Assembly device and production line comprising same

Abstract

The invention provides an assembling device and a production line comprising the same, relates to the technical field of mechanical equipment, and solves the technical problems of high operation intensity and potential safety hazards of manual speed reducer holding. The assembling device comprises a first assembling station, a second assembling station, a base, a fixing frame, a hoisting assembly and an overturning assembly. The first assembling station and the second assembling station are arranged on the two sides of the base correspondingly. The fixing column is arranged on the base and located between the first assembling station and the second assembling station. The hoisting assembly is movably arranged on the fixing column and can horizontally rotate to the first assembly station or the second assembly station relative to the fixing column. The overturning assembly is installed on the hoisting assembly and can overturn the hoisting product so as to complete assembly of parts on different faces of the hoisting product. According to the lifting device, the speed reducer can be lifted, then position change and turnover actions are automatically completed, turnover support is provided for subsequent joint and component installation, and a J2 motor and a J3 joint are convenient to assemble.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to an assembly device and a production line contained therein. Background Art

[0002] When assembling the reducer for a medium-sized robot, due to the overall weight of the reducer assembly, and the parts that need to be assembled in both the upper and lower directions, the upper plane needs to be assembled with the center gear, O-ring, and adapter flange, and the lower plane needs to be assembled with the center tube and the installation surface needs to be coated with sealant. Currently, after installing the parts on the upper plane, the employee needs to hold the reducer and turn it over to operate the other side (install the center tube and apply sealant). It takes a certain amount of time to install and align the reducer, and the manual installation of the reducer is labor-intensive and has certain safety hazards. Summary of the invention

[0003] The object of the present invention is to provide an assembly device and a production line comprising the same, so as to solve the technical problems existing in the prior art of high intensity of manual assembly of reducers and potential safety hazards.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] The present invention provides an assembly device, comprising a first assembly station, a second assembly station, a base, a fixing column, a hoisting assembly, and a flip assembly; wherein:

[0006] The first assembly station and the second assembly station are respectively arranged on both sides of the base;

[0007] The fixing column is arranged on the base and is located between the first assembly station and the second assembly station;

[0008] The hoisting assembly is movably arranged on the fixed column, and can be horizontally rotated relative to the fixed column to the first assembly station or the second assembly station;

[0009] The flip assembly is installed on the hoisting assembly and can flip the hoisting product to complete the assembly of components on different sides of the hoisting product.

[0010] The assembly device provided by the present invention can complete the lifting of the reducer, and then automatically complete the position change and flipping action, provide flipping support for the subsequent joint and component installation, facilitate the assembly of the J2 motor and the J1 joint assembly, and solve the problems of high labor intensity, low efficiency and poor installability in the manual installation of the reducer.

[0011] As a further improvement of the present invention, the first assembly station includes an assembly frame and a support frame; the assembly frame is fixed on the top of the base, and the support frame is fixed on the top of the assembly frame.

[0012] As a further improvement of the present invention, the second assembly station includes a fixed frame, a horizontal drive assembly, a vertical drive assembly, and an assembly plate; wherein:

[0013] The fixing frame is in a U-shaped structure;

[0014] The horizontal driving assembly is installed on the fixing frame and is drivingly connected to the assembly disk to drive the assembly disk to rotate horizontally around the axis;

[0015] The vertical driving assembly is mounted on the fixing frame and is drivingly connected to the assembly disk to drive the assembly disk to swing in the vertical direction.

[0016] As a further improvement of the present invention, the horizontal drive assembly includes a horizontal drive motor, a central shaft, a reversing gear set, and a support bracket; wherein:

[0017] The horizontal drive motor is drivingly connected to the central shaft;

[0018] The reversing gear set is arranged between the central shaft and the support bracket;

[0019] The support bracket is connected to the assembly plate.

[0020] As a further improvement of the present invention, the vertical drive assembly includes a vertical drive motor, a first transmission gear, a second transmission gear, and a connecting cylinder; wherein:

[0021] The connecting cylinder is a T-shaped hollow cylinder structure;

[0022] The central shaft and the support bracket are placed in the connecting tube;

[0023] The end of the support bracket extends out of the connecting tube;

[0024] The horizontal driving motor is fixed to one end of the connecting cylinder;

[0025] The second transmission gear is a ring gear mounted on the connecting cylinder;

[0026] The vertical drive motor is in transmission connection with the second transmission gear via the first transmission gear.

[0027] As a further improvement of the present invention, the hoisting assembly includes a hoisting arm, a rotating drum, a bearing, a first driving member, a hoisting pulley block, a hoisting wire rope, a stabilizing rod, and a hoisting clamping mechanism; wherein:

[0028] The top of the fixed column is provided with a necking section;

[0029] The rotating drum is sleeved on the outside of the necking section and is rotatably connected to the necking section through the bearing;

[0030] One end of the suspension arm is fixed on the rotating drum to form a cantilever structure;

[0031] The first driving member is mounted on the boom;

[0032] The stabilizing bar is arranged obliquely, one end of which is connected to the rotating drum, and the other end of which is connected to the boom;

[0033] The hoisting pulley block is arranged between the hoisting arm and the hoisting clamping mechanism;

[0034] The hoisting steel wire rope is wound around the first driving member and the hoisting pulley block in sequence.

[0035] As a further improvement of the present invention, the hoisting and clamping mechanism comprises a hanger, a movable plate, an opening and closing control mechanism, and a hoisting fixture, wherein:

[0036] The hanger is in an L-shaped structure;

[0037] The movable plate is slidably arranged on the hanger to form an inverted U-shaped structure between the two;

[0038] The opening and closing control mechanism is arranged on the hanger and is in driving connection with the movable plate, and can drive the movable plate to perform telescopic movement;

[0039] The hoisting clamps are respectively installed on the hanger and the movable plate to clamp the hoisting product when they are close to each other.

[0040] As a further improvement of the present invention, the opening and closing control mechanism includes a trapezoidal screw, a trapezoidal nut, an opening and closing handle, a slider, and a slide rail; wherein:

[0041] The hanger is provided with a slide rail;

[0042] The sliding block is connected to the movable plate and is slidably arranged in the sliding rail;

[0043] The trapezoidal screw is rotatably arranged on the hanger and is threadedly connected with the trapezoidal nut;

[0044] The opening and closing handle is connected to the trapezoidal screw rod.

[0045] As a further improvement of the present invention, the flip assembly includes a flip shaft and a flip handle; wherein:

[0046] There are two flip shafts, which are rotatably arranged on the hanger and the movable plate respectively, and the two flip shafts are connected to the two lifting fixtures respectively;

[0047] The flip handle is connected to the flip shaft installed on the movable plate.

[0048] The assembly device of the present invention has a mechanism that can be lifted and flipped, thereby solving the problem that the reducer needs to be assembled on both sides; the distance between the clamps is adjustable, so it can be adapted to the assembly of a variety of different models, has a wide range of applications, ensures the continuity of the assembly process, and reduces the labor intensity of workers; avoids forced assembly and improves the efficiency of product quality assembly.

[0049] The present invention provides a production line for producing and assembling robots, comprising the assembly device. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 It is a schematic diagram of the three-dimensional structure when the hoisting assembly in the assembly device of the present invention is located at the first assembly station;

[0052] Figure 2 It is a schematic diagram of the three-dimensional structure when the hoisting assembly in the assembly device of the present invention is located at the second assembly station;

[0053] Figure 3 is a front view of the assembly device of the present invention;

[0054] Figure 4 is a front cross-sectional view of the assembly device of the present invention;

[0055] Figure 5 is a side view of the assembly device of the present invention;

[0056] Figure 6 is a top view of the assembly device of the present invention;

[0057] Figure 7 It is a schematic diagram of the three-dimensional structure of the assembly device of the present invention when in use;

[0058] Figure 8 It is a front view of the assembly device of the present invention when in use.

[0059] In the figure, 1, first assembly station; 11, assembly frame; 12, support frame; 2, second assembly station; 21, fixed frame; 22, horizontal drive assembly; 221, horizontal drive motor; 222, central axis; 223, reversing gear set; 224, support bracket; 23, vertical drive assembly; 231, vertical drive motor; 232, first transmission gear; 233, second transmission gear; 234, connecting cylinder; 24, assembly plate; 3, base; 4, fixed column; 41, necking section; 5. Lifting assembly; 51. Boom; 52. Rotating drum; 53. Bearing; 54. First driving member; 55. Lifting pulley block; 56. Lifting wire rope; 57. Stabilizing bar; 58. Lifting clamping mechanism; 581. Hanger; 582. Movable plate; 583. Opening and closing control mechanism; 5831. Opening and closing handle; 5832. Trapezoidal screw; 584. Lifting fixture; 6. Flipping assembly; 61. Flipping handle; 62. Flipping shaft; 100. Reducer; 200. J1 joint assembly. DETAILED DESCRIPTION

[0060] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0061] like Figure 1-Figure 8 As shown, the present invention provides an assembly device, including a first assembly station 1, a second assembly station 2, a base 3, a fixing column 4, a hoisting assembly 5, and a flip assembly 6; wherein:

[0062] The first assembly station 1 and the second assembly station 2 are respectively arranged on both sides of the base 3;

[0063] The fixing column 4 is arranged on the base 3 and is located between the first assembly station 1 and the second assembly station 2; specifically, the fixing column 4 is made of a steel pipe with a diameter of φ142 mm;

[0064] The hoisting assembly 5 is movably arranged on the fixed column 4, and can be horizontally rotated relative to the fixed column 4 to the first assembly station 1 or the second assembly station 2;

[0065] The flip assembly 6 is installed on the hoisting assembly 5, and can flip the hoisting product to complete the assembly of components on different sides of the hoisting product.

[0066] The assembly device provided by the present invention can complete the lifting of the reducer, and then automatically complete the position change and flipping action, provide flipping support for the subsequent joint and component installation, facilitate the assembly of the J2 motor and the J1 joint assembly, and solve the problems of high labor intensity, low efficiency and poor installability in the manual installation of the reducer.

[0067] It should be noted that, in order to reduce weight and cost, in the present invention, the base 3 is a frame structure.

[0068] As an optional embodiment of the present invention, the first assembly station 1 includes an assembly frame 11 and a support frame 12 ; the assembly frame 11 is fixed on the top of the base 3 , and the support frame 12 is fixed on the top of the assembly frame 11 .

[0069] In this embodiment, the support frame 12 is a prior art product and is used to place the reducer 100 and other components that need to be assembled.

[0070] As an optional embodiment of the present invention, the second assembly station 2 includes a fixed frame 21, a horizontal drive assembly 22, a vertical drive assembly 23, and an assembly plate 24; wherein:

[0071] The fixing frame 21 is in a U-shaped structure;

[0072] The horizontal driving assembly 22 is mounted on the fixing frame 21 and is in driving connection with the assembly disk 24 to drive the assembly disk 24 to rotate horizontally around the axis;

[0073] The vertical drive assembly 23 is mounted on the fixing frame 21 and is in driving connection with the assembly plate 24 to drive the assembly plate 24 to swing in the vertical direction. In this embodiment, the vertical drive assembly 23 can drive the assembly plate 24 to swing 90 degrees in both directions, and through the vertical flipping, components in different directions can be assembled. Figure 7 and Figure 8 As shown in the figure, the J1 joint assembly 200 is fixed on the assembly plate 24. When it is necessary to assemble components in different directions of the J1 joint assembly 200, it can be horizontally rotated and vertically flipped through the horizontal drive assembly 22 and the vertical drive assembly 23, so that the installation position is opposite to the operating position for easy assembly.

[0074] It should be noted that, in order to reduce weight and cost, in the present invention, the assembly frame 11 and the fixing frame 21 are both frame structures.

[0075] As a further improvement of the present invention, the horizontal drive assembly 22 includes a horizontal drive motor 221, a central shaft 222, a reversing gear set 223, and a support bracket 224; wherein:

[0076] The horizontal driving motor 221 is in driving connection with the central shaft 222;

[0077] The reversing gear set 223 is disposed between the central shaft 222 and the support bracket 224; it should be noted here that the reversing gear set 223 includes two helical gears, and the two helical gears are meshed to achieve a 90-degree reversal of force.

[0078] The support bracket 224 is connected to the assembly plate 24. In this embodiment, Figure 4 As shown, the support bracket 224 is T-shaped, the head end is connected to the assembly disk 24, the rod end is rotatably arranged in the connecting cylinder 234 through a bearing, and the tail end is meshed and connected with the helical gear on the central shaft 222 through a helical gear.

[0079] As a further improvement of the present invention, the vertical drive assembly 23 includes a vertical drive motor 231, a first transmission gear 232, a second transmission gear 233, and a connecting cylinder 234; wherein:

[0080] The connecting cylinder 234 is a T-shaped hollow cylinder structure;

[0081] The central shaft 222 and the support bracket 224 are placed in the connecting tube 234;

[0082] The end of the support bracket 224 extends out of the connecting tube 234;

[0083] The horizontal driving motor 221 is fixed to one end of the connecting tube 234;

[0084] The second transmission gear 233 is a ring gear, mounted on the connecting cylinder 234;

[0085] The vertical driving motor 231 is connected to the second transmission gear 233 through the first transmission gear 232 .

[0086] As a further improvement of the present invention, the hoisting assembly 5 includes a hoisting arm 51, a rotating drum 52, a bearing 53, a first driving member 54, a hoisting pulley block 55, a hoisting wire rope 56, a stabilizing rod 57, and a hoisting clamping mechanism 58; wherein:

[0087] A necking section 41 is provided at the top of the fixed column 4;

[0088] The rotating drum 52 is sleeved on the outside of the necking section 41 and is rotatably connected to the necking section 41 through a bearing 53; there are two bearings 53, namely a tapered roller bearing 53 and a deep groove ball bearing 53;

[0089] One end of the suspension arm 51 is fixed on the rotating drum 52 to form a cantilever structure;

[0090] The first driving member 54 is mounted on the boom 51; the first driving member 54 is a motor;

[0091] The stabilizing rod 57 is disposed obliquely, one end of which is connected to the rotating drum 52, and the other end of which is connected to the boom 51;

[0092] The lifting pulley block 55 is arranged between the lifting arm 51 and the lifting clamping mechanism 58;

[0093] The hoisting wire rope 56 is wound around the first driving member 54 and the hoisting pulley block 55 in sequence. Figure 1-Figure 8 As shown, the lifting pulley block 55 includes three fixed pulleys, two of which are arranged on the boom 51, one on the left and one on the right, and the other fixed pulley is installed on the lifting clamping mechanism 58. Since the lifting clamping mechanism 58 is suspended, the function of the fixed pulley thereon is similar to that of a movable pulley.

[0094] As a further improvement of the present invention, the hoisting and clamping mechanism 58 includes a hanger 581, a movable plate 582, an opening and closing control mechanism 583, and a hoisting fixture 584, wherein:

[0095] The hanger 581 is an L-shaped structure;

[0096] The movable plate 582 is slidably arranged on the hanger 581 to form an inverted U-shaped structure therebetween; considering that the hoisting clamping mechanism 58 is inverted, in order to prevent the movable plate 582 from falling off the hanger 581, the sliding connection relationship between the movable plate 582 and the hanger 581 needs to be set to a limited sliding connection relationship, that is, the movable plate 582 can slide relative to the hanger 581, but cannot fall off. For example, it can be set to a T-shaped slide groove, etc.

[0097] The opening and closing control mechanism 583 is arranged on the hanger 581 and is in transmission connection with the movable plate 582, and can drive the movable plate 582 to move telescopically;

[0098] The hoisting fixture 584 is respectively installed on the hanger 581 and the movable plate 582 to clamp the hoisted product when close to each other. In this embodiment, since the hoisted product is the reducer 100, and the outer contour of the reducer 100 is arc-shaped, the hoisting fixture 584 is an arc-shaped structure.

[0099] As a further improvement of the present invention, the opening and closing control mechanism 583 includes a trapezoidal screw 5832, a trapezoidal nut, an opening and closing handle 5831, a slider, and a slide rail; wherein:

[0100] The hanger 581 is provided with a slide rail;

[0101] The slider is connected to the movable plate 582 and is slidably disposed in the slide rail;

[0102] The trapezoidal screw rod 5832 is rotatably disposed on the hanger 581 and is screwed with the trapezoidal nut;

[0103] The opening and closing handle 5831 is connected to the trapezoidal screw 5832. When the opening and closing handle 5831 is rotated, the trapezoidal screw 5832 will also rotate accordingly. When the trapezoidal screw 5832 rotates, the trapezoidal nut will move forward and backward. When the trapezoidal nut moves forward and backward, it will drive the movable plate 582 to move forward and backward, thereby adjusting the opening and closing distance between the two lifting fixtures 584 to adapt to reducers 100 or other lifting products of different specifications.

[0104] As a further improvement of the present invention, the flip assembly 6 includes a flip shaft 62 and a flip handle 61; wherein:

[0105] There are two flip shafts 62, which are rotatably arranged on the hanger 581 and the movable plate 582, and the two flip shafts 62 are respectively connected to the two hanging fixtures 584;

[0106] The flip handle 61 is connected to a flip shaft 62 installed on the movable plate 582 .

[0107] The assembly device of the present invention has a mechanism that can be lifted and flipped, thereby solving the problem that the reducer needs to be assembled on both sides; the distance between the clamps is adjustable, so it can be adapted to the assembly of a variety of different models, has a wide range of applications, ensures the continuity of the assembly process, and reduces the labor intensity of workers; avoids forced assembly and improves the efficiency of product quality assembly.

[0108] The present invention provides a production line for producing and assembling robots, comprising the above-mentioned assembly device.

[0109] The assembly process of the assembly device of the present invention is as follows:

[0110] Process 1: The base 3 is the base of the entire assembly device. First, the base 3 is installed to the workstation to be assembled;

[0111] Step 2: Then lift the fixed base plate and align the 8 screw holes with the corresponding positions of the base 3; fasten it with 8 M12 screws;

[0112] Step 3: Assemble the φ142 fixing column 4 to the fixing base plate and fasten it with 6 M12 screws;

[0113] Step 4: Assemble the tapered roller bearing and the ball bearing onto the necking section 41 of the fixed column 4;

[0114] Step 5: Assemble the rotating drum 52 to the outer ring position of the tapered roller bearing and the ball bearing of the fixed column 4;

[0115] Step 6: Install the hoisting assembly onto the fixed column 4, and then assemble the hoisting clamping mechanism 58 under the boom 51 through the hoisting wire rope 56;

[0116] Process 7: Assembling the second assembly station;

[0117] Process 8: Assembling the first assembly station;

[0118] Finally, place the reducer 100 at the corresponding position on the support frame 12.

[0119] The J1 joint assembly 200 is placed on the assembly plate 24 ; the operation is to clamp and flip the reducer bottom assembly process, and then the reducer is rotated 180 degrees left and right; and then installed on the J1 joint assembly 200 .

[0120] Operation process:

[0121] Place the reducer 100 of the medium-sized robot on the support frame 12; the J1 joint assembly 200 is placed on the assembly plate 24. Control the first driving member, that is, the motor, to lower the hoisting wire rope 56, and use the hoisting clamp 584 to move down to the position of the reducer 100; shake the opening and closing handle 5831 to make the arc-shaped hoisting clamp 584 clamp the reducer 100; then raise the hoisting clamping mechanism 58, control the flip assembly 6 to flip 180 degrees, and complete the 180-degree flip of the reducer 100; complete the assembly and gluing of the lower end surface of the reducer 100. Then rotate the boom 51, and bring the reducer 100 to the left side, that is, the second assembly station 2; control the motor to lower the reducer 100 to the J1 joint assembly 200 on the assembly plate 24. After pre-tightening the two screws, the left vertical drive motor 231 is controlled to flip the J1 joint assembly 200 90 degrees so that the outlet cavity of the J1 joint assembly 200 faces upwards, and the remaining screws of the J1 joint assembly 200 and the reducer 100 are assembled. The vertical drive motor 231 is controlled so that the mounting surface of the reducer 100 and the J1 joint assembly 200 faces upwards; the J2 joint and the J3 joint are assembled.

[0122] The assembly device of the present invention adopts a motor to drive the wire wheel and wind the wire rope to realize the lifting and lowering of the lifting and flipping clamp; the trapezoidal nut and the screw are used to realize the left and right translation of the clamping movable end assembly; to realize the clamping and loosening of workpieces such as reducers, and to realize the self-locking of the opening and closing position of the lifting clamping mechanism 58, and the mobile rotating shaft is used to drive the rubber arc chuck; to realize the flipping of workpieces such as reducers.

[0123] First of all, it should be explained here that “inward” refers to the direction toward the center of the accommodating space, and “outward” refers to the direction away from the center of the accommodating space.

[0124] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate directions or positional relationships based on the attached Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0125] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0126] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0127] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0128] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0129] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An assembly device, characterized in that: It includes a first assembly station, a second assembly station, a base, a fixed column, a hoisting component, and a flip component; wherein: The first assembly station and the second assembly station are respectively arranged on both sides of the base; The fixing column is arranged on the base and is located between the first assembly station and the second assembly station; The hoisting assembly is movably arranged on the fixed column, and can be horizontally rotated relative to the fixed column to the first assembly station or the second assembly station; The flip assembly is installed on the hoisting assembly and can flip the hoisting product to complete the assembly of components on different sides of the hoisting product.

2. The assembly device according to claim 1, characterized in that: The first assembly station includes an assembly frame and a support frame; the assembly frame is fixed on the top of the base, and the support frame is fixed on the top of the assembly frame.

3. The assembly device according to claim 1, characterized in that: The second assembly station includes a fixed frame, a horizontal drive assembly, a vertical drive assembly, and an assembly plate; wherein: The fixing frame is in a U-shaped structure; The horizontal driving assembly is installed on the fixing frame and is drivingly connected to the assembly disk to drive the assembly disk to rotate horizontally around the axis; The vertical driving assembly is mounted on the fixing frame and is drivingly connected to the assembly disk to drive the assembly disk to swing in the vertical direction.

4. The assembly device according to claim 3, characterized in that: The horizontal drive assembly includes a horizontal drive motor, a central shaft, a reversing gear set, and a support bracket; wherein: The horizontal drive motor is drivingly connected to the central shaft; The reversing gear set is arranged between the central shaft and the support bracket; The support bracket is connected to the assembly plate.

5. The assembly device according to claim 4, characterized in that: The vertical drive assembly includes a vertical drive motor, a first transmission gear, a second transmission gear, and a connecting cylinder; wherein: The connecting cylinder is a T-shaped hollow cylinder structure; The central shaft and the support bracket are placed in the connecting tube; The end of the support bracket extends out of the connecting tube; The horizontal driving motor is fixed to one end of the connecting cylinder; The second transmission gear is a ring gear mounted on the connecting cylinder; The vertical drive motor is in transmission connection with the second transmission gear via the first transmission gear.

6. The assembly device according to claim 1, characterized in that: The hoisting assembly includes a hoisting arm, a rotating drum, a bearing, a first driving member, a hoisting pulley block, a hoisting wire rope, a stabilizing rod, and a hoisting clamping mechanism; wherein: The top of the fixed column is provided with a necking section; The rotating drum is sleeved on the outside of the necking section and is rotatably connected to the necking section through the bearing; One end of the suspension arm is fixed on the rotating drum to form a cantilever structure; The first driving member is mounted on the boom; The stabilizing bar is arranged obliquely, one end of which is connected to the rotating drum, and the other end of which is connected to the boom; The hoisting pulley block is arranged between the hoisting arm and the hoisting clamping mechanism; The hoisting steel wire rope is wound around the first driving member and the hoisting pulley block in sequence.

7. The assembly device according to claim 6, characterized in that: The hoisting and clamping mechanism includes a hanger, a movable plate, an opening and closing control mechanism, and a hoisting fixture, wherein: The hanger is in an L-shaped structure; The movable plate is slidably arranged on the hanger to form an inverted U-shaped structure between the two; The opening and closing control mechanism is arranged on the hanger and is in driving connection with the movable plate, and can drive the movable plate to perform telescopic movement; The hoisting clamps are respectively installed on the hanger and the movable plate to clamp the hoisting product when they are close to each other.

8. The assembly device according to claim 7, characterized in that: The opening and closing control mechanism includes a trapezoidal screw, a trapezoidal nut, an opening and closing handle, a slider, and a slide rail; wherein: The hanger is provided with a slide rail; The sliding block is connected to the movable plate and is slidably arranged in the sliding rail; The trapezoidal screw is rotatably arranged on the hanger and is threadedly connected with the trapezoidal nut; The opening and closing handle is connected to the trapezoidal screw rod.

9. The assembly device according to claim 7, characterized in that: The flip assembly includes a flip shaft and a flip handle; wherein: There are two flip shafts, which are rotatably arranged on the hanger and the movable plate respectively, and the two flip shafts are connected to the two lifting fixtures respectively; The flip handle is connected to the flip shaft installed on the movable plate.

10. A production line, characterized in that: Used for production assembly of robots, comprising an assembly device as described in any one of claims 1-9.

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