A gripper frame automatic assembly line

Abstract

The application provides a gripper frame automatic assembly line, which comprises a gripper frame finished product placing rack used for placing a gripper frame assembled with parts; a profile feeding rack used for placing a first profile and a second profile; an assembly manipulator used for grabbing and carrying each part; a frame gripper placing rack used for placing a frame gripper; a connecting plate feeding table used for placing a connecting plate; a suction cup assembly conveyor used for conveying a suction cup assembly; and a tightening manipulator and a nut feeding vibrating disc, and the application has the beneficial effects that the gripper automatic assembly line with aluminum profiles as frames realizes automatic assembly of aluminum profile main beams and each auxiliary beam and automatic assembly of the suction cup assembly and each connecting plate, the device of the application can realize assembly and tightening of the aluminum profiles, screws, T-shaped sliding block nuts, thereby realizing assembly of the aluminum profile frame, realizing the change from traditional bench worker manual assembly to automatic assembly, and compared with manual assembly, the assembly efficiency is improved, and the assembly precision and consistency are also improved.

Description

Technical Field

[0001] This invention relates to the field of gripper frame assembly technology, and more particularly to an automated gripper frame assembly line. Background Technology

[0002] Industrial aluminum profiles are widely used in industrial automation equipment. The common connection method between aluminum profiles is through screws and slider nuts for fixation. Currently, the assembly of aluminum profiles is done manually, which presents industry challenges such as difficulty in positioning the slider nuts, difficulty in matching screws and nuts, and large machining errors in the aluminum profiles. Currently, grippers are assembled manually by traditional fitters, resulting in low assembly efficiency and consistency. Our grippers mainly consist of an aluminum profile frame, suction cup assembly, plate edge detection system, vacuum control system, and electrical control system. The assembly of the frame and suction cups is time-consuming, inefficient, and labor-intensive. Therefore, we designed an automated assembly line for the gripper frame. Summary of the Invention

[0003] To overcome the problems of long assembly time, low assembly efficiency, and high labor intensity in the assembly of the frame and suction cup in the existing technology, the present invention provides an automatic assembly line for gripper frames.

[0004] This invention discloses an automated assembly line for gripper frames, comprising: a gripper frame finished product placement rack for placing assembled gripper frames; a profile feeding rack for placing first and second profiles; an assembly robot for gripping and transporting various parts; a frame gripper placement rack for placing frame grippers; a connecting plate loading platform for placing connecting plates; a suction cup assembly conveyor for conveying suction cup assemblies; a tightening robot; a nut feeding vibratory feeder; a frame assembly table; a transition placement rack for placing transitional second profile assemblies; a parts gripper placement rack; a fence; and a suction cup assembly mechanism. The assembly robot and frame gripper placement rack are located on one side of the frame assembly table, and the tightening robot is located on the other side of the frame assembly table. A nut feeding vibratory feeder is arranged around the tightening robot. The assembly robot has the gripper frame finished product placement rack, the profile feeding rack connecting plate loading platform, the suction cup assembly conveyor, the transition placement rack, the parts gripper placement rack, and the suction cup assembly mechanism arranged on one side.

[0005] Based on this, the finished gripper frame placement rack includes a frame placement rack, a limiting block, and an in-situ detection sensor. The frame placement rack is fixed to the ground, the limiting block is fixed to the frame placement rack by screws, and the in-situ detection sensor is installed and fixed on one side of the mounting surface near the limiting block.

[0006] Based on this, the profile feeding rack includes a first profile placement rack, a first profile limiting seat, a first profile empty detection, a first profile reference baffle, a second profile reference baffle, a second profile limiting seat, and a second profile placement rack. The first profile placement rack and the second profile placement rack are fixed on the ground. The first profile limiting seat and the second profile limiting seat are respectively fixed above the first profile placement rack and the second profile placement rack. A first profile empty detection is fixed on one side of the first profile limiting seat. A first profile reference baffle is provided on one side of the first profile placement rack, and a second profile reference baffle is provided on one side of the second profile placement rack.

[0007] Based on this, the frame assembly platform includes a first main frame, a slider nut positioning guide groove, a clamping cylinder, a reference plate, and an adjustment mechanism. The first main frame is fixed on the ground, the slider nut positioning guide groove is installed at one end of the first main frame, the clamping cylinder and the adjustment mechanism are installed above the first main frame, and the reference plate is installed on the side of the first main frame near the slider nut positioning guide groove.

[0008] Based on this, the connecting plate loading platform includes a connecting plate loading platform surface, a material distribution and positioning mechanism, an end connecting plate loading position, an intermediate connecting plate loading position A, and an intermediate connecting plate loading position B. The material distribution and positioning mechanism, the end connecting plate loading position, the intermediate connecting plate loading position A, and the intermediate connecting plate loading position B are all set on the connecting plate loading platform surface.

[0009] Based on this, the suction cup assembly conveyor includes an upper conveyor and a lower conveyor.

[0010] Based on this, the transition placement frame includes a second main frame, a reference baffle, and a clamping cylinder. The main frame is fixed on the ground, the reference baffle is installed at the lower position of the second main frame, and the clamping cylinder is installed at the middle position of the second main frame.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The automated assembly line for the gripper with aluminum profile as the frame realizes the automated assembly of the main beam of the aluminum profile with each auxiliary beam, as well as with the suction cup assembly and each connecting plate. Using the device of this patent, the assembly and tightening of aluminum profile, screws, and T-shaped slider nuts can be realized, thereby realizing the assembly of the aluminum profile frame. It realizes the transformation from traditional manual assembly by fitters to automated assembly. Compared with manual assembly, not only is the assembly efficiency improved, but the assembly accuracy and consistency are also improved. The assembly line is centered on the gripper, and the other devices are arranged around the gripper. The device layout is square, compact, and reasonable. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the automatic assembly line structure for the gripper frame of the present invention;

[0013] Figure 2This is a schematic diagram of the finished product placement rack structure of the gripper frame of the present invention;

[0014] Figure 3 This is a schematic diagram of the profile feeding rack structure of the present invention;

[0015] Figure 4 This is a schematic diagram of the assembly robot structure of the present invention;

[0016] Figure 5 This is a schematic diagram of the frame gripper placement frame structure of the present invention;

[0017] Figure 6 This is a schematic diagram of the part gripper placement frame structure of the present invention;

[0018] Figure 7 This is a schematic diagram of the loading platform structure on the connecting plate of the present invention;

[0019] Figure 8 This is a schematic diagram of the suction cup assembly conveyor structure of the present invention;

[0020] Figure 9 This is a schematic diagram of the tightening robot structure of the present invention;

[0021] Figure 10 This is a schematic diagram of the frame assembly platform structure of the present invention;

[0022] Figure 11 This is a schematic diagram of the transition placement rack structure of the present invention;

[0023] In the diagram: 1. Finished product placement rack for gripper frame; 1-1. Frame placement rack; 1-2. Limiting block; 1-4. In-situ detection sensor; 2. Profile feeding rack; 2-1. First profile; 2-2. First profile placement rack; 2-3. First profile limiting seat; 2-4. First profile empty detection; 2-5. First profile reference baffle; 2-6. Second profile reference baffle; 2-7. Second profile limiting seat; 2-8. Second profile; 2-9. Second profile placement rack; 3. Assembly robot; 4. Frame gripper placement rack; 5. Connecting plate loading platform; 5-1. Connecting plate loading platform surface; 5-2. End connecting plate loading position; 5-3. Material distribution and positioning mechanism. 5-4. Material position A on the intermediate connecting plate; 5-5. Material position B on the intermediate connecting plate; 6. Suction cup assembly conveyor; 6-1. Upper conveyor; 6-2. Lower conveyor; 7. Tightening robot; 7-1. Slider pushing mechanism; 8. Nut feeding vibratory plate; 9. Frame assembly table; 9-1. First main frame; 9-2. Slider nut positioning guide groove; 9-3. Clamping cylinder; 9-4. Reference plate; 9-5. Adjustment mechanism; 10. Transition placement frame; 10-1. Second main frame; 10-2. Reference baffle; 10-4. Pressing cylinder; 11. Part gripper placement frame; 11-1. Part gripper; 12. Fence; 13. Suction cup assembly mechanism. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0025] This invention discloses an automated assembly line for gripper frames, with reference to... Figures 1-11 The entire automated assembly line for the gripper frame is arranged around the assembly robot 3 and the tightening robot 7. Around the assembly robot 3 are the finished gripper frame placement rack 1, the profile feeding rack 2, the frame gripper placement rack 4, the connecting plate loading platform 5, the suction cup assembly conveyor 6, the transition placement rack 10, the parts gripper placement rack 11, and the suction cup assembly mechanism 13. Around the tightening robot 7 is the nut feeding vibratory plate 8. Between the assembly robot 3 and the tightening robot 7 is the frame assembly table 9. The perimeter is surrounded by a fence 12 for safety protection. With the gripper as the center, the other devices are arranged around the gripper. The device layout is square, compact, and reasonable.

[0026] The gripper frame finished product placement rack 1 is used to store the gripper frame 1-3 assembled from various parts. The frame placement rack 1-1 is directly fixed to the ground. The limit block 1-2 is fixed to four mounting surfaces on the frame placement rack 1-1 by screws. The position detection sensor 1-4 is installed and fixed on the mounting surface near the limit block 1-2 to detect whether the gripper frame 1-3 is placed in place.

[0027] The profile feeding rack 2 is used to place profiles. In this embodiment, the first profile 2-1 is an 8080 profile, and the second profile 2-8 is a 4080 profile. The second profile 2-8 and the first profile 2-1 are placed on the second profile placing rack 2-9 and the first profile placing rack 2-2, respectively. The first profile placing rack 2-2 and the second profile placing rack 2-9 are directly fixed to the ground. The first profile limiting seat 2-3 and the second profile limiting seat 2-7 are fixed above the first profile placing rack 2-2 and the second profile placing rack 2-9, respectively. A first material empty detection 2-4 is fixed on one side of the first profile limiting seat 2-3 to detect whether the profile is short of material. A first profile reference baffle 2-5 is provided on one side of the first profile placing rack 2-2, and a second profile reference baffle 2-6 is provided on one side of the second profile placing rack 2-9. The assembly robot 3 is responsible for gripping and transporting various parts, as well as gripping, transporting, and assembling the gripper frame 1-3. The frame gripper 4-1 is placed on the frame gripper placement rack 4, and the part gripper 11-1 is placed on the part gripper placement rack 11. The tightening robot 7 is equipped with a slider pushing mechanism 7-1. The frame gripper placement rack 4 is used to store the frame gripper 4-1. When the assembly robot 3 grips and transports various parts, the part gripper 11-1 is on the assembly robot 3, while the frame gripper 4-1 is idle and placed on the frame gripper placement rack 4, which is directly fixed to the ground. When the assembly robot 3 needs to grip the gripper frame 1-3, it needs to first place the part gripper 11-1 on the part gripper placement rack 11, and then switch to the frame gripper 4-1 to grip the gripper frame 1-3.

[0028] The function of the connecting plate loading platform 5 is to store and fix the profile connecting plates. The connecting plate loading platform surface 5-1 is directly fixed to the ground. The end connecting plate loading positions 5-2, the middle connecting plate loading positions A5-4 and B5-5 are all directly installed on the connecting plate loading platform surface 5-1. The material distribution and positioning mechanism 5-3 is used to grab the connecting plates and position them.

[0029] The function of the suction cup assembly conveyor 6 is to transport the suction cup assembly assembled by the suction cup assembly mechanism 13 to one side of the frame assembly table 9.

[0030] The frame assembly table 9 is used for the assembly and positioning of various parts. The first main frame 9-1 is directly fixed to the ground. The slider nut positioning guide groove 9-2 is installed at one end of the left side of the first main frame 9-1. The clamping cylinders 9-3 are respectively installed and fixed in the middle position on the main frame. The reference plate 9-4 is installed on the side of the first main frame 9-1 near the slider nut positioning guide groove 9-2. The adjustment mechanism 9-5 is directly installed in the middle position of the first main frame 9-1, and its function is to adjust the spacing of the main beams.

[0031] The transition placement rack 10 serves as a buffer for the second profile assembly. The second main frame 10-1 is directly fixed to the ground. A reference baffle 10-2 is installed at the lower part of the second main frame 10-1, and a clamping cylinder 10-4 is installed in the middle of the second main frame 10-1 to clamp the second profile assembly. Scanning optical fibers are arranged between the second profile assemblies to determine the hole positions of the connecting plates on the second profile assemblies.

[0032] In actual assembly, the assembly line operates as follows:

[0033] Step 1: Complete the installation of the suction cup assembly in the suction cup assembly mechanism 13;

[0034] Step 2: Place the parts and configure the parameters;

[0035] Before assembly begins, the second profile 2-8, the first profile 2-1, the end connecting plate, the middle connecting plate, and the suction cup assembly are placed on the second profile placement rack 2-9, the first profile placement rack 2-2, the end connecting plate material position 5-2, the middle connecting plate material position A5-4, the middle connecting plate material position B5-5, and the suction cup assembly conveyor 6, respectively. The assembly robot 3-1 can automatically adapt and connect to the corresponding placement rack when the part gripper 11-1 and the frame gripper 4-1 are needed. Automatic adaptation is achieved by quick-change plate. In the initial state, the fixture on the assembly robot 3-1 is the part gripper 11-1. Taking the KR360 gripper as an example, the grippers are divided into three types: 360, 210, and 150. The number and position of the main beam, auxiliary beam, and suction cup assembly of each type of gripper are different. The corresponding parameters need to be input in advance according to the project. The corresponding parameters and configurations have been configured.

[0036] Step 3: Install the second profile 2-8 and the end connecting plate;

[0037] After the main control command is issued, the assembly robot 3 first moves to the second profile placement rack 2-9, grabs the first second profile 2-8 using the part gripper 11-1, and transfers the profile to the frame assembly table 9. The assembly robot 3 then moves to the connecting plate loading platform 5 to pick up the end profile connecting plate 5-2 and moves back to its original position to wait. The transverse mechanism on the frame assembly table 9 first moves the second profile 2-8 towards the reference plate 9-4, and then the clamping cylinder 9-3 clamps and positions the second profile 2-8. After positioning, a ready signal is issued, and the assembly robot 3 places the end profile connecting plate 5-2 in the position set in the program and waits for the tightening machine to... The robotic arm 7 first moves to the nut feeding vibratory plate 8 to pick up the pre-positioned slider nut, and moves it to the slider nut shaping and positioning guide groove 9-2 on the frame assembly table 9 for positioning. The slider pushing mechanism 7-1 on the tightening robotic arm 7 pushes the slider nut to the assembly robotic arm 3, which places it at the pre-drilled hole in the end profile connecting plate. The position of the hole has been calculated and taught in advance. After the slider nut is in place, the electric screwdriver on the tightening robotic arm 7 starts working, feeding the corresponding hexagonal socket screw to the bit and starting the tightening operation. At this point, the first screw of the end connecting plate is tightened. The tightening robotic arm 7 repeats the above action process to complete the tightening of the second screw of the end connecting plate. After the second screw is tightened, the assembly robotic arm 3 leaves the frame assembly table 9 and goes to the connecting plate feeding table 5 to pick up the second end profile connecting plate. The assembly action of the first end profile connecting plate is repeated to complete the assembly of the second end profile connecting plate.

[0038] Step 4: Install the second profile 2-8 and the end profile connecting plate assembly and suction cup assembly;

[0039] The assembly robot 3 picks up the profile, and the clamping cylinder 9-3 of the frame assembly table 9 is released. The assembly robot 3 then flips the second profile 2-8 180° so that the already assembled connecting plate faces down, so that the suction cup assembly can be installed on the opposite side. The second profile 2-8 is then placed back on the frame assembly table 9, aligned with the reference plate 9-4 again, and clamped and positioned again. In this embodiment, after being placed in place, the assembly robot 3 leaves and goes to the suction cup assembly conveyor 6 to pick up the suction cup assembly. The suction cup assembly is divided into suction cup assembly with induction sleeve and suction cup assembly without induction sleeve. In order to distinguish them, they are placed on the upper conveyor 6-1 and the lower conveyor 6-2 respectively. Since the number and position of suction cups with and without induction sleeves are different for different projects, the assembly robot 3 selects the corresponding suction cup assembly according to the project and program each time. The suction cup assembly conveyor 6 is equipped with an induction sleeve detection sensor at the material picking position to determine whether the suction cup assembly is placed incorrectly. Assembly robot 3 places the obtained suction cup assembly on the corresponding position of the second profile 2-8 on the frame assembly table 9 and waits. Tightening robot 7 repeats the action of picking up the slider nut and placing it in the slider nut positioning guide groove 9-2. Then, the slider pushing mechanism 7-1 sends the slider nut to the corresponding hole position of the suction cup assembly and begins the tightening operation to complete the tightening of the second screw. Repeat the above actions, tightening robot 7 picks up the slider nut again and sends it to the position of the second hole of the suction cup and tightens the screw. The first suction cup assembly on the first second profile 2-8 has been installed in place. Assembly robot 3 and tightening robot 7 repeat the installation process of the first suction cup assembly to complete the installation of the remaining suction cup assemblies. After all suction cup assemblies are assembled, the first second profile assembly is installed.

[0040] Step 5: After positioning the second profile component, assemble it with the first profile 2-1 main beam;

[0041] The assembly robot 3 picks up the first assembled second profile 2-8 and places it in the corresponding placement position on the transition placement frame 10. In this embodiment, there are a total of 6 placement positions. After the second profile assembly is placed, the assembly robot 3 moves away and performs a lower movement. After the second profile assembly is placed on the transition placement frame 10, due to gravity, the second profile assembly will align with the reference baffle 10-2. Then, the clamping cylinder 10-4 clamps and positions it. After positioning, the module, carrying a scanning optical fiber, scans and searches along the profile placement direction and calculates the distance between the mounting holes on each connecting plate and the reference plate. The dimensions are determined and recorded to prepare for the next step of assembly with the main beam; based on the actual working conditions, the remaining second profile components are positioned; after all installation and positioning are completed, assembly with the main beam begins. The assembly robot 3 first goes to the first profile placement rack 2-1 to grab the first first profile 2-1 and places it on the frame assembly table 9 near the clamping position of the assembly robot 3, then moves away. Then it goes to the first profile placement rack 2-1 again to grab the second first profile 2-1 and places it on the frame assembly table 9 away from the clamping position of the assembly robot 3, then waits at the origin.

[0042] The alignment mechanism on the frame assembly table 9 aligns the two already positioned first profiles along the reference plate 9-4, and then each is clamped by a clamping cylinder 9-3 to position the first profile. After the first profile is positioned, the assembly robot 3 moves to the transition placement frame 10, picks up the positioned first second profile assembly, and places it in the corresponding position on the frame assembly table 9, where it awaits its placement.

[0043] The tightening robot 7 first moves to the nut feeding vibratory plate 8 to pick up the pre-positioned slider nut, and moves it to the slider nut shaping and positioning guide groove 9-2 on the frame assembly table 9 for positioning. The slider pushing mechanism 7-1 on the tightening robot 7 pushes the slider nut to the pre-drilled hole on the connecting plate of the second profile component placed by the assembly robot 3. The position of the hole has been calculated in advance by the scanning optical fiber on the transition placement frame 10 and sent to the tightening robot 7 for teaching. After the slider nut is in place, the electric screwdriver on the tightening robot 7 starts working, feeds the corresponding hexagonal screw to the screwdriver bit, and begins the tightening operation. In this embodiment, M8*20 combination screws are used. The tightening robot 7 repeats the above action process to complete the tightening of the remaining screws of the second profile component. The installation of the second profile component and the main beam of the first profile 2-1 is now complete. The above actions are repeated to complete the installation of the remaining second profile component and the main beam of the first profile 2-1. At this point, the frame gripper has been installed.

[0044] Step Six: Place the finished frame;

[0045] The assembly robot 3 first moves to the part gripper placement frame 11. After the part gripper 11-1 is delivered to the positioning pin and placed on the part gripper placement frame 11, the clamping mechanism of the quick-change male and female modules on the part gripper 11-1 is released and opened. The quick-change male plate on the assembly robot 3 separates from the quick-change female plate on the part gripper 11-1. The assembly robot 3 moves to the frame gripper placement frame 4 and cooperates with the frame gripper 4-1 placed on the frame gripper placement frame 4-2. After it is in place, the quick-change male plate on the assembly robot 3 locks and connects with the quick-change female plate on the frame gripper 4-1. The assembly robot 3 moves with the frame gripper 4-1 to the frame assembly table 9 and picks up the assembled frame and places it on the gripper frame finished product placement frame 1.

[0046] Assembly robot 3 returns to frame gripper placement rack 4, places frame gripper 4-1 on frame gripper placement rack 4, releases and separates the quick-change male gripper on assembly robot 3 from the quick-change female gripper on frame gripper 4-1, and then moves to part gripper placement rack 11 to pick up part gripper 11-1. After it is in place, the quick-change male gripper on assembly robot 3 locks and connects with the quick-change female gripper on part gripper 4-1. Then assembly robot 3 returns to the robot origin with part gripper 4-1 to wait. The first set of frame finished products is completed.

[0047] Repeat the production process of the first set of finished frames to complete the production of the remaining finished frames.

[0048] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, 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 limiting this invention.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw-in," and "pad" 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. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Modifications and variations made by those skilled in the art do not depart from the spirit of the present invention.

Claims

1. An automated assembly line for a gripper frame, characterized in that: The system includes a gripper frame finished product placement rack (1) for placing assembled gripper frames (1-3); a profile feeding rack (2) for placing the first profile (2-1) and the second profile (2-8); an assembly robot (3) for gripping and transporting various parts; a frame gripper placement rack (4) for placing frame grippers (4-1); a connecting plate loading platform (5) for placing connecting plates; a suction cup assembly conveyor (6) for conveying suction cup assemblies; a tightening robot (7); a nut feeding vibratory feeder (8); a frame assembly table (9); a transition placement rack (10) for placing transitional second profile assemblies; a parts gripper placement rack (11); a fence (12); and a suction cup assembly mechanism (13). The assembly robot (3) and the frame gripper placement rack (4) are set on one side of the frame assembly table (9), and the tightening robot (7) is set on the other side of the frame assembly table (9). The tightening robot (7) is surrounded by a nut feeding vibratory plate (8). The assembly robot (3) is equipped with a gripper frame finished product placement rack (1), a profile feeding rack (2), a connecting plate feeding rack (5), a suction cup assembly conveyor (6), a transition placement rack (10), a parts gripper placement rack (11), and a suction cup assembly mechanism (13). The automatic assembly line for the gripper frame is arranged around the assembly robot (3) and the tightening robot (7). The gripper is the center, and the other devices are arranged around the gripper. The device layout is square. The frame assembly platform (9) includes a first main frame (9-1), a slider nut positioning guide groove (9-2), a clamping cylinder (9-3), a reference plate (9-4), and an adjustment mechanism (9-5). The first main frame (9-1) is fixed on the ground. The slider nut positioning guide groove (9-2) is installed at one end of the first main frame (9-1). The clamping cylinder (9-3) and the adjustment mechanism (9-5) are installed above the first main frame (9-1). The reference plate (9-4) is installed on the side of the first main frame (9-1) near the slider nut positioning guide groove (9-2). The assembly robot (3) grips the second profile (2-8), the clamping cylinder (9-3) of the frame assembly table (9) is released, the assembly robot (3) rotates the second profile (2-8) 180° so that the already assembled connecting plate faces down, and places the second profile (2-8) back on the frame assembly table (9), aligns it with the reference plate (9-4) again, and clamps and positions it again; The transition placement frame (10) is provided with a second main frame (10-1), a reference baffle (10-2), a clamping cylinder (10-4) and a scanning optical fiber. The scanning optical fiber is arranged between the second profile components to determine the hole position of the connecting plate on the second profile component.

2. The automatic assembly line for the gripper frame according to claim 1, characterized in that: The gripper frame finished product placement rack (1) includes a frame placement rack (1-1), a limiting block (1-2), and an in-situ detection sensor (1-4). The frame placement rack (1-1) is fixed on the ground. The limiting block (1-2) is fixed to the frame placement rack (1-1) by screws. The in-situ detection sensor (1-4) is installed and fixed on one side of the mounting surface near the limiting block (1-2).

3. The automatic assembly line for the gripper frame according to claim 1, characterized in that: The profile feeding rack (2) includes a first profile placement rack (2-2), a first profile limiting seat (2-3), a first profile empty detection (2-4), a first profile reference baffle (2-5), a second profile reference baffle (2-6), a second profile limiting seat (2-7), and a second profile placement rack (2-9). The first profile placement rack (2-2) and the second profile placement rack (2-9) are fixed on the ground. The first profile limiting seat (2-3) and the second profile limiting seat (2-7) are respectively fixed above the first profile placement rack (2-2) and the second profile placement rack (2-9). The first profile empty detection (2-4) is fixed on one side of the first profile limiting seat (2-3). The first profile reference baffle (2-5) is provided on one side of the first profile placement rack (2-2), and the second profile reference baffle (2-6) is provided on one side of the second profile placement rack (2-9).

4. The automatic assembly line for the gripper frame according to claim 1, characterized in that: The connecting plate loading platform (5) includes a connecting plate loading platform surface (5-1), a material distribution and positioning mechanism (5-3), an end connecting plate loading position (5-2), an intermediate connecting plate loading position A (5-4), and an intermediate connecting plate loading position B (5-5). The material distribution and positioning mechanism (5-3), the end connecting plate loading position (5-2), the intermediate connecting plate loading position A (5-4), and the intermediate connecting plate loading position B (5-5) are all located on the connecting plate loading platform surface (5-1).

5. The automatic assembly line for the gripper frame according to claim 1, characterized in that: The suction cup assembly conveyor (6) includes an upper conveyor (6-1) and a lower conveyor (6-2).

6. The automatic assembly line for the gripper frame according to claim 1, characterized in that: The transition placement frame (10) includes a second main frame (10-1), a reference baffle (10-2), and a clamping cylinder (10-4). The second main frame (10-1) is fixed on the ground. The reference baffle (10-2) is installed at the lower position of the second main frame (10-1), and the clamping cylinder (10-4) is installed at the middle position of the second main frame (10-1).

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