A skeletal assembly assembly apparatus

Abstract

The application provides a skeleton assembly equipment, which comprises a skeleton assembly mechanism, a screw locking mechanical arm, an assembly workbench and a screw supply device; the skeleton assembly mechanism comprises a first base, a left positioning assembly, a right pushing assembly, a front positioning assembly, a rear positioning assembly, a jacking assembly, a fixing seat, a front supporting assembly and a rear supporting assembly; the design can assemble partial internal skeletons on the assembly workbench and assemble main skeletons in the skeleton assembly mechanism; the cooperation of the positioning assemblies can improve the installation precision of the skeletons; and the cooperation of the screw locking mechanical arm can automatically lock partial screws, so that the assembly efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and in particular to a skeleton assembly equipment. Background Technology

[0002] During printer assembly, the precision required between various components is very high; otherwise, the performance will be affected. The base frame is assembled with the front and rear frames first, and then the internal skeleton is gradually built. The assembly precision between the front and rear frames and the base frame is even more important. Currently, after the printer skeleton is produced, it is assembled manually. Some skeletons are large and require manual support before other workers can tighten the screws. This assembly is difficult and the precision is not high enough to meet the assembly requirements of printers with high assembly standards. Before the internal skeleton is built, some components need to be assembled first and then assembled into the overall structure. Some components need to be fixed with multiple parts by screws. Direct manual splicing and locking is inconvenient and inefficient. Summary of the Invention

[0003] The purpose of this invention is to provide a bone assembly device to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A skeleton assembly device includes a skeleton assembly mechanism, a screw-locking robotic arm, an assembly worktable, and a screw feeding device.

[0006] The skeleton assembly mechanism includes a first base, a left positioning component, a right pushing component, a front positioning component, a rear positioning component, a lifting component, a fixing seat, a front support component, and a rear support component. The left positioning component is installed on the left side of the first base and includes a left positioning rod and a first lifting drive device for driving the left positioning rod up and down. A first electromagnet is installed at the right end of the left positioning rod. The right pushing component is installed on the right side of the first base and includes a right pushing rod, a first X-axis drive device for driving the right pushing rod left and right, and a second lifting drive device for driving the right pushing rod up and down. The front positioning component includes a first universal ball joint, an upper limit block, and a first Y-axis drive device for driving the first universal ball joint and the upper limit block to move synchronously back and forth. The rear positioning component includes... The system includes a second omnidirectional ball, a second Y-axis drive device for driving the second omnidirectional ball to move back and forth, a magnetic suction assembly, and a flipping drive device for driving the magnetic suction assembly to flip; four sets of lifting assemblies are arranged in a four-corner distribution and installed on the first base; four fixed seats are arranged in a four-corner distribution and fixed above the first base and located outside the four sets of lifting assemblies; two sets of front support assemblies are arranged and installed above the two fixed seats on the front side; two sets of rear support assemblies are arranged and installed above the two fixed seats on the rear side; the front support assembly and the rear support assembly have the same structure, both including a positioning shaft that can slide back and forth, a second electromagnet installed beside the head of the positioning shaft, and a limiting device for limiting the positioning shaft; the head of the positioning shaft has a positioning post;

[0007] The assembly workbench is provided with at least one set of limiting seat assemblies; several sets of first quick clamps are provided on the side of the limiting seat assemblies;

[0008] The screw-locking robotic arm is positioned between the assembly workbench and the skeleton assembly mechanism; the screw feeding device is positioned beside the screw-locking robotic arm.

[0009] In a further description of the present invention, the first lifting drive device includes a first fixed plate, a first cylinder, and a first connecting plate; the first fixed plate is fixed on a first base; the first cylinder is fixed to the bottom of the first fixed plate and its power output end is connected to the first connecting plate for driving the first connecting plate to move up and down; two left positioning rods are provided and distributed front and back; the bottoms of the two left positioning rods are fixed to the first connecting plate, and the middle parts are slidably connected to the first fixed plate.

[0010] Further description of the present invention: the first X-axis drive device includes a second fixed plate, a first cylinder seat, a second cylinder, and a movable plate; the second fixed plate is fixed on a first base; the first cylinder seat is fixed to the bottom of the second fixed plate; two second cylinders are provided and arranged front to back; the power output ends of the two second cylinders are respectively connected to the movable plate for driving the movable plate to move left and right; the movable plate is connected to the bottom of the second fixed plate through a first slide rail pair; the second lifting drive device includes a third cylinder and a second connecting plate; the third cylinder is fixed to the bottom of the movable plate and its power output end is connected to the second connecting plate for driving the second connecting plate to move up and down; two right push rods are provided and arranged front to back; the bottoms of the two right push rods are fixed to the second connecting plate, and the middle parts are slidably connected to the movable plate.

[0011] In a further description of the present invention, the front positioning assembly further includes a third fixing plate fixed on the first base; the first Y-axis drive device includes a second cylinder seat, a fourth cylinder, and a first sliding seat; the second cylinder seat is fixed on the third fixing plate; two fourth cylinders are provided and distributed left and right; the first sliding seat is slidably connected to the top of the third fixing plate through a second slide rail pair; the power output ends of the two fourth cylinders are respectively connected to the first sliding seat; two upper limit blocks are provided and fixed on the left and right sides of the first sliding seat; three first universal balls are provided and arranged left and right on the rear side of the first sliding seat.

[0012] Further description of the invention: the rear positioning assembly further includes a fourth fixing plate fixed to the first base; the second Y-axis drive device includes a third cylinder seat, a fifth cylinder, and a second sliding seat; the third cylinder seat is fixed to the fourth fixing plate; two fifth cylinders are provided and arranged left and right; the second sliding seat is slidably connected to the top of the fourth fixing plate via a third slide rail pair; the power output ends of the two fifth cylinders are respectively connected to the second sliding seat; three second universal balls are provided and arranged left and right on the front side of the second sliding seat; the tilting drive device includes a stand, a sixth cylinder, a rack, a gear, a rotating shaft, a bearing seat, and a tilting mechanism. The stand is fixed on the fourth fixed plate; the rack is slidably connected to the front side of the stand via the fourth slide rail pair; the sixth cylinder is fixed to the bottom of the fourth fixed plate and its power output end is connected to the rack; two shaft seats are provided and installed on the first base in a left-right distribution; the rotating shaft is rotatably connected between the two shaft seats; the gear is installed in the middle of the rotating shaft and meshes with the rack; the flipping seat is fixedly connected to both ends of the rotating shaft; three sets of magnetic suction components are provided and installed on the front side of the flipping seat in a left-right distribution; the magnetic suction components include a connecting block and a third electromagnet; the rear end of the connecting block is fixedly connected to the flipping seat; the third electromagnet is fixed to the front end of the connecting block.

[0013] As further described in the present invention, the lifting assembly includes a mounting frame, a worm gear lift, a servo motor, and a third universal joint; the mounting frame is fixed inside a first base; the worm gear lift is fixed on the mounting frame and its power output end is connected to the third universal joint; the servo motor is connected to one side of the worm gear lift.

[0014] In a further description of the present invention, the positioning shaft is slidably connected to the fixed base via a fifth slide rail pair; a handle is installed above the positioning shaft; limiting blocks are respectively provided at the front and rear ends of the fifth slide rail pair; the limiting device is a second quick clamp; the second quick clamp is fixed on the fixed base and located on one side of the tail of the positioning shaft.

[0015] In a further description of the present invention, the screw-locking robotic arm includes a second base, a six-axis robotic arm, a CCD imaging component, and a screw-locking head; the six-axis robotic arm is fixed on the second base and its power output end is connected to the CCD imaging component; the screw-locking head is fixed on the front side of the CCD imaging component; and two sets of screw feeding devices are arranged side by side.

[0016] In a further description of the present invention, the assembly workbench is provided with two sets of front-to-back limiting seat assemblies; four sets of left-to-right first quick clamps are installed on the rear side of the front limiting seat assembly; and two sets of left-to-right second quick clamps are installed on the rear side of the rear limiting seat assembly.

[0017] A further description of the invention includes a light curtain disposed around the skeleton assembly mechanism, the screw-locking robotic arm, the assembly workbench, and the screw feeding device.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. The assembly workbench of the present invention has a limiting seat assembly and a first quick clamp. The limiting seat assembly can limit the installation of certain bones, and then the first quick clamp clamps and fixes the bone. Then, the screw-locking robotic arm takes screws from the screw feeding device and locks the bone on the assembly workbench for subsequent assembly. This method provides a good assembly environment for some bones that need to be assembled independently, making assembly convenient and improving work efficiency.

[0020] 2. The main assembly is performed in the skeleton assembly mechanism. The printer's base slides into the middle of the skeleton assembly mechanism. The left positioning component limits and magnetically attracts the base. The front and rear positioning components work together to position the base in the front-to-back direction. After the base is positioned, the rear frame is assembled. The positioning shafts of the two rear support components are pulled forward and their positions are fixed by the limiting device. The upper part of the rear frame has two positioning holes. The rear frame is hung on the positioning posts at the front ends of the two rear positioning shafts through the positioning holes, and the upper part of the rear frame is magnetically fixed by the second electromagnet. After the upper part of the frame is positioned, the flipping drive device in the rear positioning component drives the magnetic attraction component to flip forward, using the magnetic attraction component to magnetically fix the lower part of the rear frame, completing the positioning of the rear frame. The left positioning component stops magnetically attracting the base. The four lifting components drive the base to lift until the upper surface of the base is in contact with the lower end of the rear frame. The right side of the base has two hollow holes. The right push component is connected to the first X-axis drive device and the second... Two lifting drive devices work together to drive the push rod, which pulls the base frame to the right, bringing the base frame and the right side of the rear frame close together. The front and rear positioning components work together to move the base frame backward until it is in contact with the rear frame in the front-rear direction, completing the three-way contact positioning of the base frame and the rear frame. This method can significantly improve assembly accuracy and is easy to operate. After installing the fixing plate and two columns at the front end of the base frame, the front frame is installed. The front frame needs to be installed on the upper part of the two columns. The front frame also has two positioning holes. It is pushed backward by the positioning shaft of the front support component and the positioning shaft position is fixed by the limiting device. The front frame is hung on the positioning column of the positioning shaft on the front side through the positioning holes and is fixed by the magnetic attraction of the second electromagnet, thus achieving the positioning of the front frame. The positioning and installation of the printer's main skeleton is completed. A screw-locking robotic arm is used to lock some screws, and the remaining skeletons are assembled manually inside the main skeleton. This structure can significantly improve the assembly accuracy and work efficiency of the printer skeleton. Attached Figure Description

[0021] Figure 1 This is an overall structural diagram of the present invention;

[0022] Figure 2 This is a structural diagram of the bone assembly mechanism of the present invention;

[0023] Figure 3 This is a structural diagram of the left positioning component of the present invention;

[0024] Figure 4 This is a structural diagram of the right pusher assembly of the present invention;

[0025] Figure 5 This is a structural diagram of the front positioning component of the present invention;

[0026] Figure 6 This is a structural diagram of the rear positioning component of the present invention;

[0027] Figure 7 This is a structural diagram of the lifting assembly of the present invention;

[0028] Figure 8 This is a structural diagram of the rear support component of the present invention;

[0029] Figure 9 This is a structural diagram of the assembly workbench of the present invention;

[0030] Figure 10 This is a structural diagram of the screw-locking robotic arm of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings:

[0032] like Figure 1 As shown, a skeleton assembly equipment includes a skeleton assembly mechanism 1, a screw-locking robotic arm 2, an assembly workbench 3, and a screw feeding device 4.

[0033] like Figure 2 As shown, the bone assembly mechanism 1 includes a first base 11, a left positioning component 12, a right pushing component 13, a front positioning component 14, a rear positioning component 15, a lifting component 16, a fixing seat 17, a front support component 18, and a rear support component 19.

[0034] like Figure 3 As shown, the left positioning component 12 is installed on the left side of the first base 11, including a left positioning rod 121 and a first lifting drive device 122 for driving the left positioning rod 121 to move up and down; a first electromagnet 1211 is installed on the right end of the left positioning rod 121; the first lifting drive device 122 includes a first fixing plate 1221, a first cylinder 1222 and a first connecting plate 1223; the first fixing plate 1221 is fixed on the first base 11; the first cylinder 1222 is fixed at the bottom of the first fixing plate 1221 and its power output end is connected to the first connecting plate 1223 for driving the first connecting plate 1223 to move up and down; two left positioning rods 121 are provided and distributed front and back; the bottoms of the two left positioning rods 121 are fixed on the first connecting plate 1223, and the middle is slidably connected to the first fixing plate 1221; the first cylinder 1222 drives the first connecting plate 1223 to move up and down, thereby driving the two left positioning rods 121 connected to the first connecting plate 1223 to move up and down.

[0035] like Figure 4As shown, the right pusher assembly 13 is installed on the right side of the first base 11, including a right pusher rod 131, a first X-axis drive device 132 for driving the right pusher rod 131 to move left and right, and a second lifting drive device 133 for driving the right pusher rod 131 to move up and down; the first X-axis drive device 132 includes a second fixed plate 1321, a first cylinder seat 1322, a second cylinder 1323, and a movable plate 1324; the second fixed plate 1321 is fixed on the first base 11; the first cylinder seat 1322 is fixed to the bottom of the second fixed plate 1321; two second cylinders 1323 are provided and arranged front and back; the power output ends of the two second cylinders 1323 are respectively connected to the movable plate 1324 for driving The movable plate 1324 moves left and right; the movable plate 1324 is connected to the bottom of the second fixed plate 1321 through the first slide rail pair 1324-1; the second lifting drive device 133 includes a third cylinder 1331 and a second connecting plate 1332; the third cylinder 1331 is fixed to the bottom of the movable plate 1324 and its power output end is connected to the second connecting plate 1332, used to drive the second connecting plate 1332 to move up and down; two right push rods 131 are provided and distributed front and back; the bottom of the two right push rods 131 is fixed on the second connecting plate 1332, and the middle is slidably connected to the movable plate 1324; the second cylinder 1323 drives the right push rods 131 to move left and right, and the third cylinder 1331 drives the push rods to move up and down.

[0036] like Figure 5 As shown, the front positioning assembly 14 includes a first universal ball joint 141, an upper limit block 142, and a first Y-axis drive device 143 that drives the first universal ball joint 141 and the upper limit block 142 to move synchronously back and forth; the front positioning assembly 14 also includes a third fixing plate 144 fixed on the first base 11; the first Y-axis drive device 143 includes a second cylinder seat 1431, a fourth cylinder 1432, and a first sliding seat 1433; the second cylinder seat 1431 is fixed on the third fixing plate 144; two fourth cylinders 1432 are provided and distributed left and right; the first sliding seat 1433 is connected by a second slide rail pair 1433- 1. It can be slidably connected to the top of the third fixed plate 144; the power output ends of the two fourth cylinders 1432 are respectively connected to the first sliding seat 1433; two upper limit blocks 142 are provided and fixed on the left and right sides of the first sliding seat 1433; three first universal balls 141 are provided and arranged left and right on the rear side of the first sliding seat 1433. The first universal balls 141 and the upper limit blocks 142 are driven to move back and forth through the first Y-axis drive device 143. The upper limit blocks 142 are set to limit the front side of the chassis when the chassis is lifted. The first universal balls 141 are used for front and back direction positioning to reduce friction when the chassis is lifted.

[0037] like Figure 6As shown, the rear positioning assembly 15 includes a second universal ball joint 151, a second Y-axis drive device 152 for driving the second universal ball joint 151 to move back and forth, a magnetic suction assembly 153, and a flipping drive device 154 for driving the magnetic suction assembly 153 to flip; the rear positioning assembly 15 also includes a fourth fixing plate 155 fixed on the first base 11; the second Y-axis drive device 152 includes a third cylinder seat, a fifth cylinder 1521, and a second sliding seat 1522; the third cylinder seat is fixed on the fourth fixing plate 155; two fifth cylinders 1521 are provided and distributed left and right; the second sliding seat 1522 is slidably connected to the fourth fixing plate 155 above it through a third slide rail pair 1522-1; the power output ends of the two fifth cylinders 1521 are respectively connected to the second sliding seat 1522; the second universal ball joint 151... Three swivel balls 151 are arranged side-by-side on the front side of the second sliding seat 1522. The design of the second universal ball 151 facilitates the lifting of the base frame and reduces friction. In this design, the first Y-axis drive device 143 and the second Y-axis drive device 152 respectively use the fourth cylinder 1432 and the fifth cylinder 1521 as the power source. The force of the fifth cylinder 1521 is greater than that of the fourth cylinder 1432. When positioning the base frame, the fifth cylinder 1521 touches the base frame and moves forward, while the fourth cylinder 1432 is not fully extended. When assembling the rear frame, after the fifth cylinder 1521 retracts, the fourth cylinder 1432 touches the base frame again and moves backward, realizing the fit and positioning of the base frame and the rear frame in the front-back direction. The cylinder control is low-cost and not only has a positioning effect when positioning the base frame, but also controls the fit and positioning of the base frame and the rear frame when assembling the rear frame.

[0038] The tilting drive device 154 includes a stand 1541, a sixth cylinder 1542, a rack 1543, a gear 1544, a rotating shaft 1545, a bearing 1546, and a tilting seat 1547. The stand 1541 is fixed on a fourth fixed plate 155. The rack 1543 is slidably connected to the front side of the stand 1541 via a fourth slide rail pair. The sixth cylinder 1542 is fixed to the bottom of the fourth fixed plate 155, and its power output end is connected to the rack 1543. Two bearings 1546 are provided and are mounted on the first base 11, arranged left and right. The rotating shaft 1545 is rotatably connected between the two bearings 1546. The gear 1544 is installed in the middle of the rotating shaft 1545 and meshes with the rack 1543. The tilting seat 1547 is connected to the rotating shaft. The two ends of 1545 are fixedly connected; the magnetic suction assembly 153 is provided in three sets and distributed on the left and right sides of the front side of the flipping seat 1547; the magnetic suction assembly 153 includes a connecting block 1531 and a third electromagnet 1532; the rear end of the connecting block 1531 is fixedly connected to the flipping seat 1547; the third electromagnet 1532 is fixed to the front end of the connecting block 1531; the sixth cylinder 1542 controls the rack 1543 to move up and down, driving the gear 1544 to rotate, the gear 1544 drives the rotating shaft 1545 to rotate, and the rotating shaft 1545 drives the flipping seat 1547 connected to it to flip, thereby controlling the magnetic suction assembly 153 to flip upward or forward to a horizontal position. Flipping forward is used to magnetically fix the rear frame and magnetically fix the lower part of the rear frame.

[0039] like Figure 7 As shown, the lifting components 16 are arranged in four groups and distributed at the four corners on the first base 11. The lifting components 16 include a mounting frame 161, a worm gear lift 162, a servo motor 163, and a third universal ball joint 164. The mounting frame 161 is fixed inside the first base 11. The worm gear lift 162 is fixed on the mounting frame 161 and its power output end is connected to the third universal ball joint 164. The servo motor 163 is connected to one side of the worm gear lift 162. The four lifting components 16 are independently controlled. The servo motor 163 controls the worm gear lift to control the lifting of the third universal ball joint 164. The torque value is used to determine whether the base frame is in contact with the first upper limit or the rear frame. After the set torque value is reached, the corresponding lifting component 16 stops working. Even if the bottom surface of the base frame is uneven, the assembly accuracy between the base frame and the rear frame can be stably controlled.

[0040] like Figure 1 and Figure 8As shown, four fixed seats 17 are provided; the four fixed seats 17 are arranged at four corners and fixed above the first base 11 and located outside the four sets of lifting components 16; two sets of front support components 18 are provided and are respectively installed above the two fixed seats 17 on the front side; two sets of rear support components 19 are provided and are respectively installed above the two fixed seats 17 on the rear side; the front support components 18 and the rear support components 19 have the same structure, both including a positioning shaft 01 that can slide back and forth, a second electromagnet 02 installed next to the head of the positioning shaft 01, and a limiting device 03 for limiting the positioning shaft 01; the head of the positioning shaft 01 has a positioning post 011; the positioning shaft 01 is slidably connected to the fixed seat 17 through the fifth slide rail pair 012; a handle 013 is installed above the positioning shaft 01; the front and rear ends of the fifth slide rail pair 012 Each component is provided with a limiting block 0121; the limiting device 03 is a second quick clamp; the second quick clamp is fixed on the fixed base 17 and located on one side of the tail of the positioning shaft 01; when the rear frame needs to be positioned, the handle 013 is held and pulled to slide the two positioning shafts 01 on the rear side to the front end, and then the rear end of the positioning shaft 01 is pressed by the second quick clamp, fixing the positioning shaft 01 between the limiting block 0121 and the second quick clamp at the front end. The upper end of the rear frame has positioning holes that cooperate with the positioning posts 011 at the front end of the two positioning shafts 01. The rear frame is installed on the positioning posts 011 through the positioning holes. The second electromagnet 02 on the rear support assembly 19 is activated to magnetically fix the upper part of the rear frame; the front support assembly 18 pulls the positioning shaft 01 forward and presses it by the second quick clamp to position the front frame, and then fixes the front frame magnetically by the second electromagnet 02.

[0041] like Figure 9 As shown, the assembly workbench 3 is provided with at least one set of limiting seat assemblies 31; several sets of first quick clamps 32 are provided on the side of the limiting seat assemblies 31; the assembly workbench 3 is provided with two sets of limiting seat assemblies 31 distributed front and back; four sets of first quick clamps 32 distributed left and right are installed on the rear side of the limiting seat assemblies 31 on the front side; two sets of second quick clamps distributed left and right are installed on the rear side of the limiting seat assemblies 31 on the rear side. The parts that need to be pre-assembled on the outside of the main skeleton are placed on the assembly workbench 3, positioned by the limiting seat assemblies 31, and then clamped and fixed by the first quick clamps 32. The screw-locking robot arm 2 automatically locks the screws to fix them, so as to prepare for subsequent assembly into the main skeleton.

[0042] like Figure 10As shown, the screw-locking robotic arm 2 is positioned between the assembly workbench 3 and the skeleton assembly mechanism 1; the screw feeding device 4 is positioned beside the screw-locking robotic arm 2; the screw-locking robotic arm 2 includes a second base 21, a six-axis robotic arm 22, a CCD imaging component 23, and a screw-locking head 24; the six-axis robotic arm 22 is fixed on the second base 21 and its power output end is connected to the CCD imaging component 23; the screw-locking head 24 is fixed to the front side of the CCD imaging component 23; two sets of screw feeding devices 4 are arranged side by side; the six-axis robotic arm 22 controls the position of the CCD imaging component 23 and the screw-locking head 24; the CCD imaging component 23 detects the position of the screw; the screw-locking head 24 takes the screw from the screw feeding device 4 and locks the screw into the skeleton that needs screw-locking for skeleton connection; the screw-locking robotic arm 2 performs screw-locking operations on the skeleton assembly mechanism 1 and the skeleton on the assembly workbench 3.

[0043] like Figure 1 As shown, it also includes a light curtain 5 set around the skeleton assembly mechanism 1, the screw-locking robotic arm 2, the assembly workbench 3 and the screw feeding device 4, which provides protection and improves safety.

[0044] The working principle of this embodiment:

[0045] 1. Assembly of external skeleton: Place the skeletons that need to be pre-assembled on the assembly workbench 3 and assemble them together. They are then pressed and fixed by the first quick clamp 32. The screw-locking robotic arm 2 takes screws from the screw feeding device 4 and locks the screws on the skeletons on the assembly workbench 3. The locked skeletons are ready for subsequent assembly.

[0046] 2. Positioning of the printer frame: In the skeleton assembly mechanism 1, the first lifting drive device 122 in the left positioning component 12 drives the left positioning rod 121 to rise, and then pushes the printer frame above the first base 11 from the right side. The left positioning rod 121 limits the left end of the frame. Then, the fourth cylinder 1432 of the front positioning component 14 pushes the first sliding seat 1433 to move backward, and the fifth cylinder 1521 of the rear positioning component 15 pushes the second sliding seat 1522 to move forward. The first universal ball 141 and the second universal ball 151 respectively touch the front and rear sides of the frame. The thrust of the fifth cylinder 1521 is greater than the thrust of the fourth cylinder 1432, so that the fourth cylinder 1432 is not fully pushed out. The first electromagnet 1211 is activated to magnetically attract the right end face of the frame, thus completing the positioning of the frame.

[0047] 3. Assembly of the rear frame: Operate the two sets of rear support components 19. Hold the handle 013 and pull the two positioning shafts 01 of the rear support component 19 to slide to the front end. Then, use the second quick clamp to clamp the rear end of the positioning shaft 01, fixing the positioning shaft 01 between the front limit block 0121 and the second quick clamp. The upper end of the rear frame has positioning holes that cooperate with the front positioning posts 011 of the two positioning shafts 01. The rear frame is installed on the positioning posts 011 of the two positioning shafts 01 through the positioning holes. Activate the second electromagnet 02 on the rear support component 19 to magnetically fix the upper part of the rear frame. The flipping drive device 154 drives the magnetic attraction component 153 to flip forward to a horizontal position. Activate the third electromagnet 1532 to magnetically fix the lower part of the rear frame, completing the positioning of the rear frame. The first electromagnet 1211 of the left positioning component 12 stops magnetically attracting the base frame. The four sets of lifting components 16 The drive frame is lifted upwards, and the front side of the frame touches the upper limit block 142 after being lifted, while the rear side touches the rear frame after being lifted. The lifting component 16 stops after reaching the designed torque value, achieving surface contact positioning between the frame and the rear frame in the Z-axis direction. The right side of the frame has two hollow holes. The right push component 13 drives the push rod to rise and move to the right through the cooperation of the first X-axis drive device 132 and the second lifting drive device 133. The push rod pulls the frame to the right, so that the frame and the right side of the rear frame are close together, achieving surface contact positioning between the frame and the rear frame in the X-axis direction. The fifth cylinder 1521 of the rear positioning component 15 retracts, and the fourth cylinder 1432 of the front positioning component 14 pushes the frame to continue moving backwards until the frame touches the rear frame, achieving surface contact positioning between the frame and the rear frame in the Y-axis direction. This three-way contact positioning method can greatly improve assembly accuracy.

[0048] 4. Assembly of the rear frame: First, install the fixing plate and two columns at the front end of the base frame, and then install the front frame. The front frame needs to be installed on the upper part of the two columns. The front frame also has two positioning holes. After being pushed back by the positioning shaft 01 of the front support assembly 18 and fixed by the corresponding second quick clamp, the front frame is hung on the positioning column 011 of the positioning shaft 01 on the front side through the positioning holes and fixed by the magnetic attraction of the second electromagnet 02 to achieve the positioning of the front frame and complete the positioning and installation of the printer's main skeleton.

[0049] 5. Assembly of the internal skeleton: After the main skeleton is built, the internal skeleton is built from bottom to top. The skeletons pre-assembled on the assembly workbench 3 are assembled into the main skeleton in this process. With the help of the screw-locking robotic arm 2, the screw-locking operation is performed, which can complete the assembly of most of the printer skeleton structure.

[0050] The above description is not intended to limit the technical scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A skeleton assembly device, characterized in that: This includes a skeleton assembly mechanism, a screw-locking robotic arm, an assembly workbench, and a screw feeding device; The skeleton assembly mechanism includes a first base, a left positioning component, a right pushing component, a front positioning component, a rear positioning component, a lifting component, a fixing seat, a front support component, and a rear support component. The left positioning component is installed on the left side of the first base and includes a left positioning rod and a first lifting drive device for driving the left positioning rod up and down. A first electromagnet is installed at the right end of the left positioning rod. The right pushing component is installed on the right side of the first base and includes a right pushing rod, a first X-axis drive device for driving the right pushing rod left and right, and a second lifting drive device for driving the right pushing rod up and down. The front positioning component includes a first universal ball joint, an upper limit block, and a first Y-axis drive device for driving the first universal ball joint and the upper limit block to move synchronously back and forth. The rear positioning component includes... The system includes a second omnidirectional ball, a second Y-axis drive device for driving the second omnidirectional ball to move back and forth, a magnetic suction assembly, and a flipping drive device for driving the magnetic suction assembly to flip; four sets of lifting assemblies are arranged in a four-corner distribution and installed on the first base; four fixed seats are arranged in a four-corner distribution and fixed above the first base and located outside the four sets of lifting assemblies; two sets of front support assemblies are arranged and installed above the two fixed seats on the front side; two sets of rear support assemblies are arranged and installed above the two fixed seats on the rear side; the front support assembly and the rear support assembly have the same structure, both including a positioning shaft that can slide back and forth, a second electromagnet installed beside the head of the positioning shaft, and a limiting device for limiting the positioning shaft; the head of the positioning shaft has a positioning post; The assembly workbench is provided with at least one set of limiting seat assemblies; several sets of first quick clamps are provided on the side of the limiting seat assemblies; The screw-locking robotic arm is positioned between the assembly workbench and the skeleton assembly mechanism; the screw feeding device is positioned beside the screw-locking robotic arm.

2. The skeleton assembly device according to claim 1, characterized in that: The first lifting drive device includes a first fixed plate, a first cylinder, and a first connecting plate; the first fixed plate is fixed on a first base; the first cylinder is fixed to the bottom of the first fixed plate and its power output end is connected to the first connecting plate, for driving the first connecting plate to move up and down; two left positioning rods are provided and distributed front and back; the bottoms of the two left positioning rods are fixed to the first connecting plate, and the middle parts are slidably connected to the first fixed plate.

3. The skeleton assembly device according to claim 1, characterized in that: The first X-axis drive device includes a second fixed plate, a first cylinder seat, a second cylinder, and a movable plate; the second fixed plate is fixed on a first base; the first cylinder seat is fixed to the bottom of the second fixed plate; two second cylinders are provided and arranged front to back; the power output ends of the two second cylinders are respectively connected to the movable plate to drive the movable plate to move left and right; the movable plate is connected to the bottom of the second fixed plate through a first slide rail pair; the second lifting drive device includes a third cylinder and a second connecting plate; the third cylinder is fixed to the bottom of the movable plate and its power output end is connected to the second connecting plate to drive the second connecting plate to move up and down; two right push rods are provided and arranged front to back; the bottoms of the two right push rods are fixed to the second connecting plate, and the middle parts are slidably connected to the movable plate.

4. The skeleton assembly device according to claim 1, characterized in that: The front positioning assembly further includes a third fixing plate fixed on the first base; the first Y-axis drive device includes a second cylinder seat, a fourth cylinder, and a first sliding seat; the second cylinder seat is fixed on the third fixing plate; two fourth cylinders are provided and arranged left and right; the first sliding seat is slidably connected to the top of the third fixing plate through a second slide rail pair; the power output ends of the two fourth cylinders are respectively connected to the first sliding seat; two upper limit blocks are provided and fixed on the left and right sides of the first sliding seat; The first universal ball is provided in three parts and arranged in a left-right arrangement on the rear side of the first sliding seat.

5. The skeleton assembly device according to claim 1, characterized in that: The rear positioning assembly further includes a fourth fixing plate fixed on the first base; the second Y-axis drive device includes a third cylinder seat, a fifth cylinder, and a second sliding seat; the third cylinder seat is fixed on the fourth fixing plate; two fifth cylinders are provided and arranged left and right; the second sliding seat is slidably connected to the top of the fourth fixing plate via a third slide rail pair; the power output ends of the two fifth cylinders are respectively connected to the second sliding seat; three second universal balls are provided and arranged left and right on the front side of the second sliding seat; the tilting drive device includes a stand, a sixth cylinder, a rack, a gear, a rotating shaft, a shaft seat, and a tilting seat; the stand... The base is fixed on the fourth fixed plate; the rack is slidably connected to the front side of the base via the fourth slide rail pair; the sixth cylinder is fixed to the bottom of the fourth fixed plate and its power output end is connected to the rack; two shaft seats are provided and installed on the first base in a left-right distribution; the rotating shaft is rotatably connected between the two shaft seats; the gear is installed in the middle of the rotating shaft and meshes with the rack; the flipping base is fixedly connected to both ends of the rotating shaft; three sets of magnetic suction assemblies are provided and installed on the front side of the flipping base in a left-right distribution; the magnetic suction assembly includes a connecting block and a third electromagnet; the rear end of the connecting block is fixedly connected to the flipping base; the third electromagnet is fixed to the front end of the connecting block.

6. The skeleton assembly device according to claim 1, characterized in that: The lifting assembly includes a mounting frame, a worm gear lift, a servo motor, and a third omnidirectional ball joint; the mounting frame is fixed inside the first base; the worm gear lift is fixed on the mounting frame and its power output end is connected to the third omnidirectional ball joint; the servo motor is connected to one side of the worm gear lift.

7. The skeleton assembly device according to claim 1, characterized in that: The positioning shaft is slidably connected to the fixed base via a fifth slide rail pair; a handle is installed above the positioning shaft; limit blocks are provided at both ends of the fifth slide rail pair; the limiting device is a second quick clamp. The second quick clamp is fixed on the fixed base and located on one side of the tail of the positioning shaft.

8. The skeleton assembly device according to claim 1, characterized in that: The screw-locking robotic arm includes a second base, a six-axis robotic arm, a CCD imaging component, and a screw-locking head; the six-axis robotic arm is fixed on the second base and its power output end is connected to the CCD imaging component; the screw-locking head is fixed to the front side of the CCD imaging component; two sets of screw feeding devices are arranged side by side.

9. The skeleton assembly device according to claim 1, characterized in that: The assembly workbench is provided with two sets of front-to-back limiting seat assemblies; four sets of left-to-right first quick clamps are installed on the rear side of the front limiting seat assembly; and two sets of left-to-right second quick clamps are installed on the rear side of the rear limiting seat assembly.

10. A skeleton assembly device according to claim 1, characterized in that: It also includes light curtains set around the skeleton assembly mechanism, screw-locking robotic arm, assembly workbench and screw feeding device.

Images