Item repacking equipment

Abstract

This invention belongs to the field of object assembly technology and discloses an object assembly device. The object assembly device includes a robotic arm assembly and an assembly mechanism. The assembly mechanism includes a top plate, a first pushing component, and a first limiting component. The top plate is disposed at the end of the robotic arm assembly away from the ground. The robotic arm assembly is used to drive the top plate to move, thereby simultaneously driving the first pushing component and the first limiting component disposed on the top plate to move. The first pushing component can drive the part to be assembled to move along a first direction, so that the part to be assembled is installed on the object body. At the same time, the first limiting component can abut against the object body along the first direction, thereby limiting the object body. This object assembly device can drive the top plate to move through the robotic arm assembly, thereby simultaneously driving the first pushing component and the first limiting component to move, so that the object body abuts against the first limiting component along the first direction, and then drive the part to be assembled to move through the first pushing component, so that the part to be assembled is installed on the object body.

Description

Technical Field

[0001] This invention relates to the field of object assembly technology, and more particularly to object sub-assembly equipment. Background Technology

[0002] Hydraulic locks are typically assembled with components such as connecting rods to form a hydraulic lock assembly and then mounted on heavy-duty trucks. However, the installation and replacement of assembly parts such as brackets and pins are generally done manually, resulting in low installation accuracy and efficiency of the hydraulic lock assembly.

[0003] Existing technologies provide robotic arms that can complete the above-mentioned installation process. For example, existing technology provides a robotic arm including several sequentially connected movable arms and gripping claws mounted on the movable arms. The gripping claws are used to grip parts, and the movable arms drive the gripping claws to move, thereby driving the parts to move. However, the problem is that during the assembly process of installing the part to be assembled onto the object body, the object body needs to be placed in a preset position first. The robotic arm needs to be programmed in advance or use a vision algorithm to identify the position of the object body in order to move the part to be assembled to the corresponding installation position on the object body. However, the position of the object body may be deviated, and since the object body is not limited, during the process of installing the part to be assembled onto the object body, the part to be assembled may collide with the object body, causing the object body to tilt, which in turn leads to the failure of the assembly of the part to be assembled. Summary of the Invention

[0004] According to one aspect of the present invention, the present invention provides an object assembly device to solve the problem in the prior art that the position of the object body may be deviated during the assembly of objects using a robotic arm, and the parts to be assembled may collide with the object body, causing the object body to tilt, which in turn leads to the failure of the parts to be assembled.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An object assembly device, used to install parts to be assembled onto the object body, including:

[0007] A robotic arm assembly, one end of which is designed to be mounted on the ground;

[0008] Assembly mechanism, including:

[0009] A top plate is disposed at the end of the robotic arm assembly that is away from the ground, and the robotic arm assembly is used to drive the top plate to move.

[0010] A first pushing component is disposed on the top plate. The first pushing component can drive the part to be assembled to move along a first direction so that the part to be assembled is installed on the object body. The first direction is parallel to the top plate.

[0011] A first limiting component is disposed on the top plate. The first limiting component is capable of abutting against the object body along the first direction. The object body is located between the first limiting component and the first pushing component.

[0012] As a preferred embodiment of the object sorting equipment, the first limiting component includes:

[0013] A limit drive component is disposed on the top plate;

[0014] A limiting block is connected to the limiting drive member, which drives the limiting block to move along a second direction, the second direction forming an angle with the first direction.

[0015] As a preferred embodiment of the object dispensing equipment, it further includes a second limiting component, which is capable of abutting against the object body along the first direction. The second limiting component and the first limiting component are spaced apart along the first direction, and the second limiting component is located between the first limiting component and the first pushing component.

[0016] As a preferred embodiment of the object assembly equipment, the first pushing component includes a first driving member fixedly disposed on the top plate and a clamping component connected to the first driving member. The first driving member is used to drive the clamping component to move along a first direction, and the clamping component is used to clamp the part to be assembled.

[0017] As a preferred embodiment of the object sorting equipment, the clamping assembly includes:

[0018] A push plate is connected to the first driving component;

[0019] The first clamp is fixedly connected to the push plate;

[0020] The second chuck is slidable relative to the push plate to abut against or separate from the first chuck;

[0021] The second driving member is used to drive the second chuck to slide relative to the push plate.

[0022] As a preferred embodiment of the object sorting equipment, the top plate has a groove extending along a first direction, and the push plate slides in the groove.

[0023] As a preferred embodiment of the object disassembly equipment, the assembly mechanism further includes a second pushing component disposed on the top plate, the second pushing component comprising:

[0024] A first clamping plate is fixedly disposed on the top plate;

[0025] The second clamping plate is slidable relative to the top plate to abut against the first clamping plate or separate from the first clamping plate;

[0026] A clamping plate drive is disposed on the top plate and is used to drive the second clamping plate to slide relative to the top plate.

[0027] As a preferred embodiment of the object assembly equipment, the assembly mechanism further includes a vision acquisition component disposed on the top plate, the vision acquisition component being used to acquire images of the first pushing component and the first limiting component.

[0028] As a preferred embodiment of the object sorting equipment, the robotic arm assembly includes:

[0029] A base for mounting on the ground;

[0030] A rotating seat is disposed on the base and is capable of rotating along its own axis;

[0031] A rotating seat drive component is used to drive the rotating seat to rotate relative to the base.

[0032] A deflection arm assembly, one end of which is connected to the rotating base and the other end of which is connected to the top plate.

[0033] As a preferred embodiment of the object sorting equipment, the deflection arm assembly includes:

[0034] The first deflection arm is rotatably connected to the rotating seat at one end;

[0035] A first deflection arm drive is used to drive the first deflection arm to rotate relative to the rotating seat;

[0036] The second deflection arm is rotatably connected at one end to the end of the first deflection arm that is away from the rotating seat;

[0037] The second deflection arm drive is used to drive the second deflection arm to rotate relative to the first deflection arm;

[0038] The third deflection arm has one end rotatably connected to the end of the second deflection arm away from the rotating seat, and the other end connected to the top plate;

[0039] The third deflection arm drive is used to drive the third deflection arm to rotate relative to the second deflection arm.

[0040] The beneficial effects of this invention are:

[0041] This invention provides an object assembly device, which includes a robotic arm assembly and an assembly mechanism. The assembly mechanism includes a top plate, a first pushing component, and a first limiting component. The top plate is disposed at the end of the robotic arm assembly away from the ground. The robotic arm assembly is used to drive the top plate to move, thereby simultaneously driving the first pushing component and the first limiting component disposed on the top plate to move. The first pushing component can drive the part to be assembled to move along a first direction, so that the part to be assembled is installed on the object body. At the same time, the first limiting component can abut against the object body along the first direction, thereby limiting the object body. The object assembly equipment is used to install parts to be assembled onto the object body. The parts to be assembled are driven by a first pushing component, and the object body is limited by a first limiting component. The object assembly equipment can drive the top plate to move through a robotic arm component, thereby simultaneously driving the first pushing component and the first limiting component to move, so that the object body and the first limiting component abut against each other in a first direction. Then, the parts to be assembled are driven to move in the first direction through the first pushing component, so that the parts to be assembled are installed onto the object body. During the above installation process, the object body is limited by the first limiting component, which can prevent the position of the object body from deviating, and at the same time, prevent the object body from tilting due to the parts to be assembled colliding with the object body during the assembly process. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of the object disassembly equipment in an embodiment of the present invention. Figure 1 ;

[0043] Figure 2 This is a schematic diagram of the structure of the object disassembly equipment in an embodiment of the present invention. Figure 2 ;

[0044] Figure 3 This is a schematic diagram of the structure of the robotic arm assembly in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the assembly mechanism in an embodiment of the present invention. Figure 1 ;

[0046] Figure 5 This is a schematic diagram of the assembly mechanism in an embodiment of the present invention. Figure 2 ;

[0047] Figure 6 This is a schematic diagram of the structure of the first push component in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the structure of the first limiting component in an embodiment of the present invention. Figure 1 ;

[0049] Figure 8 This is a schematic diagram of the structure of the first limiting component in an embodiment of the present invention. Figure 2 ;

[0050] Figure 9 This is a schematic diagram of the structure of the second push component in an embodiment of the present invention.

[0051] In the picture:

[0052] 1. Robotic arm components;

[0053] 10. Base;

[0054] 11. Rotating seat;

[0055] 12. Deflection arm assembly; 121. First deflection arm; 122. First deflection arm drive; 123. Second deflection arm; 124. Second deflection arm drive; 125. Third deflection arm; 126. Third deflection arm drive;

[0056] 2. Assembly mechanism;

[0057] 20. Top plate; 201. Slide groove;

[0058] 21. First pushing component; 211. First driving component; 212. Clamping component; 2121. Push plate; 2122. First chuck; 2123. Second chuck; 2124. Second driving component;

[0059] 22. First limiting assembly; 221. Limiting drive component; 2211. Motor; 2212. Lead screw; 2213. Lug; 2214. Slide rod; 2215. Drive wheel; 2216. Driven wheel; 2217. Conveyor belt; 222. Limiting block;

[0060] 23. Second pushing component; 231. First clamping plate; 232. Second clamping plate; 233. Clamping plate drive component; 234. Mounting plate; 235. Fixing block; 236. Positioning groove; 237. Connecting block;

[0061] 24. Visual acquisition components; 241. Adapter frame;

[0062] 25. Second limit component. Detailed Implementation

[0063] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0064] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0065] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0066] In the description of this embodiment, the terms "upper," "lower," "left," and "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0067] Hydraulic locks are typically assembled with components such as linkages to form a hydraulic lock assembly and then mounted on heavy-duty trucks. A robotic arm can handle the installation and replacement of parts such as brackets and pins. Existing technology provides a robotic arm comprising several sequentially connected movable arms and gripping claws mounted on the movable arms. The gripping claws are used to grasp parts, and the movable arms drive the gripping claws to move, thereby moving the parts. However, a problem exists: during the assembly process of installing the part to be assembled onto the object body, the object body must first be placed in a preset position. The robotic arm needs to be pre-programmed or use a visual algorithm to identify the position of the object body to move the part to be assembled to the installation position. However, the position of the object body may deviate, and because the object body is not restrained, the part to be assembled may collide with the object body during the installation process, causing the object body to tilt, thus leading to installation failure.

[0068] To address the aforementioned issues, this embodiment provides an object assembly device to solve the problem that, in the prior art, the position of the object body may deviate during the assembly process using a robotic arm, and the parts to be assembled may collide with the object body, causing the object body to tilt and thus leading to the failure of the parts to be assembled. This device can be used in the field of object assembly technology.

[0069] Reference Figures 1-3 The object assembly equipment is used to install parts to be assembled onto the object body. In this embodiment, the object body is a hydraulic lock, and the parts to be assembled are pins, brackets, and other components that need to be installed on the hydraulic lock to form a hydraulic lock assembly. The object assembly equipment includes a robotic arm assembly 1 and an assembly mechanism 2. One end of the robotic arm assembly 1 is used to be mounted on the ground, and the assembly mechanism 2 includes a top plate 20, which is located at the end of the robotic arm assembly 1 away from the ground. The robotic arm assembly 1 is used to drive the top plate 20 to move.

[0070] Continue to refer to Figures 1-3 The robotic arm assembly 1 includes a base 10, a rotating seat 11, a rotating seat drive, and a deflection arm assembly 12. The base 10 is mounted on the ground. The rotating seat 11 is mounted on the base 10 and can rotate along its own axis. The rotating seat drive drives the rotating seat 11 to rotate relative to the base 10. One end of the deflection arm assembly 12 is connected to the rotating seat 11, and the other end is connected to a top plate 20. The angle of the deflection arm assembly 12 can be changed by rotating the rotating seat 11 along its axis. The rotating seat drive enables automated control of the above process.

[0071] Continue to refer to Figures 1-3In this embodiment, the robotic arm assembly 1 is a six-axis robotic arm. Specifically, the deflection arm assembly 12 of the robotic arm assembly 1 includes a first deflection arm 121, a first deflection arm drive 122, a second deflection arm 123, a second deflection arm drive 124, a third deflection arm 125, and a third deflection arm drive 126. One end of the first deflection arm 121 is rotatably connected to the rotating base 11, and the first deflection arm drive 122 is used to drive the first deflection arm 121 to rotate relative to the rotating base 11; one end of the second deflection arm 123 rotates... The first deflecting arm 123 is rotatably connected to the end of the first deflecting arm 121 away from the rotating seat 11. The second deflecting arm drive 124 is used to drive the second deflecting arm 123 to rotate relative to the first deflecting arm 121. One end of the third deflecting arm 125 is rotatably connected to the end of the second deflecting arm 123 away from the rotating seat 11, and the other end is connected to the top plate 20. Specifically, it can be detachably connected through a joint or other structure, which facilitates the disassembly or replacement of the assembly mechanism 2. The third deflecting arm drive 126 is used to drive the third deflecting arm 125 to rotate relative to the second deflecting arm 123. The deflecting arm assembly 12 can realize the lifting and lowering of the top plate 20 of the assembly mechanism 2 through the first deflecting arm 121 and the second deflecting arm 123, and can change the position of the top plate 20 in the horizontal direction. The rotation of the third deflecting arm 125 relative to the second deflecting arm 123 can adjust the angle of the top plate 20 so that the top plate 20 always remains parallel to the preset plane. For example, in this embodiment, the angle of the top plate 20 can be adjusted by the third deflecting arm 125 so that the top plate 20 is parallel to the horizontal plane.

[0072] Reference Figures 1-2 as well as Figures 4-8The assembly mechanism 2 further includes a first pushing component 21 and a first limiting component 22, both of which are disposed on the top plate 20. The robotic arm assembly 1 is used to drive the top plate 20 to move, and can simultaneously drive the first pushing component 21 and the first limiting component 22 disposed on the top plate 20 to move. The first pushing component 21 can drive the part to be assembled to move along a first direction, so that the part to be assembled is installed on the object body. In this embodiment, the first direction is parallel to the top plate 20. The first limiting component 22 can abut against the object body along the first direction, and the object body is located between the first limiting component 22 and the first pushing component 21, thereby limiting the object body. The object assembly equipment is used to install the parts to be assembled onto the object body. The parts to be assembled are driven by the first pushing component 21, and the object body is limited by the first limiting component 22. The object assembly equipment can drive the top plate 20 to move through the robotic arm component 1, so as to simultaneously drive the first pushing component 21 and the first limiting component 22 to move, so that the object body and the first limiting component 22 abut against each other in the first direction. Then, the parts to be assembled are driven by the first pushing component 21 to move in the first direction, so that the parts to be assembled are installed onto the object body. During the above installation process, the object body is limited by the first limiting component 22, which can avoid the position deviation of the object body and avoid the problem of the object body tilting due to the collision of the parts to be assembled with the object body during the assembly process.

[0073] Continue to refer to Figures 4-6 The first pushing component 21 includes a first driving member 211 fixedly disposed on the top plate 20 and a clamping component 212 connected to the first driving member 211. The first driving member 211 is used to drive the clamping component 212 to move along a first direction. The clamping component 212 is used to clamp the part to be assembled, so that the clamping component 212 can be driven to move along the first direction by the first driving member 211, thereby driving the part to be assembled to move.

[0074] Continue to refer to Figures 4-6The clamping assembly 212 includes a push plate 2121, a first chuck 2122, a second chuck 2123, and a second drive member 2124. The push plate 2121 is connected to the first drive member 211, which drives the push plate 2121 to move in a first direction. The first chuck 2122 is fixedly connected to the push plate 2121. The second chuck 2123 can slide relative to the push plate 2121 to abut against or separate from the first chuck 2122, thereby clamping the parts to be assembled. The second drive member 2124 drives the second chuck 2123 to slide relative to the push plate 2121, so that the first chuck 2122 and the second chuck 2123 clamp or release the parts to be assembled. Optionally, both the first chuck 2122 and the second chuck 2123 are provided with rubber pads to prevent the first chuck 2122 or the second chuck 2123 from scratching the surface of the part to be assembled, and to increase the friction between the part to be assembled and the first chuck 2122 and the second chuck 2123.

[0075] Continue to refer to Figures 4-6 The top plate 20 has a groove 201 extending along the first direction. The push plate 2121 slides in the groove 201 to improve the stability of the clamping assembly 212 moving along the first direction and avoid misalignment of the clamping assembly 212, which could lead to assembly failure.

[0076] Continue to refer to Figures 4-5 as well as Figures 7-8 The first limiting component 22 includes a limiting drive 221 and a limiting block 222. The limiting drive 221 is disposed on the top plate 20. The limiting block 222 is connected to the limiting drive 221. The limiting drive 221 is used to drive the limiting block 222 to move along a second direction. The second direction is at an angle to the first direction. In this embodiment, the second direction is parallel to the top plate 20. By setting the limiting drive 221 to drive the limiting block 222 to move along the second direction, the position of the limiting block 222 can be changed to adapt to different types of object bodies.

[0077] Optionally, the limiting drive component 221 includes a motor 2211, a lead screw 2212, and a lug 2213. A limiting block 222 is connected to the lug 2213, and the lug 2213 is threadedly connected to the lead screw 2212. The axis of the lead screw 2211 is arranged along a second direction. The motor 2211 drives the lead screw 2212 to rotate, thereby causing the lug 2213 to move along the second direction. Furthermore, the limiting drive component 221 also includes a slide rod 2214 fixedly disposed on the top plate 20. The lug 2213 slides through the slide rod 2214, thereby preventing the lead screw 2212 from driving the lug 2213 to rotate during rotation. Due to the limited installation space of the motor 2211 and the lead screw 2212, the distance between the motor 2211 and the lead screw 2212 may be too far, making direct connection difficult. Therefore, in this embodiment, the limiting drive component 221 also includes a driving wheel 2215 connected to the motor 2211, a driven wheel 2216 connected to the lead screw 2212, and a conveyor belt 2217. The conveyor belt 2217 connects both the driving wheel 2215 and the driven wheel 2216, so that the driving wheel 2215 can drive the driven wheel 2216 to rotate through the conveyor belt 2217.

[0078] Continue to refer to Figures 4-5 as well as Figures 7-8 Some object bodies may include vertical plates extending in a vertical direction. In this case, the object dispensing device also includes a second limiting component 25. The second limiting component 25 can abut against the object body in a first direction. The second limiting component 25 and the first limiting component 22 are spaced apart in the first direction, and the second limiting component 25 is located between the first limiting component 22 and the first pushing component 21. The second limiting component 25 and the first limiting component 22 can be located at opposite ends of the vertical plate to clamp the vertical plate and achieve limiting. Furthermore, by providing the second limiting component 25, the object body can be placed between the first pushing component 21 and the second limiting component 25 to change the abutment position of the object body and adapt to different installation requirements. The second limiting component 25 can be a protrusion fixedly installed on the top plate 20. In this embodiment, the structure of the second limiting component 25 is similar to that of the first limiting component 22, and its specific structure will not be described in detail.

[0079] Continue to refer to Figures 4-5 as well as Figure 9The assembly mechanism 2 further includes a second pushing assembly 23 disposed on the top plate 20. The second pushing assembly 23 includes a first clamping plate 231, a second clamping plate 232, and a clamping plate driving member 233. The first clamping plate 231 is fixedly disposed on the top plate 20; the second clamping plate 232 can slide relative to the top plate 20 to abut against or separate from the first clamping plate 231. Based on the first pushing assembly 21, the second pushing assembly 23 is provided to clamp the parts to be assembled through the first clamping plate 231 and the second clamping plate 232, and the top plate 20 is moved by the robotic arm assembly 1 to drive the second pushing assembly 23 to move. The clamping plate driving member 233 is disposed on the top plate 20 and is used to drive the second clamping plate 232 to slide relative to the top plate 20 to drive the second clamping plate 232 to move, so that the first clamping plate 231 and the second clamping plate 232 clamp or release the parts to be assembled. Optionally, both the first clamping plate 231 and the second clamping plate 232 are provided with rubber pads to prevent the first clamping plate 231 or the second clamping plate 232 from scratching the surface of the part to be assembled, and to increase the friction between the part to be assembled and the first clamping plate 231 and the second clamping plate 232.

[0080] In this embodiment, the first pushing component 21 is used to clamp the pin waiting to be assembled and is installed to the hydraulic lock in the horizontal direction. The second pushing component 23 is used to clamp the bracket, connecting rod and other parts waiting to be assembled and is installed from top to bottom in the vertical direction.

[0081] Optionally, the second pushing component 23 further includes a mounting plate 234 fixedly installed on the top plate 20, and the first clamping plate 231 and the second clamping plate 232 are both installed on the mounting plate 234 and thus disposed on the top plate 20.

[0082] Optionally, the clamping plate drive member 233 includes a fixed end and a telescopic end. The first clamping plate 231 is fixed to the fixed end, and the telescopic end is connected to a fixing block 235. The second clamping plate 232 is connected to a connecting block 237, and the fixing block 235 is connected to the connecting block 237, thereby connecting the telescopic end of the clamping plate drive member 233 to the second clamping plate 232 to drive the second clamping plate 232 to move. In addition, in order to improve the stability of the fixing block 235 when sliding relative to the mounting plate 234, the mounting plate 234 has a positioning groove 236, and the fixing block 235 is slidably disposed in the positioning groove 236.

[0083] Continue to refer to Figures 4-5The assembly mechanism 2 also includes a vision acquisition component 24 disposed on the top plate 20. Specifically, an adapter frame 241 is connected to the side wall of the top plate 20, and the vision acquisition component 24 is mounted on the adapter frame 241. The vision acquisition component 24 is used to acquire images of the first pushing component 21 and the first limiting component 22. The vision acquisition component 24 can be connected to a display screen so that the user can observe the operating status of the object assembly equipment and the position of the object in real time. Optionally, the assembly mechanism 2 also includes a controller. The vision acquisition component 24 is used to transmit the acquired images to the controller, which uses a vision algorithm to identify the position of the object body and the parts to be assembled, so as to accurately control the robotic arm component 1 and the assembly mechanism 2, thereby completing the assembly of the object.

[0084] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An object assembly device, used to install parts to be assembled onto the object body, characterized in that, include: Robotic arm assembly (1), one end of which is used to be mounted on the ground; Assembly mechanism (2), including: A top plate (20) is disposed at the end of the robotic arm assembly (1) away from the ground, and the robotic arm assembly (1) is used to drive the top plate (20) to move; A first push component (21) is disposed on the top plate (20). The first push component (21) can drive the part to be assembled to move along a first direction so that the part to be assembled is installed on the object body. The first direction is parallel to the top plate (20). A first limiting component (22) is disposed on the top plate (20). The first limiting component (22) is capable of abutting against the object body along the first direction. The object body is located between the first limiting component (22) and the first pushing component (21). The first limiting component (22) includes: A limit drive component (221) is disposed on the top plate (20); A limiting block (222) is connected to the limiting drive member (221), and the limiting drive member (221) is used to drive the limiting block (222) to move along a second direction, the second direction being at an angle to the first direction; The second limiting component (25) is capable of abutting against the object body along the first direction. The second limiting component (25) and the first limiting component (22) are spaced apart along the first direction. The second limiting component (25) is located between the first limiting component (22) and the first pushing component (21). The first pushing component (21) includes a first driving member (211) fixedly disposed on the top plate (20) and a clamping component (212) connected to the first driving member (211). The first driving member (211) is used to drive the clamping component (212) to move along a first direction, and the clamping component (212) is used to clamp the part to be assembled.

2. The object repackaging equipment according to claim 1, characterized in that, The clamping assembly (212) includes: Push plate (2121) is connected to the first drive member (211); The first clamp (2122) is fixedly connected to the push plate (2121); The second chuck (2123) is slidable relative to the push plate (2121) to abut against the first chuck (2122) or separate from the first chuck (2122); The second driving member (2124) is used to drive the second chuck (2123) to slide relative to the push plate (2121).

3. The object repackaging equipment according to claim 2, characterized in that, The top plate (20) has a groove (201) extending in a first direction, and the push plate (2121) slides in the groove (201).

4. The object repackaging equipment according to claim 1, characterized in that, The assembly mechanism (2) further includes a second pushing component (23) disposed on the top plate (20), the second pushing component (23) comprising: The first clamping plate (231) is fixedly disposed on the top plate (20); The second clamping plate (232) is slidable relative to the top plate (20) to abut against the first clamping plate (231) or separate from the first clamping plate (231); A clamping plate drive (233) is disposed on the top plate (20) and is used to drive the second clamping plate (232) to slide relative to the top plate (20).

5. The object repackaging equipment according to claim 1, characterized in that, The assembly mechanism (2) further includes a vision acquisition component (24) disposed on the top plate (20), the vision acquisition component (24) being used to acquire images of the first push component (21) and the first limiting component (22).

6. The object repackaging equipment according to any one of claims 1-5, characterized in that, The robotic arm assembly (1) includes: Base (10) for mounting on the ground; A rotating seat (11) is disposed on the base (10) and is capable of rotating along its own axis; A rotating seat drive is used to drive the rotating seat (11) to rotate relative to the base (10); A deflection arm assembly (12) is provided, with one end connected to the rotating seat (11) and the other end connected to the top plate (20).

7. The object repackaging equipment according to claim 6, characterized in that, The deflection arm assembly (12) includes: The first deflection arm (121) is rotatably connected to the rotating seat (11) at one end. The first deflection arm drive (122) is used to drive the first deflection arm (121) to rotate relative to the rotating seat (11); The second deflection arm (123) is rotatably connected at one end to the end of the first deflection arm (121) away from the rotating seat (11); The second deflection arm drive (124) is used to drive the second deflection arm (123) to rotate relative to the first deflection arm (121); The third deflection arm (125) is rotatably connected at one end to the end of the second deflection arm (123) away from the rotating seat (11), and the other end is connected to the top plate (20); The third deflection arm drive (126) is used to drive the third deflection arm (125) to rotate relative to the second deflection arm (123).

Images