 , Figure 3 for Figure 1 A schematic diagram of the rotary alignment mechanism and the reducer. Figure 4 for Figure 3 Cross-sectional view of the rotary alignment mechanism and reducer. Figure 5 for Figure 1 A schematic diagram of the rotating alignment mechanism.

[0048] In some embodiments, the rotation alignment mechanism 20 proposed in this invention includes a mounting frame 21, a drive member 22 disposed on the mounting frame 21, and a support 23 connected to the output execution end of the drive member 22. The support 23 is used to place the reducer 200, and the drive member 22 is used to drive the support 23 to rotate.

[0049] In this embodiment, the support base 23 can rotate under the drive of the drive member 22, thereby driving the fixed base 201 or flange 202 of the reducer 200 placed on the support base 23 to rotate. One of the fixed base 201 and flange 202 of the reducer 200 can rotate under the drive of the drive member 22, while the other remains stationary. During alignment, the rotation alignment mechanism 20 drives the fixed base 201 or flange 202 to rotate by a preset angle so that the first mounting hole 203 corresponds to the second mounting hole 204.

[0050] In some embodiments, see Figure 3-5 The speed reducer 200 proposed in this invention also includes an input shaft 205, an output shaft 206, and a rotor 207. The input shaft 205 is hollow and rotatably connected to the fixed seat 201. The output shaft 206 is sleeved on the inner side of the input shaft 205 and connected to the flange 202. The rotor 207 is sleeved on the outer side of the input shaft 205 and fixedly connected to it. A through hole 24 is provided on the support seat 23. When the speed reducer 200 is placed on the support seat 23, the output shaft 206 of the speed reducer 200 passes through the through hole 24, and the rotor 207 of the speed reducer 200 abuts against the top surface of the support seat 23, so that the driving member 22 drives the fixed seat 201 of the speed reducer 200 to rotate. The flange 202 of the speed reducer 200 is fixed by the robot arm 40.

[0051] In this embodiment, the reducer 200 achieves automatic alignment of the first mounting hole 203 and the second mounting hole 204 through the cooperation of the rotation alignment mechanism 20 and the robot arm 40. Specifically, a through hole 24 is provided on the support 23. The diameter of the through hole 24 is larger than the diameter of the input shaft 205 and smaller than the diameter of the rotor 207. When the reducer 200 is placed on the support 23, the output shaft 206 of the reducer 200 passes through the through hole 24, and the rotor 207 of the reducer 200 abuts against the top surface of the support 23. The robot arm 40 fixes the flange 202 of the reducer 200 and holds the reducer 200, so that the rotor 207, input shaft 205, fixed seat 201 and support 23 of the reducer 200 remain relatively fixed. Thus, when the drive unit 22 drives the carrier 23 to rotate, the rotor 207, input shaft 205 and fixed seat 201 of the reducer 200 will rotate together with the carrier 23, while the flange 202 of the reducer 200 is fixed by the robot arm 40, so that the fixed seat 201 of the reducer 200 can rotate relative to the flange 202. After the first mounting hole 203 and the second mounting hole 204 are aligned, the drive unit 22 will stop driving the carrier 23 to rotate, thereby completing the automatic alignment of the reducer 200.

[0052] In some embodiments, the drive element 22 is a motor, which is arranged in a vertical direction. The output shaft of the motor is connected to the bottom of the support 23 through a coupling so as to drive the support 23 to rotate.

[0053] In some embodiments, see Figure 3-5 The support base 23 proposed in this invention includes a first support member 231 and a second support member 232 arranged at intervals. A through hole 24 is opened in the middle of the first support member 231. A plurality of guide posts 25 are arranged between the first support member 231 and the second support member 232. Each guide post 25 is fitted with a telescopic spring. The second support member 232 is fixedly connected to the plurality of guide posts 25 and is slidably fitted on the plurality of guide posts 25.

[0054] In this embodiment, the support base 23 includes a first support member 231 and a second support member 232 arranged vertically at intervals. A plurality of guide posts 25 are disposed between the first support member 231 and the second support member 232, and the guide posts 25 are distributed around the center of the first support member 231 and the second support member 232. One end of each guide post 25 is fixedly connected to the second support member 232, and the other end is slidably connected to the first support member 231. A through hole 24 is formed on the first support member 231, allowing the first support member 231 to move up and down along the guide post 25. To prevent the rotor 207 of the reducer 200 from being subjected to excessive pressure, a telescopic spring is fitted on each guide post 25. One end of the telescopic spring abuts against the first support member 231, and the other end abuts against the second support member 232.

[0055] In some embodiments, see Figure 1 The robot joint reducer alignment device proposed in this invention also includes a second visual positioning mechanism 50, which is located on one side of the rotation alignment mechanism 20. The robot arm 40 moves the adjusted reducer 200 above the second visual positioning mechanism 50 to obtain the position information of several first mounting holes 203.

[0056] In this embodiment, after the reducer 200 is rotated and aligned, the position of the first mounting hole 203 may change. To ensure the accuracy of the position of the first mounting hole 203, the position information of the first mounting hole 203 is obtained again by the second vision positioning mechanism 50 to ensure that the first mounting hole 203 corresponds to the third mounting hole 101 when the reducer 200 is assembled with the joint housing 100. When assembling the joint housing 100 and the reducer 200, the aligned reducer 200 is first moved to the reducer 200 assembly station by the robot arm 40, and then the position of the third mounting hole 101 on the joint housing 100 is obtained by the first vision positioning mechanism 30 on the robot arm 40. Then, the first mounting hole 203 is aligned with the third mounting hole 101, and finally the reducer 200 is installed into the joint housing 100.

[0057] In some embodiments, see Figure 1 The feeding mechanism 10 proposed in this invention also includes two support platforms 12, each of which is provided with a number of positioning fixtures 11. The rotation alignment mechanism 20 and the robot arm 40 are located between the two support platforms 12.

[0058] In this embodiment, the two support platforms 12 enable non-stop loading of the reducer 200, thereby further improving the assembly efficiency of the industrial robot joints. Before loading the reducer 200, the reducer 200 to be assembled is placed on the two support platforms 12. After both support platforms 12 have the reducer 200 on them, the loading of the reducer 200 begins. When loading the reducer 200, the robot arm 40 first removes the reducer 200 from one of the support platforms 12, and then removes the reducer 200 from the other support platform 12. While the robot arm 40 is removing the reducer 200 from the other support platform 12, it controls the support platform 12 that has already removed the reducer 200 to move away from the reducer assembly station, so that the workers can replenish the support platform 12 that has already removed the reducer 200 with reducers to be assembled, until the support platform 12 is full of reducers 200. After the reducers on the other support platform 12 are removed, it is controlled to move away from the reducer assembly station, and at the same time, the support platform that is full of reducers 200 moves towards the reducer assembly station. This cycle is repeated, so as to realize the non-stop loading of reducers 200 and improve the assembly efficiency of robot joints.

[0059] In some embodiments, see Figure 1 Each of the bearing platforms 12 proposed in this invention is provided with a drive mechanism 13 below it. The drive mechanism 13 is used to drive the bearing platform 12 to move in a direction close to or away from the reducer assembly station.

[0060] In this embodiment, in order to further improve the assembly efficiency of the industrial robot joint, after the reducer 200 is placed on the carrier platform 12, the carrier platform 12 is driven by the drive mechanism 13 to move towards the direction of the reducer assembly station, so that the reducer 200 is in a position close to the reducer assembly station, thereby shortening the time for the robot arm 40 to move the reducer 200, thereby achieving the purpose of improving the assembly efficiency of the robot joint.

[0061] In some embodiments, the drive mechanism 13 includes a cylinder, two spaced linear guide rails, and sliders that slide in cooperation with the two linear guide rails respectively. The sliders are mounted on the bottom of the support platform 12, and the piston rod of the cylinder is connected to the support platform 12 to drive the support platform 12 to move along the two linear guide rails. The cylinder can be replaced by a motor and a lead screw; those skilled in the art can design it according to the actual situation.

[0062] In some embodiments, see Figure 6 The robotic arm 40 proposed in this invention includes a robotic arm 41 and a gripper assembly 42, with the gripper assembly 42 disposed at the end of the robotic arm 41.

[0063] In this embodiment, the robotic arm 41 has multiple degrees of freedom, such as four-axis, five-axis, or six-axis, and those skilled in the art can design it according to actual conditions. The end of the robotic arm 41 is provided with a gripper assembly 42, which is used to drive the robotic arm 41 to move toward or away from the reducer 200. After the gripper assembly 42 moves to a preset position, it is driven by pneumatic or electric means to grip or release the reducer 200.

[0064] The present invention further proposes an automatic assembly device for industrial robot joints, which includes the reducer alignment device described in the foregoing embodiments. The specific structure of the reducer alignment device is as described in the above embodiments. Since the automatic assembly device for industrial robot joints adopts all the technical solutions of all the above embodiments, it has at least all the technical effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0065] The above are only some or preferred embodiments of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention's specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A speed reducer alignment device for an industrial robot joint, the speed reducer comprising a fixed base and a flange, the fixed base having a plurality of first mounting holes, and the flange having a plurality of second mounting holes, characterized in that, The speed reducer alignment device includes a feeding mechanism, a rotary alignment mechanism, a first vision positioning mechanism, and a robotic arm; The feeding mechanism includes a positioning fixture and a positioning post disposed on the positioning fixture. The positioning fixture is used to place the speed reducer to be assembled. When the speed reducer is placed on the positioning fixture, the positioning post is inserted into the first mounting hole to obtain the position information of the first mounting hole according to the positioning fixture and the positioning post. The first visual positioning mechanism is mounted on the robotic arm and is used to acquire the position information of the second mounting hole; The robotic arm is used to transfer the reducer on the positioning fixture to the rotary alignment mechanism; The rotation alignment mechanism is used to rotate the fixed seat to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole; The rotary alignment mechanism includes a mounting frame, a drive unit mounted on the mounting frame, and a support base connected to the output execution end of the drive unit. The support base is used to place the speed reducer, the drive unit is used to drive the support base to rotate, the support base drives the fixed seat of the speed reducer to rotate, and the flange of the speed reducer is fixed by the robot arm.

2. The reducer alignment device for an industrial robot joint according to claim 1, characterized in that, The reducer also includes an input shaft, an output shaft, and a rotor. The input shaft is hollow and connected to the fixed base. The output shaft is sleeved inside the input shaft and connected to the flange. The rotor is sleeved outside the input shaft. The support base has a through hole. When the reducer is placed on the support base, the output shaft of the reducer passes through the through hole, and the rotor of the reducer abuts against the top surface of the support base, so that the driving component drives the fixed base of the reducer to rotate.

3. The reducer alignment device for an industrial robot joint according to claim 2, characterized in that, The support base includes a first support member and a second support member arranged at intervals. The through hole is opened in the middle of the first support member. A plurality of guide posts are arranged between the first support member and the second support member. Each guide post is fitted with a telescopic spring. The second support member is fixedly connected to the plurality of guide posts. The first support member is slidably fitted on the plurality of guide posts.

4. The reducer alignment device for an industrial robot joint according to any one of claims 1-3, characterized in that, It also includes a second visual positioning mechanism, which is located on one side of the rotary alignment mechanism. The robot arm moves the speed reducer after alignment to above the second visual positioning mechanism to obtain the position information of the plurality of first mounting holes.

5. The reducer alignment device for an industrial robot joint according to claim 1, characterized in that, The feeding mechanism also includes two support platforms, each of which is equipped with a number of positioning fixtures, and the robotic arm and the rotary alignment mechanism are located between the two support platforms.

6. The reducer alignment device for an industrial robot joint according to claim 5, characterized in that, Each of the support platforms is provided with a drive mechanism underneath, which is used to drive the support platform to move in a direction that is closer to or farther away from the reducer assembly station.

7. The reducer alignment device for an industrial robot joint according to claim 6, characterized in that, The driving mechanism includes a cylinder, two spaced linear guides, and two sliders that slide in cooperation with the two linear guides respectively. The two sliders are mounted on the bottom of the support platform. The piston rod of the cylinder is connected to the support platform to drive the support platform to move along the linear guides.

8. The reducer alignment device for an industrial robot joint according to claim 1, characterized in that, The robotic arm includes a robotic arm and a gripper assembly, the gripper assembly being disposed at the end of the robotic arm.

9. An automated assembly device for industrial robot joints, characterized in that, Includes the speed reducer alignment device as described in any one of claims 1-8.

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