Automatic pre-installation equipment, method and storage medium for industrial robot joints

Abstract

The present application discloses an automatic pre-installation device for an industrial robot joint, including a conveying device and a screw pre-installation device; the conveying device is used to convey an industrial robot joint with known position information of a first mounting hole to the screw pre-installation device; the screw pre-installation device includes a first vision positioning mechanism, a first rotation alignment mechanism, a pre-installation manipulator and at least one feeding mechanism; the first vision positioning mechanism is arranged on the pre-installation manipulator and is used to obtain the position information of a second mounting hole; the first rotation alignment mechanism is used to rotate the 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; at least one feeding mechanism is used to supply screws, and the pre-installation manipulator is used to take out screws from at least one feeding mechanism, and place the screws through the second mounting hole and into the first mounting hole. The present application realizes the automatic pre-installation of screws for the housing and the reduction gear of the industrial robot joint, improving the assembly efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and particularly relates to an automatic pre-assembly device, method and storage medium for an industrial robot joint. Background Art

[0002] A joint is a key component of an industrial robot. Generally, a joint includes at least a housing and a speed reducer, and the speed reducer further includes a fixed seat, an output shaft arranged on the fixed seat, and a flange connected to one end of the output shaft. The flange is used to connect to the next joint. During the manufacturing process of the joint, the speed reducer needs to be placed in the housing, and the fixed seat is connected to the housing.

[0003] Currently, several first mounting holes are usually provided on the fixed seat, several second mounting holes are provided on the flange, and several third mounting holes are provided on the joint housing. During assembly, first, the speed reducer is manually installed into the housing, and the first mounting holes are aligned with the third mounting holes. Then, the flange is rotated to align the second mounting holes with the first mounting holes. Next, fasteners (bolts) are passed through the second mounting holes to be pre-installed into the first mounting holes and the third mounting holes, so as to lock the speed reducer and the housing through the fasteners.

[0004] Nowadays, the method of manually pre-installing screws for the speed reducer and the housing of an industrial robot joint has low assembly efficiency. Summary of the Invention

[0005] The main purpose of the present application is to propose an automatic pre-assembly device for an industrial robot joint, aiming to solve the technical problem of low assembly efficiency in the current manual pre-installation of screws for the housing and the speed reducer of an industrial robot joint.

[0006] To achieve the above object, the present application proposes an automatic pre-assembly device for an industrial robot joint. The industrial robot joint includes a housing and a speed reducer located inside the housing. The speed reducer includes a fixed seat and a flange. Several first mounting holes are provided on the fixed seat, several second mounting holes are provided on the flange, and several third mounting holes are provided on the housing. The first mounting holes are aligned with the third mounting holes. Among them, the automatic pre-assembly device for an industrial robot joint includes a conveying device and a screw pre-assembly device;

[0007] The conveying device is used to convey an industrial robot joint with known position information of the first mounting holes to the screw pre-assembly device;

[0008] The screw pre-assembly device includes a first vision positioning mechanism, a first rotation alignment mechanism, a pre-assembly manipulator, and at least one feeding mechanism;

[0009] The first vision positioning mechanism is arranged on the pre-assembly manipulator and is used to obtain the position information of the second mounting holes;

[0010] The first rotation alignment mechanism is used to rotate the 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;

[0011] At least one feeding mechanism is used to supply screws. The pre-installation manipulator is used to take out screws from at least one feeding mechanism, and place the screws through the second mounting hole and into the first mounting hole.

[0012] Wherein, the speed reducer further includes an input shaft and an output shaft. The output shaft is hollow and connected to the fixed seat. The output shaft passes through the inside of the input shaft and is connected to the flange. The industrial robot joint further includes a motor rotor, and the motor rotor is sleeved outside the input shaft;

[0013] The first rotation alignment mechanism is located below the conveying device. The first rotation alignment mechanism includes a lifting drive assembly, a lifting plate, a rotating seat, a rotation drive assembly, a clamping drive assembly and at least two clamping members;

[0014] The output execution end of the lifting drive assembly is connected to the lifting plate for driving the lifting plate to lift and lower; the rotation drive assembly and the rotating seat are arranged on the lifting plate. The output execution end of the rotation drive assembly is connected to the rotating seat for driving the rotating seat to rotate; at least two clamping members are movably arranged on the rotating seat. The output execution end of the clamping drive assembly is connected to at least two clamping members for driving at least two clamping members to open and close relatively, so that at least two clamping members loosen or clamp the motor rotor or the output shaft.

[0015] Wherein, the rotation drive assembly includes a rotating shaft and a first driving member;

[0016] The rotating shaft is rotatably passed through the lifting plate. The rotating seat is installed at one end of the rotating shaft. The first driving member is connected to the other end of the rotating shaft through a transmission assembly.

[0017] Wherein, the first driving member is a driving motor. The body of the driving motor is located on one side of the lifting plate and fixedly connected to the lifting plate. The output shaft of the driving motor passes through the lifting plate;

[0018] The transmission assembly includes a first transmission wheel and a second transmission wheel. The first transmission wheel is fixedly arranged on the output shaft of the driving motor. The second transmission wheel is located at the other end of the rotating shaft and is coaxially connected to the rotating shaft. The first transmission wheel and the second transmission wheel are in transmission connection.

[0019] Wherein, the number of the clamping members is two. The clamping drive assembly includes a moving frame, a second driving member and two connecting arms;

[0020] The moving frame is vertically movably arranged on the rotating seat. Two inclined guide grooves are arranged on the moving frame, and the two guide grooves are arranged at an angle to each other;

[0021] The two connecting arms are horizontally movably arranged on the rotating seat. One end of each connecting arm is connected to a clamping member, and the other end is slidably connected to a guiding groove;

[0022] The second driving member is used to drive the moving frame to move vertically, so that the two connecting arms slide along the corresponding guiding grooves. When the two connecting arms slide along the corresponding guiding grooves, the two connecting arms move away from or towards each other, so that the two clamping members open and close relatively.

[0023] Wherein, the clamping driving assembly further includes at least one horizontal guiding assembly and / or vertical guiding assembly;

[0024] The horizontal guiding assembly includes a guide rail and a slider slidably arranged on the guide rail. The guide rail is fixedly connected to the rotating seat, and the slider is connected to a connecting arm; and / or,

[0025] The vertical guiding assembly includes a guide rod and a guide sleeve. The guide sleeve is fixed on the rotating seat. One end of the guide rod is connected to the moving frame, and the other end passes through the guide sleeve and is slidably matched with the guide sleeve.

[0026] Wherein, the clamping driving assembly further includes a connecting shaft. The rotating shaft is hollowly arranged. The connecting shaft is slidably matched with the rotating seat and penetrates through the rotating shaft. One end of the connecting shaft is connected to the moving frame, and the other end is connected to the output execution end of the second driving member.

[0027] Wherein, the second driving member is a cylinder. The cylinder body of the cylinder is located on one side of the lifting plate. The piston rod of the cylinder passes through the lifting plate. The connecting shaft is connected to the piston rod of the cylinder through a connecting frame.

[0028] Wherein, the feeding mechanism includes a screw sorting assembly and a screw feeder. The screw sorting assembly includes a mounting seat and a feeding plate, a screw guiding pipe, and a feeding plate driving assembly located on the mounting seat;

[0029] The feeding plate is movably arranged on the mounting seat. At least one material hole for the screw to fall into is formed on the feeding plate;

[0030] The output execution end of the feeding plate driving assembly is connected to the feeding plate and is used to drive the feeding plate to move on the mounting seat;

[0031] The screw guiding pipe is located above the feeding plate. The feeding end of the screw guiding pipe is connected to the screw feeder, and the discharging end is located directly above the movement track of the material hole.

[0032] Wherein, a section of the material hole close to the discharging end is a first guiding section with a gradually decreasing aperture from top to bottom.

[0033] Wherein, a transition plate is arranged on the mounting seat. The transition plate is located between the feeding plate and the screw guiding pipe. A through hole opposite to the discharging end is formed on the transition plate. A section of the through hole close to the discharging end is a second guiding section with a gradually decreasing aperture from top to bottom.

[0034] Among them, the screw sorting component further includes a sensing component, and the sensing component is used to detect whether screws fall onto the feeding plate.

[0035] Among them, the transition plate is also provided with a detection hole that penetrates through the hole wall of the cross-through hole, and the sensing component includes a light emitter and a light receiver installed at both ends of the detection hole.

[0036] Among them, the bottom surface of the transition plate is closely arranged with the top surface of the feeding plate. The transition plate is provided with a first avoidance groove extending along the movement track of the material hole, and the first avoidance groove is communicated with the through hole.

[0037] Among them, the mounting seat is provided with a sliding groove, the feeding plate is slidably arranged in the sliding groove, and the bottom wall of the sliding groove is provided with a second avoidance groove extending along the movement track of the material hole.

[0038] Among them, the pre-installation manipulator includes a first robotic arm, a first mounting bracket, and a gripper.

[0039] The first mounting bracket is arranged at the end of the first robotic arm, and the gripper and the first vision positioning mechanism are arranged on the first mounting bracket.

[0040] Among them, the automatic pre-installation device for industrial robot joints further includes a screw locking device, and the screw pre-installation device and the screw locking device are arranged in sequence along the conveying direction of the conveying device.

[0041] The screw locking device includes a second vision positioning mechanism, a second rotation alignment mechanism, and a locking manipulator.

[0042] The second vision positioning mechanism is arranged on the locking manipulator and is used to obtain the position information of the second mounting hole; the second rotation alignment mechanism is used to rotate the flange to the 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.

[0043] The locking manipulator is used to lock the screw placed in the first mounting hole into the first mounting hole and the third mounting hole.

[0044] Among them, the locking manipulator includes a second robotic arm, a second mounting bracket, and an electric screwdriver.

[0045] The second mounting bracket is arranged at the end of the second robotic arm, and the electric screwdriver and the second vision positioning mechanism are arranged on the second mounting bracket.

[0046] Among them, the second mounting bracket is provided with a sliding seat and a buffer component. The sliding seat is slidably arranged on the second mounting bracket, the electric screwdriver is installed on the sliding seat, and the buffer component is used to provide a buffer force for the movement of the sliding seat.

[0047] Among them, the buffer component includes a sliding rod and a spring, and the sliding rod is arranged along the sliding direction of the sliding seat.

[0048] One end of the sliding rod is connected to the sliding seat, and the other end passes through the second mounting bracket and is slidably engaged with the second mounting bracket; alternatively, one end of the sliding rod passes through the sliding seat and is slidably engaged with the sliding seat, and the other end is connected to the second mounting bracket;

[0049] The spring is sleeved on the sliding rod, and both ends of the spring are respectively abutted against or connected to the sliding seat and the second mounting bracket.

[0050] The present application also proposes an automatic pre-assembly method for an industrial robot joint. The industrial robot joint includes a housing and a speed reducer located inside the housing. The speed reducer includes a fixed seat and a flange. A plurality of first mounting holes are provided on the fixed seat, a plurality of second mounting holes are provided on the flange, and a plurality of third mounting holes are provided on the housing. The first mounting holes correspond to the third mounting holes. The automatic pre-assembly method for the industrial robot joint includes:

[0051] Controlling the conveying device to convey an industrial robot joint with known position information of the first mounting holes;

[0052] Controlling the first vision positioning mechanism to obtain the position information of the second mounting holes;

[0053] Controlling the first rotation alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first mounting holes and the position information of the second mounting holes, so that the first mounting holes correspond to the second mounting holes;

[0054] Controlling the pre-assembly manipulator to place a screw through the second mounting hole and then into the first mounting hole.

[0055] Among them, it further includes:

[0056] Controlling the second vision positioning mechanism to obtain the position information of the second mounting holes;

[0057] Controlling the second rotation alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first mounting holes and the position information of the second mounting holes, so that the first mounting holes correspond to the second mounting holes;

[0058] Controlling the locking manipulator to lock the screw placed in the first mounting hole into the first mounting hole and the third mounting hole.

[0059] The present application also proposes a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the automatic pre-assembly method for the industrial robot joint as described above are implemented.

[0060] The automatic preloading device for the industrial robot joint of the present application automatically conveys the industrial robot joint with the position information of the first mounting hole known through the conveying device. The industrial robot joint is conveyed to the screw preloading device for automatic screw preloading. During screw preloading, the screw preloading device obtains the position information of the second mounting hole through the first vision positioning mechanism on the preloading manipulator. The first rotation alignment mechanism rotates the flange to the 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 preloading manipulator passes the screw taken from the feeding mechanism through the second mounting hole and then places it in the first mounting hole. In this way, the automatic preloading device for the industrial robot joint can realize the automatic screw preloading of the housing of the industrial robot joint and the reducer, replace the manual screw preloading method, realize the automation and intelligence of the assembly of the industrial robot joint, improve the assembly efficiency, and meet the production requirements of the manufacturer for mass production and high-efficiency production of industrial robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is an exploded view of an industrial robot joint in the prior art;

[0062] Figure 2 is a cross-sectional view of an industrial robot joint in the prior art;

[0063] Figure 3 is a schematic diagram of the preloading and locking process of an industrial robot joint in an embodiment of the present application;

[0064] Figure 4 is a layout schematic diagram of the automatic preloading device for an industrial robot joint in an embodiment of the present application;

[0065] Figure 5 is Figure 4 a schematic diagram of the structure of the screw preloading device in the embodiment;

[0066] Figure 6 is Figure 5 a schematic diagram of the structure of the first rotation alignment mechanism in the embodiment;

[0067] Figure 7 is Figure 6 a schematic diagram of a part of the structure of the first rotation alignment mechanism in the embodiment;

[0068] Figure 8 is Figure 6 a schematic diagram of a part of the structure of the first rotation alignment mechanism in the embodiment;

[0069] Figure 9 is Figure 6 a cross-sectional view of a part of the structure of the first rotation alignment mechanism in the embodiment;

[0070] Figure 10 isFigure 5 Schematic diagram of the screw dispensing assembly of the feeding mechanism in the embodiment;

[0071] Figure 11 For Figure 10 Cross-sectional view of the screw dispensing assembly in the embodiment;

[0072] Figure 12 For Figure 11 Partial enlarged view at A in;

[0073] Figure 13 For Figure 11 Partial enlarged view at B in;

[0074] Figure 14 For Figure 10 Schematic diagram of the screw dispensing assembly in the embodiment from another perspective;

[0075] Figure 15 For Figure 10 Schematic diagram of the transition plate in the embodiment;

[0076] Figure 16 For Figure 10 Schematic diagram of a part of the screw dispensing assembly in the embodiment;

[0077] Figure 17 For Figure 5 Schematic diagram of the preloading manipulator of the screw preloading device in the embodiment;

[0078] Figure 18 For Figure 4 Schematic diagram of the screw locking device in the embodiment;

[0079] Figure 19 For Figure 18 Schematic diagram of the locking manipulator of the screw locking device in the embodiment;

[0080] Figure 20 For Figure 19 Schematic diagram of a part of the locking manipulator in the embodiment;

[0081] Figure 21 Flow chart of the automatic preloading method for the industrial robot joint in an embodiment of the present application;

[0082] Figure 22 Flow chart of the automatic preloading method for the industrial robot joint in an embodiment of the present application. Detailed implementation manners

[0083] Next, the solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0084] It should be noted that all the directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0085] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0086] In addition, the descriptions involving "first", "second", etc. in the present application are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0087] See Figure 1 and Figure 2 , Figure 1 which is an exploded view of an industrial robot joint in the prior art, Figure 2 and

[0088] The joint of an industrial robot includes a housing 100 and a speed reducer 200. The speed reducer 200 includes a fixed seat 210 (which can also be called the body), an output shaft 220 arranged on the fixed seat 210, and a flange 230 connected to one end of the output shaft 220. The flange 230 is used to connect to the next joint. Among them, a plurality of first mounting holes 210a are provided on the fixed seat 210, a plurality of second mounting holes 230a are provided on the flange 230, and a plurality of third mounting holes 100a are provided on the housing 100. The first mounting holes 210a correspond to the third mounting holes 100a. When the speed reducer 200 is assembled in the housing 100, the flange 230 is located above the fixed seat 210, and the lower side of the fixed seat 210 is butted against the housing 100 and connected by passing screws between a plurality of first mounting holes 210a and a plurality of third mounting holes 100a.

[0089] During specific setting, the flange 230 blocks the first mounting holes 210a of the fixed seat 210, resulting in the inability to directly pass screws through the first mounting holes 210a of the fixed seat 210 and the third mounting holes 100a of the housing 100 for pre-assembly. Therefore, it is necessary to adjust the angle of the flange 230 so that the second mounting holes 230a correspond to the first mounting holes 210a, pass the screws through the second mounting holes 230a, and then place them in the first mounting holes 210a for pre-assembly.

[0090] Optionally, the number of the second mounting holes 230a on the flange 230 is the same as the number of the first mounting holes 210a on the fixed seat 210. For example, there are 12 first mounting holes 210a and 12 second mounting holes 230a. In this way, only one rotation alignment is required, for example, one rotation alignment to make 12 hole positions correspond, and then the pre-assembly of the screws between all the first mounting holes 210a and the third mounting holes 100a can be completed. Optionally, the number of the second mounting holes 230a on the flange 230 is less than the number of the first mounting holes 210a on the fixed seat 210. For example, the number of the first mounting holes 210a is 12 and the number of the second mounting holes 230a is 10. In this case, at least two rotation alignments are required. For example, the first rotation alignment makes 10 hole positions correspond, and the screws of the corresponding 10 hole positions are pre-assembled first. The second rotation alignment makes the remaining 2 hole positions correspond, and then the screws of the corresponding 2 hole positions are pre-assembled, and then the pre-assembly of all the screws in the first mounting holes 210a can be completed. It is easy to understand that the above only belongs to some specific descriptions of the pre-assembly of the screws between the housing 100 and the speed reducer 200 in the actual scenario, and does not constitute a limitation to this solution.

[0091] See Figures 3 to 5 , Figure 3 which is a schematic diagram of the pre-assembly and locking process of the joint of an industrial robot in an embodiment of the present application, Figure 4 which is a layout diagram of the automatic pre-assembly device of the joint of an industrial robot in an embodiment of the present application, Figure 5For Figure 4 Schematic structural diagram of the screw preloading device in the embodiment:

[0092] This application proposes an automatic preloading device for an industrial robot joint, including a conveying device 1 and a screw preloading device 2;

[0093] The conveying device 1 is used to convey an industrial robot joint with the position information of the first mounting hole 210a known to the screw preloading device 2;

[0094] The screw preloading device 2 includes a first vision positioning mechanism 21, a first rotation alignment mechanism 22, a preloading manipulator 23, and at least one feeding mechanism 24;

[0095] The first vision positioning mechanism 21 is arranged on the preloading manipulator 23 and is used to obtain the position information of the second mounting hole 230a;

[0096] The first rotation alignment mechanism 22 is used to rotate the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the position information of the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a;

[0097] At least one feeding mechanism 24 is used to supply screws, and the preloading manipulator 23 is used to take out screws from at least one feeding mechanism 24, and place the screws through the second mounting hole 230a into the first mounting hole 210a.

[0098] The automatic preloading device for the industrial robot joint involved in this embodiment is used to preload screws between the housing 100 and the reducer 200 of the industrial robot joint, so as to realize the connection and fixation between the two. In this automatic preloading device for the industrial robot joint, the industrial robot joint is automatically conveyed by the conveying device 1, and the joint on the conveying device 1 is conveyed to the screw preloading device 2 for automatic screw preloading.

[0099] Among them, the conveying device 1 can be a linear or turntable conveyor, which is set according to actual conditions. Optionally, the conveying device 1 adopts a conveying line body, and the conveying line body is a double-speed chain line. A number of jigs are conveyed on the double-speed chain line, and the jigs are used to place joints to realize the conveying of joints. As a preferred embodiment, the double-speed chain line adopts a circulating line body, and a docking mechanism is respectively provided at both ends of the line body to transfer the jig between the circulating line bodies through the docking mechanism to realize the cyclic conveying and use of the jig. The conveyed industrial robot joint is a combination of the housing 100 and the reducer 200. The reducer 200 is located in the housing 100 and the first mounting hole 210a of the fixed seat 210 corresponds to the third mounting hole 100a of the housing 100. And in this embodiment, the position information of the first mounting hole 210a in the joint is already known in advance. Optionally, the position information of the third mounting hole 100a can be obtained during the docking process between the fixed seat 210 of the reducer 200 and the shell 100 and stored in the equipment control system. The first mounting hole 210a corresponds to the third mounting hole 100a, and the position information of the third mounting hole 100a is also the position information of the first mounting hole 210a. Alternatively, the shell 100 is placed at a fixed position on the jig of the conveying device 1, and the shell 100 can be positioned according to the position on the jig corresponding to the fixed position of the shell 100, so that the position information of the third mounting hole 100a is uniquely determined and pre-stored in the equipment control system. The first mounting hole 210a corresponds to the third mounting hole 100a, and the position information of the third mounting hole 100a is also the position information of the first mounting hole 210a. Of course, this is only exemplary and not restrictive, including but not limited to this.

[0100] When pre-installing the screws, the screw pre-installing device 2 obtains the position information of the second mounting hole 230a through the first visual positioning mechanism 21 of the pre-installing robot 23, and the first rotation alignment mechanism 22 rotates the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a. The pre-installing robot 23 passes the screw taken out from the feeding mechanism 24 through the second mounting hole 230a and places it in the first mounting hole 210a, so that the subsequent screw locking mechanism can lock the screw.

[0101] like Figure 3As shown in the figure, the process of pre-installing and locking the screw is as follows: In the initial state, the second mounting hole 230a of the flange 230 is misaligned with the first mounting hole 210a of the fixed seat 210. Then, the flange 230 is rotated to align its second mounting hole 230a with the first mounting hole 210a of the fixed seat 210. Next, the screw is passed through the second mounting hole 230a of the flange 230 and placed in the first mounting hole 210a of the fixed seat 210 for screw pre-installation. According to the different structural designs of the first mounting hole 210a and the third mounting hole 100a, the pre-installed screw completely passes through the first mounting hole 210a, and then the end of the screw rod waits to be rotated into the third mounting hole 100a at the third mounting hole 100a; or the pre-installed screw can completely pass through the first mounting hole 210a and partially enter the third mounting hole 100a; or it may not completely pass through the first mounting hole 210a and correspondingly does not enter the third mounting hole 100a. After the screw is pre-installed, the screw can be rotated downward and tightened to be threadedly engaged with the third mounting hole 100a. In this way, the screw rod of the screw passes through the first mounting hole 210a and is threadedly engaged with the third mounting hole 100a, and the screw head of the screw is tightly abutted against the fixed seat 210 to lock and fix the fixed seat 210 and the housing 100.

[0102] Among them, the first vision positioning mechanism 21 can be a CCD vision camera. By taking a high-definition image of the joint through the CCD vision camera, the second mounting hole 230a on the flange 230 is identified, so as to obtain the position information of the second mounting hole 230a. The structural form of the first rotation alignment mechanism 22 can be various. For example, the first rotation alignment mechanism 22 includes a robotic arm and a rotating gripper provided at the end of the robotic arm. During use, the rotating gripper at the end of the robotic arm can be driven by the robotic arm to the flange 230, and the rotating gripper clamps the flange 230 and drives it to rotate. In addition to this example, the first rotation alignment mechanism 22 can also adopt other structural forms, which will be described in detail in subsequent embodiments and will not be elaborated here. According to the functional role of the pre-installation manipulator 23, its structural configuration can be set according to the actual situation. For example, a combined structure of a multi-axis robotic arm and an operating component can be adopted, or a combined structure of an XYZ three-axis drive module and an operating part can be adopted, etc., and the operating component can be a suction component or a clamping component. The feeding mechanism can be one or more. As Figure 1 shown, the feeding mechanism is three. The pre-installation manipulator 23 can sequentially take out screws from the three feeding mechanisms 24 without waiting, which can improve the assembly efficiency.

[0103] The automatic pre-installation device for the industrial robot joint can realize the automatic pre-installation of the screws of the housing 100 and the reducer 200 of the industrial robot joint, replace the manual pre-installation of screws, realize the automation and intelligence of the assembly of the industrial robot joint, improve the assembly efficiency, and meet the production requirements of the manufacturer for mass-producing industrial robots efficiently.

[0104] See Figures 6 to 9 , Figure 6 is Figure 5 a schematic structural view of the first rotary alignment mechanism in the embodiment, Figure 7 is Figure 6 a partial structural schematic view of the first rotary alignment mechanism in the embodiment, Figure 8 is Figure 6 a partial structural schematic view of the first rotary alignment mechanism in the embodiment, Figure 9 is Figure 6 a cross-sectional view of a part of the structure of the first rotary alignment mechanism in the embodiment:

[0105] In some embodiments, the speed reducer 200 further includes an input shaft and an output shaft 220. The output shaft 220 is hollow and connected to the fixed seat 210. The output shaft 220 passes through the inside of the input shaft and is connected to the flange 230. The industrial robot joint further includes a motor rotor 300, and the motor rotor 300 is sleeved outside the input shaft;

[0106] The first rotary alignment mechanism 22 is located below the conveying device 1. The first rotary alignment mechanism 22 includes a lifting drive assembly 221, a lifting plate 222, a rotating seat 223, a rotary drive assembly 224, a clamping drive assembly 226, and at least two clamping members 225;

[0107] The output execution end of the lifting drive assembly 221 is connected to the lifting plate 222 for driving the lifting plate 222 to lift and lower; the rotary drive assembly 224 and the rotating seat 223 are arranged on the lifting plate 222. The output execution end of the rotary drive assembly 224 is connected to the rotating seat 223 for driving the rotating seat 223 to rotate; at least two clamping members 225 are movably arranged on the rotating seat 223. The output execution end of the clamping drive assembly 226 is connected to at least two clamping members 225 for driving at least two clamping members 225 to open and close relatively, so that at least two clamping members 225 release or clamp the motor rotor 300 or the output shaft 220.

[0108] Wherein, the motor rotor 300 is the motor rotor 300 of the joint motor. The motor rotor 300 is sleeved outside the input shaft of the speed reducer. The input shaft of the speed reducer 200 can rotate with the motor rotor 300. The operation process of the speed reducer 200 is: the motor rotor 300 drives the input shaft to rotate, the input shaft drives the output shaft 220 to rotate through speed reduction, and the flange 230 rotates with the output shaft 220. The first rotary alignment mechanism 22 is used to rotate the flange 230 to align the hole positions of the second mounting hole 230a and the first mounting hole 210a. Therefore, the first rotary alignment mechanism 22 can drive the flange 230 to rotate by rotating the motor rotor 300; or can drive the flange 230 to rotate by rotating the output shaft 220, and select the setting according to the actual situation.

[0109] The working principle of the first rotary alignment mechanism 22 is as follows: The lifting drive assembly 221 drives the lifting plate 222 to rise. At least two clamping members 225 rise from the initial position accordingly until the motor rotor 300 or the output shaft 220 is located at the clamping center position of the at least two clamping members 225, and then the lifting action stops. Then, the clamping drive assembly 226 drives the at least two clamping members 225 to move closer to clamp the motor rotor 300 or the output shaft 220. Subsequently, the rotary drive assembly 224 drives the rotating seat 223 to rotate, and the at least two clamping members 225 clamping the motor rotor 300 or the output shaft 220 rotate accordingly, so that the flange 230 rotates.

[0110] After the rotation of the flange 230 is completed, the clamping drive assembly 226 drives the at least two clamping members 225 to move away from each other to release the motor rotor 300 or the output shaft 220. Then, the lifting drive assembly 221 drives the lifting plate 222 to descend, and the at least two clamping members 225 descend and reset to the initial position accordingly.

[0111] Optionally, the lifting drive assembly 221 can adopt drive assemblies such as a lead screw assembly and a timing belt assembly. The rotary drive assembly 224 can adopt drive assemblies such as a gear assembly and a timing belt assembly. The clamping drive assembly 226 can adopt a jaw cylinder, etc. The clamping members 225 can be correspondingly arranged at the clamping ends of the jaw cylinder. And the clamping members 225 can be two or three, etc. The type of the jaw cylinder is selected according to the number of the clamping members 225, such as a two-jaw or three-jaw jaw cylinder, etc. The above is only exemplary and not restrictive. Corresponding to the foregoing embodiment solution, through holes are provided on the fixture for the clamping members 225 to pass through from bottom to top, which facilitates clamping the motor rotor 300 or the output shaft 220 of the reducer 200 on the fixture. And in specific settings, the first rotary alignment mechanism 22 can be fixed on the conveying device 1 or independently installed through other structures, and is selected according to the actual situation.

[0112] In some embodiments, the rotary drive assembly 224 includes a rotating shaft 2241 and a first driving member 2242;

[0113] The rotating shaft 2241 is rotatably passed through the lifting plate 222. The rotating seat 223 is installed at one end of the rotating shaft 2241. The first driving member 2242 is connected to the other end of the rotating shaft 2241 through a transmission assembly 2243.

[0114] In this embodiment, a shaft mounting hole is penetrated through the lifting plate 222. The rotating shaft 2241 passes through the shaft mounting hole and is rotatably mounted on the lifting plate 222 through a bearing. The rotating seat 223 is located at the top end of the rotating shaft 2241 and is connected to the rotating shaft 2241. The bottom end of the rotating shaft 2241 is connected to the first driving member 2242 through a transmission assembly 2243. Among them, the first driving member 2242 of the rotary driving assembly 224 outputs driving power, and drives the rotating shaft 2241 to rotate through the transmission assembly 2243, thereby driving the rotating seat 223 to rotate. Among them, the transmission assembly 2243 can be a first-stage reduction drive or a second-stage reduction drive, etc., which is set according to actual conditions.

[0115] In some embodiments, the first driving member 2242 is a driving motor. The body of the driving motor is located on one side of the lifting plate 222 and is fixedly connected to the lifting plate 222. The output shaft of the driving motor passes through the lifting plate 222.

[0116] The transmission assembly 2243 includes a first transmission wheel 2243a and a second transmission wheel 2243b. The first transmission wheel 2243a is fixedly arranged on the output shaft of the driving motor. The second transmission wheel 2243b is located at the other end of the rotating shaft 2241 and is coaxially connected to the rotating shaft 2241. The first transmission wheel 2243a and the second transmission wheel 2243b are in transmission connection.

[0117] In this embodiment, driven by the driving motor, the first transmission wheel 2243a rotates with its output shaft, and then drives the second transmission wheel 2243b to rotate. The rotating shaft 2241 rotates with the second transmission wheel 2243b to drive the rotating seat 223 to rotate. Optionally, the transmission assembly 2243 can be a gear transmission assembly, that is, both the first transmission wheel 2243a and the second transmission wheel 2243b are gears, and the first transmission wheel 2243a and the second transmission wheel 2243b are meshed and connected; or, the transmission assembly 2243 can be a synchronous belt transmission assembly, that is, both the first transmission wheel 2243a and the second transmission wheel 2243b are synchronous belt wheels, and the first transmission wheel 2243a and the second transmission wheel 2243b are connected by sleeving a synchronous belt. In this embodiment, the transmission assembly 2243 is selected as a gear transmission assembly, and the transmission ratio is set according to actual requirements without limitation. Among them, the body of the driving motor and the rotating seat 223 are arranged on the same side of the lifting plate 222, with a compact structure, reasonable use of space, which can reduce the design height of the mechanism, reduce the space occupied by the mechanism, and can also avoid interference with other structures.

[0118] In some embodiments, the number of the clamping members 225 is two. The clamping drive assembly 226 includes a moving frame 2261, a second driving member 2263 and two connecting arms 2262.

[0119] The moving frame 2261 is vertically movably arranged on the rotating seat 223. Two inclined guide grooves 2261a are provided on the moving frame 2261, and the two guide grooves 2261a are arranged at an angle to each other.

[0120] Two connecting arms 2262 are horizontally movably arranged on the rotating seat 223. One end of each connecting arm 2262 is connected to a clamping member 225, and the other end is slidably connected to a guide groove 2261a.

[0121] The second driving member 2263 is used to drive the moving frame 2261 to move vertically, so that the two connecting arms 2262 slide along the corresponding guide grooves 2261a. When the two connecting arms 2262 slide along the corresponding guide grooves 2261a, the two connecting arms 2262 move away from or towards each other, so that the two clamping members 225 open and close relatively.

[0122] In this embodiment, on the moving frame 2261, the straight line where the two end points of one guide groove 2261a are located intersects at an angle with the straight line where the two end points of the other guide groove 2261a are located, so that when the two connecting arms 2262 slide in the two guide grooves 2261a, they can move relatively or towards each other, thereby making the two clamping members 225 open and close relatively. For example, the two guide grooves 2261a can be arranged in a positive "eight" shape. The second driving member 2263 of the clamping driving assembly 226 drives the moving frame 2261 to move downward, and the two connecting arms 2262 slide along the corresponding guide grooves 2261a. The moving frame 2261 pulls the two connecting arms 2262 to move towards each other, and further makes the two clamping members 225 approach and close. On the contrary, the second driving member 2263 of the clamping driving assembly 226 drives the moving frame 2261 to move upward, the two connecting arms 2262 slide along the corresponding guide grooves 2261a, and the moving frame 2261 pushes the two connecting arms 2262 to move away from each other, and further makes the two clamping members 225 move away and open. Optionally, the two guide grooves 2261a on the moving frame 2261 can also be arranged in an inverted "eight" shape. It is easy to understand that, contrary to the foregoing action principle, when the second driving member 2263 drives the moving frame 2261 to move downward, the two clamping members 225 move away and open; when the second driving member 2263 drives the moving frame 2261 to move upward, the two clamping members 225 approach and close. As an alternative implementation, a convex block can be connected to the connecting arm 2262, and a groove is correspondingly provided on the rotating seat 223. The groove extends in the horizontal direction, and the convex block is slidably matched with the groove to realize the moving arrangement of the connecting arm 2262 on the rotating seat 223. This is only exemplary, and other solutions can also be adopted.

[0123] Further, the rotating seat 223 has a flat structure, and an accommodation cavity is provided in the rotating seat 223 to dispose components such as the moving frame 2261 and the connecting arm 2262 in the accommodation cavity. The opening of the accommodation cavity is located at the top of the rotating seat 223 and is oval-shaped. One ends of the two connecting arms 2262 are located at the opening and are respectively connected to the two clamping members 225 correspondingly.

[0124] In some embodiments, the clamping drive assembly 226 further includes at least one horizontal guiding assembly 2264 and / or a vertical guiding assembly 2265;

[0125] The horizontal guiding assembly 2264 includes a guide rail and a slider slidably disposed on the guide rail. The guide rail is fixedly connected to the rotating seat 223, and the slider is connected to one connecting arm 2262; and / or,

[0126] The vertical guiding assembly 2265 includes a guide rod and a guide sleeve. The guide sleeve is fixed on the rotating seat 223. One end of the guide rod is connected to the moving frame 2261, and the other end passes through the guide sleeve and is in sliding fit with the guide sleeve.

[0127] In this embodiment, the horizontal guiding assembly 2264 is used to guide the movement of the connecting arm 2262, and at the same time, the movable setting of the connecting arm 2262 on the rotating seat 223 can also be realized. As an alternative solution, there are two horizontal guiding assemblies 2264, which are respectively used for the two connecting arms 2262. Specifically, the guide rails of the two horizontal guiding assemblies 2264 are oppositely disposed on the rotating seat 223, and the two connecting arms 2262 are respectively connected to the sliders on the two guide rails; or, there is one horizontal guiding assembly 2264, the guide rail of the horizontal guiding assembly is disposed on the rotating seat 223, and two sliders are slidably disposed on the guide rail, and the two connecting arms 2262 are respectively connected to the two sliders on the guide rail. In this embodiment, there are two horizontal guiding assemblies 2264, and the guide rails of the two horizontal guiding assemblies 2264 are respectively disposed on the opposite side walls of the accommodation cavity. Driven by the moving frame 2261, the connecting arm 2262 slides along the guide rail on the slider, so as to realize the horizontal movement guiding of the connecting arm 2262.

[0128] The vertical guiding assembly 2265 is used to guide the movement of the moving frame 2261. When the second driving member 2263 drives the moving frame 2261 to move, the guide rod connected to the moving frame 2261 slides correspondingly in the guide sleeve on the rotating seat 223, so as to realize the vertical movement guiding of the moving frame 2261. In this embodiment, there are two vertical guiding assemblies.

[0129] It is easy to understand that in other embodiments, the horizontal guiding assembly 2264 can also adopt a guide rod and guide sleeve or other guiding structures, and the vertical guiding assembly 2265 can also adopt a guide rail and slider or other guiding structures.

[0130] In some embodiments, the clamping drive assembly 226 further includes a connecting shaft 2266. The rotating shaft 2241 is provided with a hollow interior. The connecting shaft 2266 is slidably engaged with the rotating seat 223 and passes through the rotating shaft 2241. One end of the connecting shaft 2266 is connected to the moving frame 2261, and the other end is connected to the output execution end of the second driving member 2263.

[0131] In this embodiment, the connecting shaft 2266 and the rotating shaft 2241 are sleeved in a "shaft-in-shaft" relationship, with the rotating shaft 2241 on the outside and the connecting shaft 2266 on the inside. The moving frame 2261 is located at the top of the connecting shaft 2266 and is connected to the connecting shaft 2266. The bottom end of the connecting shaft 2266 is connected to the output execution end of the second driving member 2263. Among them, the second driving member 2263 of the clamping drive assembly 226 outputs power to drive the connecting shaft 2266 passing through the rotating shaft 2241 to move up and down, thereby driving the moving frame 2261 to move up and down, so as to realize the opening and closing of the two clamping members 225. Among them, corresponding to the specific type of the second driving member 2263, the connecting shaft 2266 can be directly connected to the output execution end of the second driving member 2263, or can be connected to the output execution end of the second driving member 2263 through other intermediate members or transmission structures, which is set according to the actual situation.

[0132] In some embodiments, the second driving member 2263 is a cylinder. The cylinder body of the cylinder is located on one side of the lifting plate 222, and the piston rod of the cylinder passes through the lifting plate 222. The connecting shaft 2266 is connected to the piston rod of the cylinder through a connecting frame 2267.

[0133] In this embodiment, driven by the cylinder, the connecting frame 2267 moves with its piston rod to drive the connecting shaft 2266 to move, and then drive the moving frame 2261 to move. Among them, the cylinder body of the cylinder and the rotating seat 223 are arranged on the same side of the lifting plate 222, with a compact structure, reasonable use of space, which can reduce the design height of the mechanism, reduce the space occupied by the mechanism, and can also avoid interference with other structures.

[0134] See Figure 5 and Figures 10 to 16 , Figure 10 is Figure 5 the structural schematic diagram of the screw dispensing assembly of the feeding mechanism in the embodiment, Figure 11 is Figure 10 the cross-sectional view of the screw dispensing assembly in the embodiment, Figure 12 is Figure 11 the partial enlarged view at A in Figure 13 is Figure 11 the partial enlarged view at B in Figure 14 is Figure 10 the structural schematic diagram of the screw dispensing assembly in another perspective in the embodiment, Figure 15 is Figure 10Schematic structural diagram of the transition plate in the embodiment Figure 16 is Figure 10 Schematic diagram of a partial structure of the screw feeding component in the embodiment:

[0135] In some embodiments, the feeding mechanism 24 includes a screw feeding component 241 and a screw feeder 242. The screw feeding component 241 includes a mounting base 2411, a feeding plate 2412, a screw guiding tube 2413, and a feeding plate driving component 2414 located on the mounting base 2411;

[0136] The feeding plate 2412 is movably arranged on the mounting base 2411, and at least one material hole 2412a for screws to fall into is formed on the feeding plate 2412;

[0137] The output execution end of the feeding plate driving component 2414 is connected to the feeding plate 2412 and is used to drive the feeding plate 2412 to move on the mounting base 2411;

[0138] The screw guiding tube 2413 is located above the feeding plate 2412. The feeding end of the screw guiding tube 2413 is connected to the screw feeder 242, and the discharging end is located directly above the movement track of the material hole 2412a.

[0139] In this embodiment, the screw feeder 242 of the feeding mechanism 24 supplies screws, and the screw feeding component 241 separates the screws supplied by the screw feeder 242 one by one for the preloading manipulator 23 to pick up. During use, the screws supplied by the screw feeder 242 enter the screw guiding tube 2413 from the feeding end of the screw guiding tube 2413 and then fall out from the discharging end of the screw guiding tube 2413. Among them, the screw guiding tube 2413 can be a flexible tube, including but not limited to this. The feeding plate 2412 is located below the screw guiding tube 2413 and moves (slides or rotates) on the mounting base 2411 driven by the feeding plate driving component 2414; at least one material hole 2412a is formed on the feeding plate 2412, and the material hole 2412a is used to receive the screws falling out from the discharging end of the screw guiding tube 2413, and the discharging end of the screw guiding tube 2413 is located directly above the movement track of the material hole 2412a, that is, when the feeding plate driving component 2414 drives the feeding plate 2412 to move, when the material hole 2412a moves directly below the discharging end of the screw guiding tube 2413, the screws falling out from the discharging end of the screw guiding tube 2413 just fall into the material hole 2412a. In the figure of this embodiment, one material hole 2412a is taken as an example. Of course, in other embodiments, there can also be multiple material holes 2412a.

[0140] The feeding plate driving assembly 2414 can be a telescopic driving assembly or a rotational driving assembly. When the feeding plate driving assembly 2414 is a telescopic driving assembly, the feeding plate driving assembly 2414 drives the feeding plate 2412 to move linearly back and forth. The feeding plate driving assembly 2414 can be a driving assembly composed of a cylinder or a motor and a lead screw. Moreover, in a specific embodiment, a buffer member can be provided on the mounting base 2411, and the buffer member is disposed opposite to one end of the feeding plate 2412 close to the feeding plate driving assembly 2414. The buffer member abuts and buffers the feeding plate 2412 when it moves towards the feeding plate driving assembly 2414, avoiding excessive movement of the feeding plate 2412 to protect the feeding plate 2412. Among them, the buffer member can be a hydraulic buffer, a spring buffer, a rubber block, and so on.

[0141] The working process of the feeding mechanism 24 is as follows: the feeding plate driving assembly 2414 drives the feeding plate 2412 to move (slide or rotate), so that the feeding plate 2412 moves to directly below the screw guiding tube 2413 (i.e., the screw receiving position). The screws conveyed by the screw feeder 242 into the screw guiding tube 2413 fall from its discharge end into the material hole 2412a. Then, the feeding plate driving assembly 2414 drives the feeding plate 2412 to move to the position where the material hole 2412a supplies the screws, so that the preloading manipulator 23 can pick up the screws; and so on in a cycle to perform automatic screw feeding.

[0142] In some embodiments, a section of the material hole 2412a near the discharge end is a first guiding section 2412b with a gradually decreasing aperture from top to bottom. For example, the inner wall surface of the first guiding section 2412b is a conical surface. By setting the top part of the material hole 2412a as the first guiding section 2412b, it mainly solves the problem that the screws falling out of the screw guiding tube 2413 are shaken or there are position deviations of the screws falling out of the discharge end of the screw guiding tube 2413 due to other interference factors, and thus cannot accurately fall into the material hole 2412a. When there is a position deviation of the screws falling out of the discharge end of the screw guiding tube 2413, the bottom end of the screw abuts against the inner wall surface of the first guiding section 2412b, and the inner wall surface of the first guiding section 2412b is an inclined guiding surface. Therefore, the bottom end of the screw will slide into the material hole 2412a along the first guiding section 2412b due to the action of its own gravity. In this way, this embodiment further ensures that the screws falling out of the screw guiding tube 2413 can accurately enter the material hole 2412a.

[0143] In some embodiments, a transition plate 2415 is provided on the mounting base 2411. The transition plate 2415 is located between the feeding plate 2412 and the screw guiding tube 2413. A through hole 2415a facing the discharging end is provided on the transition plate 2415. A second guiding section 2415b with a gradually decreasing aperture from top to bottom is provided at a section of the through hole 2415a close to the discharging end. For example, the second guiding section 2415b is a guiding section with a tapered inner wall surface. The second guiding section 2415b of the through hole 2415a of the transition plate 2415 has the same function as the first guiding section 2412b, both of which are used to guide the screws falling from the discharging end of the screw guiding tube 2413 and correct the position deviation of the falling screws. The difference is that since the through hole 2415a allows the whole screw to pass through, the aperture of the through hole 2415a needs to be not less than the head size of the screw, which is larger than the aperture of the material hole 2412a, and the aperture of the second guiding section 2415b is even larger, allowing a larger position deviation of the falling screws, thus better ensuring the stability of screw feeding.

[0144] In some embodiments, the screw dispensing assembly 241 further includes a sensing assembly 2416 for detecting whether a screw has fallen onto the feeding plate 2412. The sensing assembly 2416 is electrically connected to the main control board of the feeding mechanism 24. By detecting whether a screw has fallen onto the feeding plate 2412 (i.e., fallen into the material hole 2412a), the sensing assembly 2416 feeds back a detection signal to the main control board, so that the main control board controls the feeding plate driving assembly 2414 to work according to the detection signal. For example, when the sensing assembly 2416 detects that a screw has fallen onto the feeding plate 2412, the sensing assembly 2416 feeds back a first signal to the main control board, and the main control board then controls the feeding plate driving assembly 2414 to drive the feeding plate 2412 to move to the screw supply position of the material hole 2412a for the pre-installation manipulator 23 to pick up the screw; when the sensing assembly 2416 detects that no screw has fallen onto the feeding plate 2412, the sensing assembly 2416 feeds back a second signal to the main control board, and the main control board then controls the feeding plate driving assembly 2414 not to drive the feeding plate 2412 and waits until a screw is detected to have fallen onto the feeding plate 2412, and then controls the feeding plate driving assembly 2414 to drive.

[0145] In some embodiments, a detection hole 2415c that intersects and penetrates the hole wall of the through hole 2415a is further provided on the transition plate 2415. The sensing assembly 2416 includes a light emitter 2416a and a light receiver 2416b installed at both ends of the detection hole 2415c.

[0146] The sensor component 2416 of this embodiment adopts optical sensing detection. The light emitter 2416a emits light from one end of the detection hole 2415c to the other end. The light passes through the through hole 2415a, and the light receiver 2416b receives the light emitted by the light emitter 2416a. When no screw passes through the through hole 2415a, the light receiver 2416b always keeps receiving the light emitted by the light emitter 2416a. At this time, the sensor component 2416 feeds back a signal that no screw has fallen in to the main control board; when there is a screw, the light receiver 2416b receives the light emitted by the light emitter 2416a. When the screw falls through the through hole 2415a, the light emitted by the light emitter 2416a is blocked by the screw passing through the through hole 2415a, and the light receiver 2416b cannot receive the light emitted by the light emitter 2416a. At this time, the light sensor device feeds back a signal that a screw has fallen into the main control board, and the main control board determines that a screw has fallen into the feed plate 2412, and controls the feed plate drive component 2414 to drive the feed plate 2412 to move, so that the feed plate 2412 sends the screw to the predetermined position for use by the screw locking device. Of course, in other embodiments, the sensor component 2416 can also adopt other types of sensor detection schemes.

[0147] In some embodiments, the bottom surface of the transition plate 2415 is arranged close to the top surface of the feed plate 2412, and the transition plate 2415 is provided with a first avoidance groove 2415d extending along the movement trajectory of the material hole 2412a, and the first avoidance groove 2415d is connected to the through hole 2415a. Since the head of the screw is larger than the size of its shaft, when the screw falls into the material hole 2412a, the shaft of the screw is inserted into the material hole 2412a, and the head of the screw is hung outside the top of the material hole 2412a and protrudes from the top surface of the feed plate 2412; therefore, when the bottom surface of the transition plate 2415 is arranged close to the top surface of the feed plate 2412, the transition plate 2415 needs to be provided with a first avoidance groove 2415d extending along the movement trajectory of the material hole 2412a to avoid the head of the screw. Furthermore, when the detection hole 2415c passes through the through hole 2415a close to one end of the feeding plate 2412, when the screw falls into the material hole 2412a of the feeding plate 2412, the light between the light emitter 2416a and the light receiver 2416b will be blocked by the head of the screw protruding from the top surface of the feeding plate 2412. Therefore, the sensor component 2416 will keep feeding back the signal of the screw falling to the main control board until the feeding plate 2412 sends the screw away, thereby ensuring accurate detection of the sensor component 2416.

[0148] Of course, in some embodiments, the avoidance scheme of the first avoidance groove 2415d can also be replaced by setting a groove on the top surface of the feeding plate 2412, so that the head of the screw is located in the groove and does not protrude from the top surface of the feeding plate 2412. In this way, there is no need to set the first avoidance groove 2415d.

[0149] In some embodiments, a chute 2411a is provided on the mounting base 2411, the feeding plate 2412 is slidably disposed in the chute 2411a, and a second avoidance groove 2411b extending along the movement trajectory of the material hole 2412a is provided on the bottom wall of the chute 2411a.

[0150] In this embodiment, the movement trajectory of the material hole 2412a is the sliding trajectory along the sliding direction of the chute 2411a. Since the screws used in the joints of industrial robots are usually relatively long, in order to use a feeding plate 2412 with a smaller thickness (less than the rod length of the screw) to reduce the overall size, weight and cost of the screw feeding assembly 241, the material hole 2412a penetrates through the feeding plate 2412. When the screw falls into the material hole 2412a, the bottom end of the rod of the screw extends out of the material hole 2412a. By providing a second avoidance groove 2411b extending along the movement trajectory of the material hole 2412a at the bottom of the chute 2411a, the part of the rod of the screw extending out of the material hole 2412a is avoided.

[0151] See Figure 5 and Figure 17 , Figure 17 For Figure 5 the structural schematic diagram of the preloading manipulator of the screw preloading device in the embodiment:

[0152] In some embodiments, the preloading manipulator 23 includes a first robotic arm 231, a first mounting bracket 232 and a gripper 233;

[0153] The first mounting bracket 232 is disposed at the end of the first robotic arm 231, and the gripper 233 and the first vision positioning mechanism 21 are disposed on the first mounting bracket 232.

[0154] In this embodiment, the working process of the preloading manipulator 23 is as follows: The first robotic arm 231 drives the first mounting bracket 232 to move, so as to drive the gripper 233 to move to the feeding mechanism 24, and the gripper 233 grabs the screw; then it drives the first mounting bracket 232 to move to drive the gripper 233 to move to the second mounting hole 230a of the flange 230, and the gripper 233 releases the screw to pass the screw through the second mounting hole 230a of the flange 230 and into the first mounting hole 210a of the fixed seat 210 and the third mounting hole 100a of the housing 100. In this way, the cycle is repeated to place screws in each first mounting hole 210a and the corresponding third mounting hole 100a. The preloading manipulator 23 uses the gripper 233 to grab the screw, which is convenient for taking materials and not easy to fall off, and can ensure the stability of the screw preloading work. In a specific embodiment, a gantry can be set to install the preloading manipulator 23, the gantry straddles above the conveying device 1, and the first robotic arm 231 of the preloading manipulator 23 is fixed on the gantry.

[0155] See Figure 4 ,Figures 18 to 20 , Figure 18 is Figure 4 a schematic structural view of the screw locking device in the embodiment, Figure 19 is Figure 18 a schematic structural view of the locking manipulator of the screw locking device in the embodiment, Figure 20 is Figure 19 a partial schematic structural view of the locking manipulator in the embodiment:

[0156] In some embodiments, the automatic preloading device for the industrial robot joint further includes a screw locking device 3, and the screw preloading device 2 and the screw locking device 3 are arranged in sequence along the conveying direction of the conveying device 1;

[0157] The screw locking device 3 includes a second vision positioning mechanism 31, a second rotation alignment mechanism 32 and a locking manipulator 33;

[0158] The second vision positioning mechanism 31 is arranged on the locking manipulator 33 and is used to obtain the position information of the second mounting hole 230a;

[0159] The second rotation alignment mechanism 32 is used to rotate the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a;

[0160] The locking manipulator 33 is used to lock the screw placed in the first mounting hole 210a to the first mounting hole 210a and the third mounting hole 100a.

[0161] In this embodiment, the screw locking device 3 is used to automatically lock the screw placed in the first mounting hole 210a to lock the screw to the first mounting hole 210a and the third mounting hole 100a. The screw preloading device 2 and the screw locking device 3 are arranged in sequence along the conveying direction of the conveying device 1. That is, the joint on the conveying device 1 is first conveyed to the screw preloading device 2 for automatic screw preloading, and then conveyed to the screw locking device 3 for automatic screw locking, realizing the automatic assembly from screw preloading to locking, which can improve the degree of automation and intelligence and further improve the assembly efficiency.

[0162] It is easy to understand that since the flange 230 blocks the first mounting hole 210a of the fixed seat 210, it is impossible to directly lock the screw in the first mounting hole 210a of the fixed seat 210. Therefore, it is necessary to adjust the angle of the flange 230 so that the second mounting hole 230a corresponds to the first mounting hole 210a, so as to pass through the second mounting hole 230a to lock the screw in the first mounting hole 210a, and then lock the screw to the first mounting hole 210a and the third mounting hole 100a.

[0163] The operation steps of screw locking and screw pre-installation are basically the same. When locking the screw, the screw locking device 3 obtains the position information of the second mounting hole 230a through the second vision positioning mechanism 31 on the pre-installation manipulator 23. The second rotation alignment mechanism 32 rotates the flange 230 to the corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a. The locking manipulator 33 passes through the second mounting hole 230a to lock the screw placed in the first mounting hole 210a into the first mounting hole 210a and the third mounting hole 100a.

[0164] Among them, the second vision positioning mechanism 31 and the second rotation alignment mechanism 32 can be set with reference to the structures of the first vision positioning mechanism 21 and the first rotation alignment mechanism 22 in the foregoing embodiments, and will not be elaborated here. As for the locking manipulator 33, according to its functional role, its structural configuration can be set according to the actual situation. For example, a combination structure of a multi-axis robotic arm and an operating component can be adopted, or a combination structure of an XYZ three-axis drive module and an operating part can be adopted, etc. The operating component can be an electric screwdriver.

[0165] In some embodiments, the locking manipulator 33 includes a second robotic arm 331, a second mounting bracket 332, and an electric screwdriver 333;

[0166] The second mounting bracket 332 is provided at the end of the second robotic arm 331, and the electric screwdriver 333 and the second vision positioning mechanism 31 are provided on the second mounting bracket 332.

[0167] In this embodiment, the working process of the locking manipulator 33 is as follows: The second robotic arm 331 drives the second mounting bracket 332 to move, so as to drive the locking rod of the electric screwdriver 333 to pass through the second mounting hole 230a of the flange 230, and rotates and locks the screw placed in the first mounting hole 210a through the electric screwdriver 333, and then locks the screw into the first mounting hole 210a and the third mounting hole 100a; and so on in a cycle to lock the screws in each first mounting hole 210a and the corresponding third mounting hole 100a. In a specific embodiment, a gantry can be set to install the locking manipulator 33, the gantry straddles above the conveying device 1, and the second robotic arm 331 of the locking manipulator 33 is fixed on the gantry.

[0168] In some embodiments, a sliding seat 334 and a buffer assembly 335 are provided on the second mounting bracket 332. The sliding seat 334 is slidably arranged on the second mounting bracket 332, and the electric screwdriver 333 is installed on the sliding seat 334. The buffer assembly 335 is used to provide a buffering force for the movement of the sliding seat 334.

[0169] In this embodiment, when attaching the screw, driven by the second robotic arm 331, the attaching rod of the electric screwdriver 333 contacts the screw; and as the electric screwdriver 333 continues to press down, the electric screwdriver 333 receives a reaction force from the screw, causing it and the sliding seat 334 to move upward on the second mounting bracket 332. During the upward movement of the sliding seat 334, the buffer assembly 335 provides a downward buffer force to the sliding seat 334 to buffer the movement of the sliding seat 334, so that the attaching rod of the electric screwdriver 333 elastically abuts against the screw, thereby achieving a stable docking between the two, improving the attaching effect; and it can also avoid hard contact, damage to the product, and improve safety. As an alternative, the sliding seat 334 is installed on the second mounting bracket 332 through a guide rail slider assembly to achieve a sliding setting. The structural form of the buffer assembly 335 can be various, such as a buffer elastic block, a spring or a tension spring, etc., which is set according to the actual situation.

[0170] In some embodiments, the buffer assembly 335 includes a slide rod 335a and a spring 335b, and the slide rod 335a is arranged along the sliding direction of the sliding seat 334;

[0171] One end of the slide rod 335a is connected to the sliding seat 334, and the other end passes through the second mounting bracket 332 and is slidably matched with the second mounting bracket 332; alternatively, one end of the slide rod 335a passes through the sliding seat 334 and is slidably matched with the sliding seat 334, and the other end is connected to the second mounting bracket 332;

[0172] The spring 335b is sleeved on the slide rod 335a, and the two ends of the spring 335b respectively abut against or are connected to the sliding seat 334 and the second mounting bracket 332.

[0173] In this embodiment, the buffer assembly uses a slide bar 335a and a spring 335b. Optionally, one end of the slide bar 335a is connected to the sliding seat 334, and the other end passes through the second mounting bracket 332 and is slidably engaged with the second mounting bracket 332; alternatively, one end of the slide bar 335a passes through the sliding seat 334 and is slidably engaged with the sliding seat 334, and the other end is connected to the second mounting bracket 332, which is selectively set according to the actual situation. Moreover, the spring 335b is sleeved on the slide bar 335a, and both ends of the spring 335b are respectively abutted against or connected to the sliding seat 334 and the second mounting bracket 332. Specifically, one end of the slide bar 335a is connected to the sliding seat 334, and the other end passes through the second mounting bracket 332 and is slidably engaged with the second mounting bracket 332. During the process that the locking rod of the electric screwdriver 333 contacts the screw, the sliding seat 334 moves upward to drive the slide bar 335a to slide upward on the second mounting bracket 332, and the spring 335b on the slide bar 335a is compressed by the sliding seat 334 to provide a downward buffering force to the sliding seat 334. When the locking rod of the electric screwdriver 333 disengages from the screw, the sliding seat 334 is affected by its own gravity and other forces (such as the elastic force of the spring 335b), and the sliding seat 334 moves downward to drive the electric screwdriver 333 to reset. Among them, the buffer assembly 335 can be one or more. In this embodiment, there are two buffer assemblies 335, and the two buffer assemblies 335 are arranged at intervals.

[0174] See Figure 21 , Figure 21 is a flowchart of an automatic pre-installation method for an industrial robot joint in an embodiment of the present application:

[0175] The present application also proposes an automatic pre-installation method for an industrial robot joint. The automatic pre-installation method for an industrial robot joint includes:

[0176] Step S100: Control the conveying device 1 to convey the industrial robot joint with the position information of the first mounting hole 210a known to the screw pre-installation device 2;

[0177] Step S200: Control the first vision positioning mechanism 21 to obtain the position information of the second mounting hole 230a;

[0178] Step S300: Control the first rotation alignment mechanism 22 to rotate the flange 230 to the corresponding angle according to the position information of the first mounting hole 210a and the position information of the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a;

[0179] Step S400: Control the pre-installation manipulator 23 to place the screw through the second mounting hole 230a and then place it in the first mounting hole 210a.

[0180] The automatic pre - installation method of the industrial robot joint proposed in this embodiment is used to automatically pre - install screws between the housing 100 and the reduction gear 200 of the industrial robot joint. Specifically, first, control the conveying device 1 to automatically convey the joint whose position information of the first mounting hole 210a is known in advance. Then, control the first vision positioning mechanism 21 to obtain the position information of the second mounting hole 230a. Next, control the first rotation alignment mechanism 22 to rotate the flange 230 to the corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a. Then, control the pre - installation manipulator 23 to place the screw through the second mounting hole 230a and then into the first mounting hole 210a.

[0181] See Figure 22 , Figure 22 is a flowchart of the automatic pre - installation method of the industrial robot joint in an embodiment of this application:

[0182] In some embodiments, it further includes:

[0183] Step S500: Control the second vision positioning mechanism 31 to obtain the position information of the second mounting hole 230a;

[0184] Step S600: Control the second rotation alignment mechanism 32 to rotate the flange 230 to the corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a;

[0185] Step S700: Control the locking manipulator 33 to lock the screw placed in the first mounting hole 210a to the first mounting hole 210a and the third mounting hole 100a.

[0186] After the screw is pre - installed, the screw is automatically locked. Specifically, control the second vision positioning mechanism 31 to obtain the position information of the second mounting hole 230a, then control the second rotation alignment mechanism 32 to rotate the flange 230 to the corresponding angle according to the position information of the first mounting hole 210a and the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a, and then control the locking manipulator 33 to lock the screw placed in the first mounting hole 210a to the first mounting hole 210a and the third mounting hole 100a, so as to realize the automatic assembly from screw pre - installation to locking, which can improve the degree of automation and intelligence and further improve the assembly efficiency.

[0187] Among them, the execution device of the automatic pre-installation method for the industrial robot joint is the automatic pre-installation device for the industrial robot joint in the foregoing embodiment. The specific structures of the involved conveying device 1, the first visual positioning mechanism 21, the first rotary alignment mechanism 22, and the pre-installation manipulator 23 of the screw pre-installation device 2, as well as the second visual positioning mechanism 31, the second rotary alignment mechanism 32, and the locking manipulator 33 of the screw locking device 3, refer to the foregoing embodiment and will not be repeated here. Of course, this is only exemplary and not restrictive.

[0188] The present application also provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the automatic pre-installation method for the industrial robot joint as described above are implemented.

[0189] The foregoing are only partial or preferred embodiments of the present application. Neither the text nor the drawings can limit the scope of protection of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the overall concept of the present application, or any direct / indirect application in other related technical fields, is included in the scope of protection of the present application.

Claims

1. An automatic pre-assembly device for an industrial robot joint, the industrial robot joint comprising a housing and a speed reducer located within the housing, the speed reducer including a fixed seat and a flange plate, the fixed seat being provided with a plurality of first mounting holes, the flange plate being provided with a plurality of second mounting holes, the housing being provided with a plurality of third mounting holes, the first mounting holes corresponding to the third mounting holes, characterized in that, The second mounting hole is an avoidance hole for a screw to pass through. The automatic preloading device for an industrial robot joint includes a conveying device and a screw preloading device; The conveying device is used to convey the industrial robot joint with the position information of the first mounting hole known in advance to the screw preloading device; The screw preloading device includes a first vision positioning mechanism, a first rotation alignment mechanism, a preloading manipulator, and at least one feeding mechanism; The first vision positioning mechanism is arranged on the preloading manipulator and is used to obtain the position information of the second mounting hole; The first rotation alignment mechanism is used to rotate the 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; At least one of the feeding mechanisms is used to supply screws. The preloading manipulator is used to take out screws from at least one of the feeding mechanisms, and place the screws through the second mounting hole and into the first mounting hole.

2. The automatic preloading device for an industrial robot joint according to claim 1, characterized in that, The speed reducer further includes an input shaft and an output shaft. The output shaft is hollow and connected to the fixed seat. The output shaft passes through the inside of the input shaft and is connected to the flange. The industrial robot joint further includes a motor rotor, and the motor rotor is sleeved outside the input shaft; The first rotation alignment mechanism is located below the conveying device. The first rotation alignment mechanism includes a lifting drive assembly, a lifting plate, a rotating seat, a rotation drive assembly, a clamping drive assembly, and at least two clamping members; The output execution end of the lifting drive assembly is connected to the lifting plate and is used to drive the lifting plate to lift and lower. The rotation drive assembly and the rotating seat are arranged on the lifting plate. The output execution end of the rotation drive assembly is connected to the rotating seat and is used to drive the rotating seat to rotate. At least two of the clamping members are movably arranged on the rotating seat. The output execution end of the clamping drive assembly is connected to at least two of the clamping members and is used to drive at least two of the clamping members to open and close relatively, so that at least two of the clamping members loosen or clamp the motor rotor or the output shaft.

3. The automatic pre-installation device for an industrial robot joint according to claim 2, characterized in that, The rotation drive assembly includes a rotating shaft and a first driving member; The rotating shaft is rotatably passed through the lifting plate. The rotating seat is installed at one end of the rotating shaft. The first driving member is connected to the other end of the rotating shaft through a transmission assembly.

4. The automatic pre-assembly device for an industrial robot joint according to claim 3, characterized in that, The first driving member is a driving motor. The body of the driving motor is located on one side of the lifting plate and is fixedly connected to the lifting plate. The output shaft of the driving motor passes through the lifting plate; The transmission assembly includes a first transmission wheel and a second transmission wheel. The first transmission wheel is fixedly arranged on the output shaft of the driving motor. The second transmission wheel is located at the other end of the rotating shaft and is coaxially connected to the rotating shaft. The first transmission wheel and the second transmission wheel are in transmission connection.

5. The automatic pre-assembly device for an industrial robot joint according to claim 3, characterized in that, The number of the clamping members is two. The clamping drive assembly includes a moving frame, a second driving member, and two connecting arms; The moving frame is vertically movably arranged on the rotating seat. Two inclined guide grooves are arranged on the moving frame, and the two guide grooves are arranged at an angle to each other; The two connecting arms are horizontally movably arranged on the rotating seat. One end of each connecting arm is connected to one of the clamping members, and the other end is slidably connected to one of the guiding grooves; The second driving member is used to drive the moving frame to move vertically, so that the two connecting arms slide along the corresponding guiding grooves. When the two connecting arms slide along the corresponding guiding grooves, the two connecting arms move away from or towards each other, so that the two clamping members open and close relatively.

6. The automatic preloading device for an industrial robot joint according to claim 5, characterized in that, The clamping driving assembly further includes at least one horizontal guiding assembly and / or vertical guiding assembly; The horizontal guiding assembly includes a guide rail and a slider slidably arranged on the guide rail. The guide rail is fixedly connected to the rotating seat, and the slider is connected to one of the connecting arms; and / or, The vertical guiding assembly includes a guide rod and a guide sleeve. The guide sleeve is fixed on the rotating seat. One end of the guide rod is connected to the moving frame, and the other end passes through the guide sleeve and is slidably matched with the guide sleeve.

7. The automatic preloading device for an industrial robot joint according to claim 5, wherein The clamping driving assembly further includes a connecting shaft. The rotating shaft is hollow. The connecting shaft is slidably matched with the rotating seat and passes through the rotating shaft. One end of the connecting shaft is connected to the moving frame, and the other end is connected to the output execution end of the second driving member.

8. The automatic preloading device for an industrial robot joint according to claim 7, wherein The second driving member is a cylinder. The cylinder body of the cylinder is located on one side of the lifting plate. The piston rod of the cylinder passes through the lifting plate. The connecting shaft is connected to the piston rod of the cylinder through a connecting frame.

9. The automatic preloading device for an industrial robot joint according to claim 1, characterized in that, The feeding mechanism includes a screw sorting assembly and a screw feeder. The screw sorting assembly includes a mounting seat and a feeding plate, a screw guiding tube, and a feeding plate driving assembly located on the mounting seat; The feeding plate is movably arranged on the mounting seat. At least one material hole for screws to fall into is formed on the feeding plate; The output execution end of the feeding plate driving assembly is connected to the feeding plate and is used to drive the feeding plate to move on the mounting seat; The screw guiding tube is located above the feeding plate. The feeding end of the screw guiding tube is connected to the screw feeder, and the discharging end is located directly above the movement track of the material hole.

10. The automatic preloading device for an industrial robot joint according to claim 9, characterized in that, A section of the material hole close to the discharging end is a first guiding section with a diameter gradually decreasing from top to bottom.

11. The automatic preloading device for an industrial robot joint according to claim 9, characterized in that, A transition plate is arranged on the mounting seat. The transition plate is located between the feeding plate and the screw guiding tube. A through hole facing the discharging end is formed on the transition plate. A section of the through hole close to the discharging end is a second guiding section with a diameter gradually decreasing from top to bottom.

12. The automatic pre-assembly device for an industrial robot joint according to claim 11, characterized in that, The screw sorting assembly further includes a sensing assembly, which is used to detect whether a screw falls onto the feeding plate.

13. The automatic pre-assembly device for an industrial robot joint according to claim 12, characterized in that, A detection hole intersecting and penetrating the hole wall of the through hole is further formed on the transition plate. The sensing assembly includes a light emitter and a light receiver installed at both ends of the detection hole.

14. The automatic pre-assembly device for an industrial robot joint according to claim 11, characterized in that, The bottom surface of the transition plate is closely arranged with the top surface of the feeding plate. A first avoidance groove extending along the movement track of the material hole is arranged on the transition plate, and the first avoidance groove communicates with the through hole.

15. The automatic pre-assembly device for an industrial robot joint according to claim 14, characterized in that, A sliding groove is arranged on the mounting seat, the feeding plate is slidably arranged in the sliding groove, and a second avoidance groove extending along the movement track of the material hole is arranged on the bottom wall of the sliding groove.

16. The automatic preloading device for an industrial robot joint according to claim 1, characterized in that, The preloading manipulator includes a first robotic arm, a first mounting bracket and a clamping jaw; The first mounting bracket is arranged at the end of the first robotic arm, and the clamping jaw and the first vision positioning mechanism are arranged on the first mounting bracket.

17. The automatic pre-assembly device for an industrial robot joint according to claim 1, characterized in that, The automatic preloading device for industrial robot joints further includes a screw attaching device, and the screw preloading device and the screw attaching device are arranged in sequence along the conveying direction of the conveying device; The screw attaching device includes a second vision positioning mechanism, a second rotation alignment mechanism and an attaching manipulator; The second vision positioning mechanism is arranged on the attaching manipulator and is used to obtain the position information of the second mounting hole; The second rotation alignment mechanism is used to rotate the 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; The attaching manipulator is used to attach the screw placed in the first mounting hole to the first mounting hole and the third mounting hole.

18. The automatic pre-assembly device for an industrial robot joint according to claim 17, characterized in that, The attaching manipulator includes a second robotic arm, a second mounting bracket and an electric screwdriver; The second mounting bracket is arranged at the end of the second robotic arm, and the electric screwdriver and the second vision positioning mechanism are arranged on the second mounting bracket.

19. The automatic preloading device for an industrial robot joint according to claim 18, characterized in that, A sliding seat and a buffer assembly are arranged on the second mounting bracket. The sliding seat is slidably arranged on the second mounting bracket. The electric screwdriver is mounted on the sliding seat, and the buffer assembly is used to provide a buffering force for the movement of the sliding seat.

20. The automatic pre-assembly device for an industrial robot joint according to claim 19, characterized in that, The buffer assembly includes a sliding rod and a spring. The sliding rod is arranged along the sliding direction of the sliding seat; One end of the sliding rod is connected to the sliding seat, and the other end passes through the second mounting bracket and is slidably matched with the second mounting bracket; or one end of the sliding rod passes through the sliding seat and is slidably matched with the sliding seat, and the other end is connected to the second mounting bracket; The spring is sleeved on the sliding rod, and the two ends of the spring are respectively abutted against or connected to the sliding seat and the second mounting bracket.

21. An automatic pre-assembly method for an industrial robot joint, the joint including a housing and a speed reducer located within the housing, the speed reducer including a fixed seat and a flange plate, the fixed seat being provided with a plurality of first mounting holes, the flange plate being provided with a plurality of second mounting holes, the housing being provided with a plurality of third mounting holes, the first mounting holes corresponding to the third mounting holes, characterized in that, The second mounting hole is an avoidance hole for the screw to pass through. The automatic preloading method for industrial robot joints includes: Controlling the conveying device to convey the industrial robot joint with the position information of the first mounting hole known to the screw preloading device; Controlling the first vision positioning mechanism to obtain the position information of the second mounting hole; Controlling the first rotation alignment mechanism to rotate the 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; Controlling the preloading manipulator to place the screw through the second mounting hole and then place it in the first mounting hole.

22. The automatic pre-assembly method for the industrial robot joint according to claim 21, characterized in that, It further includes: Controlling the second vision positioning mechanism to obtain the position information of the second mounting hole; Control the second rotation alignment mechanism to rotate the 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; Control the screwing manipulator to screw the screw placed in the first mounting hole into the first mounting hole and the third mounting hole.

23. A storage medium, characterized in that, A computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the automatic pre-installation method of the industrial robot joint described in any one of claims 21 and 22 are implemented.

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