Rigid-flexible coupled cable-assisted robot for large-space variable-direction assembly operations

Abstract

This invention discloses a rigid-flexible coupling cable-attaching robot for large-space, variable-direction assembly operations. It includes a fixed support, a flexible cable traction mechanism, a screw-attaching drive mechanism, a bit assembly, a screw-attaching mechanism, an attachment guide mechanism, and an automatic feeding mechanism. The fixed support has a covered top and a hollow structure at the bottom and around the edges. The screw-attaching drive mechanism is mounted on the upper part of the fixed support, and the screw-attaching mechanism is located inside the fixed support, with a transmission connection between the screw-attaching mechanism and the drive mechanism. The bit assembly for assisting in fixing is installed inside the screw-attaching mechanism. The flexible cable traction mechanism is externally connected to the screw-attaching mechanism. The automatic feeding mechanism is installed at the lower end of the screw-attaching mechanism, and the attachment guide mechanism is connected to the lower end of the automatic feeding mechanism. This invention enables screw-attaching within a large space and can complete screw-attaching in non-vertical directions, i.e., at an angle to the vertical.

Description

Technical Field

[0001] This invention relates to the field of locking robot technology, and in particular to a rigid-flexible coupling locking robot for large-space variable-direction assembly operations. Background Technology

[0002] Screw fastening is an essential and crucial step in the assembly of home appliances and digital products. With the increasing trend of automated production, manual screw fastening methods are no longer sufficient to meet the needs of large-scale product assembly. In industry, automated screw fastening is gradually replacing manual screw fastening to improve the efficiency of screw fastening and assembly in automated production.

[0003] Currently, most gantry-type automatic locking assembly devices mainly use cylinders to push the bit to slide up and down, and extend and retract the automatic feeding mechanism to achieve the automatic locking function. This not only makes the structure more complex and the speed of the bit's movement uncontrollable, but also has problems such as a small working range, low locking efficiency, and invariable locking direction, making it difficult to completely replace manual locking. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this invention is to propose a rigid-flexible coupling cable-attaching robot for large-space, variable-direction assembly operations, addressing the problems of existing methods such as invariable fastening direction, low screw fastening efficiency, and small working range.

[0005] According to the present invention, a rigid-flexible coupling cable-attaching robot for large-space variable-direction assembly operations includes a fixed bracket, a flexible cable traction mechanism, a screw fastening drive mechanism, a bit assembly, a screw fastening mechanism, a fastening guide mechanism, and an automatic feeding mechanism. The fixed bracket has a covered upper end and a hollow structure at the lower end and around the perimeter. The screw fastening drive mechanism is installed on the upper end of the fixed bracket. The screw fastening mechanism is disposed inside the fixed bracket and is drively connected to the screw fastening drive mechanism. The bit assembly, which assists in fixing, is installed inside the screw fastening mechanism. The flexible cable traction mechanism, which enables vertical and planar movement of the connecting platform, is externally connected to the screw fastening mechanism. The automatic feeding mechanism is installed at the lower end of the screw fastening mechanism. The fastening guide mechanism, which enables adjustable fastening direction, is connected to the lower end of the automatic feeding mechanism.

[0006] Preferably, the screw fastening drive mechanism includes a servo drive motor, which is installed at the upper middle part of the outer side of the fixed bracket. A first universal joint is installed inside the fixed bracket at the position corresponding to the servo drive motor. The first universal joint is connected to the servo drive motor. A connecting rod is connected to the lower end of the first universal joint. The lower end of the connecting rod has an internal hollow structure. An optical shaft is nested inside the lower end of the connecting rod. The optical shaft is slidably connected to the inside of the connecting rod through a connecting flange. A spring connector is installed at the lower end of the optical shaft. A first compression spring is provided between the spring connector and the connecting flange. The first compression spring is sleeved on the outside of the optical shaft. A second universal joint is installed at the lower end of the spring connector. The screw fastening mechanism is installed at the lower end of the second universal joint.

[0007] Preferably, the side wall of the optical axis is provided with a keyway, and the connecting flange is provided with a limiting key at the position corresponding to the keyway to restrict the rotation of the optical axis. The limiting key and the keyway are slidably connected up and down.

[0008] Preferably, the screw fastening mechanism includes an end effector platform. A universal joint-like assembly is mounted on the upper end of the end effector platform, and the universal joint-like assembly is slidably connected to the end effector platform. The upper end of the universal joint-like assembly is connected to the screw fastening drive mechanism via a universal joint connector. A fastening connector is connected to the lower middle part of the end effector platform. A second fastening guide is connected below the fastening connector. Both the fastening connector and the second guide are hollow structures. A first fastening guide is fitted inside the fastening connector and the second guide. The upper end of the first fastening guide is connected to the universal joint-like assembly. A sliding groove is formed in the lower part of the second fastening guide. A sliding member is slidably connected to the outside of the sliding groove. Spring compression members are provided on the outside of both the sliding member and the second fastening guide. A second compression spring is provided between the two sets of spring compression members. A fastening push assembly is installed at the lower part of the sliding member. The automatic feeding mechanism is installed at the lower end of the fastening push assembly.

[0009] Preferably, the universal joint-like assembly includes a small slider, a rotating shaft, and a rotating body. The end effector platform has a groove with an upper hole. The small slider, which can slide circumferentially along the groove, is disposed inside the groove. The rotating shaft is rotatably connected to the small slider, and the rotating body is rotatably connected to the rotating shaft.

[0010] Preferably, the bit assembly includes a bit, and a bit retainer is installed at the lower end of the universal joint connector, and the bit is detachably installed at the lower end of the bit retainer.

[0011] Preferably, the flexible cable traction mechanism includes three sets of servo traction motors, which are arranged in a triangle around the screw fastening drive mechanism. The three sets of servo traction motors are mounted on the upper end of the fixed bracket. Each set of servo traction motors is driven by a roller assembly, and each roller assembly is provided with two traction flexible cables. The outer side of the end execution platform is provided with a triangular flexible cable connection end corresponding to the traction flexible cable.

[0012] Preferably, the roller assembly includes a roller shaft and a roller. The roller shaft is sleeved on both sides of the roller, and two sets of supports are provided on both sides of the roller. The roller shaft is rotatably connected to the two sets of supports through bearings. The roller shaft located on one side of the roller is connected to the servo traction motor through a coupling. The roller shaft located on the other side of the roller is fixedly connected to a drive pulley. The drive pulley is connected to a driven pulley through a synchronous belt. The driven pulley is fixedly installed on one end of a flexible cable traction ball screw. The two sides of the flexible cable traction ball screw are rotatably connected to the two sets of supports through bearings. Two opposing flexible cable traction ball screw nuts are rotatably installed on the flexible cable traction ball screw. A screw-roller connecting plate is fixedly connected to the outer side of each of the two flexible cable traction ball screw nuts. The other end of the screw-roller connecting plate is connected to the roller.

[0013] Preferably, the locking guide mechanism includes a linear motion module and driven shafts. Three sets of vertical supports are spatially distributed in a triangular pattern on the side wall of the fixed support. The linear motion module is installed on the side of the vertical support closer to the interior of the fixed support. A horizontal guide platform is installed on the outside of the automatic feeding mechanism. The horizontal guide platform corresponds to the three sets of guide connection components arranged in a triangular pattern with the linear motion module. Each set of linear motion modules is connected to the corresponding guide connection component through a driven shaft group. The driven shaft group includes two sets of parallel driven shafts, and the upper and lower ends of the two sets of driven shafts are connected by tension springs.

[0014] Preferably, the linear motion module includes a guide rail support, a linear module motor, a linear module ball screw, and a moving block. Ball screw supports are installed at both ends of the guide rail support. The two ends of the linear module ball screw are rotatably connected to the ball screw supports. The linear module motor is installed at one end of the guide rail support and is drivenly connected to the linear module ball screw. A nut seat is installed at the lower end of the moving block. A through hole is formed in the center of the nut seat. The nut seat is nested and installed on the outside of the linear module ball screw through the through hole. A linear module ball screw nut that meshes with the outer thread of the linear module ball screw is installed on one side of the nut seat along the direction of the linear module ball screw. A linear module slide rail is provided on the side of the guide rail support near the linear module ball screw. The nut seat is connected to the linear module slide rail through a matching linear module slider.

[0015] The beneficial effects of this invention are: it enables screw fastening over a large space, and can complete fastening in non-vertical directions, i.e., at an angle to the vertical direction. The upper end of the screw fastening mechanism is driven by a flexible cable, reducing the weight at the end. The structure is relatively simple and has good practicality. By changing the bit or the automatic feeding mechanism, different types of screws can be fastened, demonstrating good applicability. Attached Figure Description

[0016] In the attached diagram:

[0017] Figure 1 This is a structural schematic diagram of a rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations proposed in this invention.

[0018] Figure 2 This is a top view of the rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations proposed in this invention.

[0019] Figure 3 The present invention proposes Figure 2 A magnified view of a section at point A in the middle;

[0020] Figure 4 The present invention proposes Figure 2 BB cross-sectional view;

[0021] Figure 5 The present invention proposes Figure 4 A magnified view of a section at point C;

[0022] Figure 6 This is a schematic diagram of the structure of the universal joint-like assembly proposed in this invention;

[0023] Figure 7 This is a structural diagram of the linear motion module proposed in this invention;

[0024] Figure 8 This is a magnified view of a portion at point D as proposed in this invention;

[0025] Figure 9 This is a rendering of the locking robot proposed in this invention, with the non-vertical locking direction located on the left side;

[0026] Figure 10 This is a rendering of the locking robot proposed in this invention, where the non-vertical locking direction is located on the right side.

[0027] In the diagram: 1-Vertical bracket, 2-Horizontal bracket, 3-Support plate, 4-Angle frame, 5-Servo traction motor, 6-Roller assembly, 7-Traction cable, 8-Pulley, 9-Servo drive motor, 10-First universal joint, 11-Connecting rod, 12-Connecting flange, 13-Optical axis, 14-Spring mounting component, 15-First compression spring, 16-Second universal joint, 17-Universal joint connector, 18-Bit fixing component, 19-Bit, 20-End effector platform, 21-Universal joint assembly, 22-Locking first guide component, 23-Locking connector, 24-Locking second guide component, 25-Sliding component, 26-Spring compression component, 27-Second compression spring, 28-Locking push assembly, 29-Linear movement module, 30-Driven shaft, 31-Tension spring, 32-Horizontal guide platform, 33-Guide connection assembly, 34-Bird beak assembly;

[0028] 601-Drum shaft, 602-Drum, 603-Support, 604-Driving pulley, 605-Synchronous belt, 606-Driven pulley, 607-Flexible cable traction ball screw, 608-Flexible cable traction ball screw nut, 609-Screw-Drum connecting plate;

[0029] 2101 - Small slider, 2102 - Rotating shaft, 2103 - Rotating body;

[0030] 2901-Guide rail support, 2902-Linear module motor, 2903-Linear module ball screw, 2904-Linear module ball screw nut, 2905-Nut seat, 2906-Moving block, 2907-Linear module slider, 2908-Linear module slide rail, 2909-Ball screw support. Detailed Implementation

[0031] like Figure 1-8 As shown, the large-space variable-direction screw fastening robot with parallel rigid-flexible coupling includes a fixed bracket, a flexible cable traction mechanism, a screw fastening drive mechanism, a bit assembly, a screw fastening mechanism, a fastening guide mechanism, and an automatic feeding mechanism, wherein:

[0032] like Figure 1As shown, the fixed support includes four vertical supports 1, eight horizontal supports 2, and a support plate 3. The four vertical supports 1 are arranged in a square in space. The eight horizontal supports 2 are divided into upper and lower groups, each forming a square in a plane and fixed at both ends of the vertical supports 1. The support plate 3 is connected to the upper horizontal supports 2 forming a square, and the lower horizontal supports 2 forming a square are fixed to the ground. The vertical supports 1, horizontal supports 2, and support plate 3 are all fixedly connected by corner brackets 4.

[0033] like Figure 2-4 As shown, the flexible cable traction mechanism includes three servo traction motors 5, which are fixed above the support plate 3 of the fixed bracket and arranged in a triangular pattern in space. The shaft of each servo traction motor 5 is connected to a roller assembly 6. Each roller assembly 6 has a traction flexible cable 7 wound around its roller 602. Two strands of traction flexible cable 7 on each roller assembly 6 pass over a pulley 8 and extend downwards at an angle into the space enclosed by four vertical supports 1 in the fixed bracket. When the three servo traction motors rotate simultaneously at the same speed, the platform connected to the traction flexible cable 7 can move up and down. When the three servo motors move in coordination, the platform can move in a plane.

[0034] The composition of the roller assembly 6 in the flexible cable traction mechanism is as follows: Figure 3As shown, the shaft of the servo traction motor 5, fixed on the support plate 3, is connected to the roller shaft 601 via a coupling. A roller 602 is slidably mounted on the roller shaft 601, and the roller 602 can slide relative to the roller shaft 601 along its axial direction. The roller shaft 601 is rotatably mounted on two supports 603 via bearings. The two supports 603 are respectively fixedly mounted on the support plate 3 of the fixed bracket. A drive pulley 604 is fixedly mounted on the other end of the roller shaft 601, and the drive pulley 604 is connected to the support plate 601 via a synchronous belt 605. The driven pulley 606 is connected to one end of the flexible cable traction ball screw 607, which is also rotatably mounted on two supports 603 via bearings. Two opposing flexible cable traction ball screw nuts 608 are rotatably mounted on the flexible cable traction ball screw 607. A screw roller connecting plate 609 is fixedly connected to the outer side of each of the two flexible cable traction ball screw nuts 608, and the other end of the screw roller connecting plate 609 is connected to the roller 602. The servo traction motor 5 drives the rolling assembly 6 to rotate, so that the traction cable 7 wound on the roller 602 can extend and retract within the space enclosed by the four vertical supports 1. In addition, when the roller shaft 601 rotates, it drives the flexible cable traction ball screw 607 to rotate together through the synchronous belt 605. Consequently, the flexible cable traction ball screw nut 608 will also move left and right along the axis of the ball screw as the ball screw rotates. The flexible cable traction ball screw nut 608 drives the roller 602 to move together through the screw roller connecting plate 609, thereby realizing that the point where the traction cable 7 leaves the roller 602, the contact point between the traction cable 7 and the pulley 8 and the point where the traction cable 7 passes through the support plate 3 are always on the same straight line, and the flexible cable 7 is neatly wound on the roller 602.

[0035] like Figure 4 and Figure 5 As shown, the screw fastening drive mechanism includes a servo drive motor 9, which is fixedly connected above the support plate 3 in the fixed bracket. The motor shaft of the servo drive motor 9 is vertically downward and connected to a connecting rod 11 through a first universal joint 10. The other end of the connecting rod 11 is axially slidably connected to a light shaft 13 through a connecting flange 12. The other end of the light shaft 13 is fixedly connected to a spring mounting piece 14. A compressed first compression spring 15 is connected between the connecting flange 12 and the spring mounting piece 14. The other end of the spring mounting piece 14 is fixedly connected to a second universal joint 16. The light shaft 13 has a keyway that mates with the connecting flange 12, restricting the relative rotation between the connecting rod 11 and the light shaft 13, so that the connecting rod 11 and the light shaft 13 can only move axially relative to each other. This allows the fastening torque of the servo drive motor 9 to be transmitted to the fastening mechanism below. The first compression spring 15 between the connecting flange 12 and the spring mounting piece 14 remains compressed, thus keeping the traction cable 7 in the cable traction mechanism always in a stretched state.

[0036] like Figure 5 As shown, the bit assembly includes a bit 19, which is connected to a bit retainer 18. The bit 19 can be pulled out of the bit retainer 18 by force, and it can be installed simply by inserting it into the hole of the bit retainer 18. The bit retainer 18 is fixedly connected to the second universal joint 16 in the screw fastening drive mechanism through a universal joint connector 17.

[0037] like Figure 5 As shown, the screw fastening mechanism includes an end effector platform 20. The end effector platform 20 is fixedly connected to three sets of downwardly extending traction cables 7 extending from the pulley 8 below the support plate of the fixed bracket in the screw fastening drive mechanism. The end effector platform 20 is slidably connected to a universal joint assembly 21. The lower end of the universal joint assembly 21 is fixedly connected to a first fastening guide member 22. A fastening connector 23 is sleeved on the outer side of the upper end of the first fastening guide member 22. The upper part of the fastening connector 23 is fixedly connected to the lower part of the universal joint assembly 21, and the lower part of the fastening connector 23 is fixedly connected to the upper part of a second fastening guide member 24. The second fastening guide member 24 is sleeved on the first fastening guide member 21. On the outside of 2, the screw fastening mechanism has four circumferentially distributed grooves below the second guide member 24, which are slidably connected to four circumferentially distributed keys on the inner wall of the sliding member 25. The second guide member 24 and the first guide member 22 can rotate relative to each other to eliminate the angle difference caused by the sliding member 25 moving up and down once. A spring compression member 26 is respectively fitted on the outside of the second guide member 24 and the sliding member 25. There are four circumferentially distributed second compression springs 27 between the two spring compression members 26. The lower part of the sliding member 25 is connected to the fastening push assembly 28, which is sleeved on the lower outer side of the first guide member 22. The composition of the universal joint-like assembly 21 is as follows: Figure 6As shown, the universal joint-like assembly 21 consists of a small slider 2101, a rotating shaft 2102, and a rotating body 2103. The small slider 2101 is located in the groove of the hole above the end effector platform 20 and can slide circumferentially within the groove. The rotating shaft 2102 is rotatably connected to the small slider 2101, and the rotating body 2103 is rotatably connected to the rotating shaft 2102, thus forming a structure similar to a universal joint. During the locking process, the locking push assembly 28 pushes the slider 25 upward a certain distance, causing the slider 25 to rotate relative to the locking first guide 22. The slider 25, along with the locking push assembly 28, is locked above the locking first guide 22. At this time, the second compression spring 27 is under significant compression. The bit 19 in the bit assembly, carrying the screw, emerges from the automatic feeding mechanism to lock the object. After locking, the locking push assembly 28 pushes the slider 25 upward a certain distance again, causing the slider 25 to rotate relative to the locking first guide 22. The key on the inner wall of the slider 25 rotates into the groove on the outer wall of the locking first guide 22. Under the action of the second compression spring 27, the bit 19 quickly retracts into the automatic feeding mechanism. Since the slider 25 and the locking second guide 24 rotate simultaneously, and the locking second guide 24 and the locking first guide 22 can rotate relative to each other, the angle difference caused by the slider 25 moving up and down once between the two guides can be eliminated.

[0038] like Figure 4 , Figure 7 , Figure 8 As shown, the locking guide mechanism includes three vertical supports 1. The upper and lower ends of these three vertical supports 1 are respectively fixedly connected to two horizontal supports 2 arranged in a square in the fixed support. They are distributed in a triangular pattern in space. Each vertical support 1 is fixedly connected to a linear motion module 29 on the side facing the inside of the fixed support. The moving block 2906 in each linear motion module 29 is connected to two driven shafts 30. The other end of the driven shaft 30 is connected to the horizontal guide platform 32. The upper and lower ends of the two driven shafts in each group are connected and fixed by a tension spring 31. The driven shaft 30, the moving block 2906 in the linear motion module 29 and the horizontal guide platform 32 are all connected by ball joints. The upper part of the horizontal guide platform 32 is connected to the guide connection assembly 33 through a ball pin pair. The rotation of the guide connection assembly 33 around the vertical direction of the horizontal guide platform 32 is restricted. The upper part of the guide connection assembly 33 is fixedly connected to the lower part of the locking push assembly 28 in the screw locking mechanism, thereby realizing the variable direction locking of the locking robot. The linear motion module 29 is composed of the following: Figure 7As shown, when the projections of the end execution platform 20 of the screw fastening mechanism and the horizontal guide platform 32 of the fastening guide mechanism on the ground coincide, the bit 19 is in a vertical position and can fasten vertical screw holes; otherwise, when the projections do not coincide, the bit 19 is in an inclined position and can fasten screw holes at an inclined angle.

[0039] The linear motion module 29 includes a guide rail support 2901, a linear module motor 2902, a linear module ball screw 2903, and a moving block 2906. Ball screw supports 2909 are mounted at both ends of the guide rail support 2901. The linear module ball screw 2903 is rotatably connected to the ball screw supports 2909 at both ends. The linear module motor 2902 is mounted at one end of the guide rail support 2901 and is connected to the linear module ball screw 2903 via a transmission connection. A nut seat 2905 is mounted at the lower end of the moving block 2906. A through hole is provided in the middle of the female seat 2905. The nut seat 2905 is nested and installed on the outside of the linear module ball screw 2903 through the through hole. A linear module ball screw nut that meshes with the outer thread of the linear module ball screw 2903 is installed on one side of the nut seat 2905 along the direction of the linear module ball screw 2903. A linear module slide rail 2908 is provided on the side of the guide rail support 2901 near the linear module ball screw 2903. The nut seat 2905 is connected to the linear module slide rail 2908 through a matching linear module slider 2907.

[0040] The automatic feeding mechanism is a beak assembly 34, consisting of a main body and two grippers. The main body is rotatably connected to the two grippers, and a small compression spring is placed between the grippers and the main body. Under normal conditions, the two grippers are in a closed state. When the bit 19 extends, it will open the grippers. When the bit 19 retracts, the grippers return to their original closed state. The bit 19 in the bit assembly passes through the hole in the main body. The upper part of the main body in the beak assembly 34 is fixedly connected to the lower part of the horizontal guide platform 32 in the locking guide mechanism.

[0041] Working principle: When performing a lock-in, such as Figure 5 and Figure 8As shown, the end effector platform 20 and the horizontal guide platform 32 are in their initial positions. At this time, the center points of the projections of the two platforms on the ground coincide, and the connecting rod 11 and the optical axis 13 are in a vertical position. The screw is blown into the beak assembly 34. Under the action of the linear movement module 29 in the locking guide mechanism, the horizontal guide platform 32 moves vertically upward, driving the beak assembly 34, the locking push assembly 28, and the slider 25 to move upward together. When the bit 19 extends out of the beak assembly 34 with the screw, the slider 25 rotates relative to the locking first guide 22. The slider 25, along with the locking... The push assembly 28 and the beak assembly 34 are locked in their current positions. Then, with the cooperation of the servo traction motor 5 and the linear module motor 2902 in the linear motion module 29, the end effector platform 20 and the horizontal guide platform 32 translate to the required locking position. The servo drive motor 9 rotates to complete the locking. After locking, the end effector platform 20 and the horizontal guide platform 32 return to their initial positions. The horizontal guide platform 32 then moves upward a certain distance, similar to the locking process, but eventually the slider 25 returns to its original position, and the bit 19 retracts into the beak assembly 34. A new screw is blown into the beak assembly 34 for the next locking operation.

Claims

1. A rigid-flexible coupling cable-attachment robot for large-space, variable-direction assembly operations, characterized in that: The device includes a fixed bracket, a flexible cable traction mechanism, a screw fastening drive mechanism, a bit assembly, a screw fastening mechanism, a fastening guide mechanism, and an automatic feeding mechanism. The fixed bracket has a cover at the top and is hollow at the bottom and around the edges. The screw fastening drive mechanism is installed at the top of the fixed bracket. The screw fastening mechanism is located inside the fixed bracket and is connected to the screw fastening drive mechanism. The bit assembly, which assists in fixing, is installed inside the screw fastening mechanism. The flexible cable traction mechanism, which enables the platform to move up and down and in a plane, is externally connected to the screw fastening mechanism. The automatic feeding mechanism is installed at the bottom of the screw fastening mechanism. The fastening guide mechanism, which enables the fastening direction to be adjusted, is connected to the bottom of the automatic feeding mechanism. The screw fastening mechanism includes an end effector platform, on the upper end of which is a universal joint-like assembly. The universal joint-like assembly is slidably connected to the end effector platform, and the upper end of the universal joint-like assembly is connected to the screw fastening drive mechanism via a universal joint connector. The flexible cable traction mechanism includes three sets of servo traction motors. The three sets of servo traction motors are arranged in a triangle around the screw locking drive mechanism. The three sets of servo traction motors are installed on the upper end of the fixed bracket. Each set of servo traction motors is driven and connected to a roller assembly. Each set of roller assembly is provided with two traction flexible cables. The outer side of the end execution platform is provided with a triangular flexible cable connection end corresponding to the traction flexible cable. The locking and guiding mechanism includes a linear motion module and a driven shaft. A horizontal guide platform is installed on the outside of the automatic feeding mechanism. The horizontal guide platform has three sets of guide connection components arranged in a triangle with the linear motion module. Each set of the linear motion module is connected to the corresponding guide connection component through a driven shaft group.

2. The rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 1, characterized in that: The screw fastening drive mechanism includes a servo drive motor, which is installed at the upper middle part of the outer side of the fixed bracket. A first universal joint is installed inside the fixed bracket at the position corresponding to the servo drive motor. The first universal joint is connected to the servo drive motor. A connecting rod is connected to the lower end of the first universal joint. The lower end of the connecting rod has an internal hollow structure. An optical shaft is nested inside the lower end of the connecting rod. The optical shaft is slidably connected to the inside of the connecting rod through a connecting flange. A spring connector is installed at the lower end of the optical shaft. A first compression spring is provided between the spring connector and the connecting flange. The first compression spring is sleeved on the outside of the optical shaft. A second universal joint is installed at the lower end of the spring connector. The screw fastening mechanism is installed at the lower end of the second universal joint.

3. The rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 2, characterized in that: The optical axis has a keyway on its side wall, and the connecting flange has a limiting key at the position corresponding to the keyway to restrict the rotation of the optical axis. The limiting key and the keyway are slidably connected up and down.

4. The rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 1, characterized in that: A locking connector is connected to the lower middle part of the end-effector platform. A second locking guide is connected below the locking connector. Both the locking connector and the second guide are hollow. A first locking guide is fitted inside the locking connector and the second guide. The upper end of the first locking guide is connected to the universal joint-like assembly. A sliding groove is formed at the lower part of the second locking guide. A sliding member is slidably connected to the outside of the sliding groove. Spring compression members are provided on the outside of both the sliding member and the second locking guide. A second compression spring is provided between the two sets of spring compression members. A locking push assembly is installed at the lower part of the sliding member. The automatic feeding mechanism is installed at the lower end of the locking push assembly.

5. A rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 4, characterized in that: The universal joint-like assembly includes a small slider, a rotating shaft, and a rotating body. The end effector platform has a groove with an upper hole. The small slider, which can slide along the circumference of the groove, is disposed inside the groove. The rotating shaft is rotatably connected to the small slider, and the rotating body is rotatably connected to the rotating shaft.

6. A rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 4, characterized in that: The bit assembly includes a bit, and a bit holder is installed at the lower end of the universal joint connector. The bit is detachably installed at the lower end of the bit holder.

7. A rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 1, characterized in that: The roller assembly includes a roller shaft and a roller. The roller shaft is sleeved on both sides of the roller, and two sets of supports are provided on both sides of the roller. The roller shaft is rotatably connected to the two sets of supports through bearings. The roller shaft located on one side of the roller is connected to the servo traction motor through a coupling. The roller shaft located on the other side of the roller is fixedly connected to a drive pulley. The drive pulley is connected to a driven pulley through a synchronous belt. The driven pulley is fixedly installed on one end of a flexible cable traction ball screw. The two sides of the flexible cable traction ball screw are rotatably connected to the two sets of supports through bearings. Two opposing flexible cable traction ball screw nuts are rotatably installed on the flexible cable traction ball screw. A screw-roller connecting plate is fixedly connected to the outer side of each of the two flexible cable traction ball screw nuts. The other end of the screw-roller connecting plate is connected to the roller.

8. A rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 1, characterized in that: The fixed bracket has three sets of vertical brackets arranged in a triangular pattern on its side wall. The linear motion module is installed on the side of the vertical bracket close to the interior of the fixed bracket. The driven shaft group includes two sets of parallel driven shafts, and the upper and lower ends of the two sets of driven shafts are connected by tension springs.

9. A rigid-flexible coupling cable-attachment robot for large-space variable-direction assembly operations according to claim 8, characterized in that: The linear motion module includes a guide rail support, a linear module motor, a linear module ball screw, and a moving block. Ball screw supports are mounted at both ends of the guide rail support. The two ends of the linear module ball screw are rotatably connected to the ball screw supports. The linear module motor is mounted at one end of the guide rail support and is driven by the linear module ball screw. A nut seat is mounted at the lower end of the moving block. A through hole is formed in the center of the nut seat, which is nested on the outside of the linear module ball screw through the through hole. A linear module ball screw nut, which meshes with the outer thread of the linear module ball screw, is mounted on one side of the nut seat along the direction of the linear module ball screw. A linear module slide rail is provided on the side of the guide rail support near the linear module ball screw, and the nut seat is connected to the linear module slide rail via a matching linear module slider.

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