Intelligent robot part assembling equipment

Abstract

The invention discloses intelligent robot part assembling equipment, and relates to the technical field of mechanical manufacturing, the intelligent robot part assembling equipment comprises a base, a movable base table is arranged on the upper surface of the base, a rotating disc is arranged on the upper surface of the movable base table, a mounting frame is fixedly mounted on the upper surface of the rotating disc, and an anchoring mechanism is arranged on the upper surface of the mounting frame; the anchoring mechanism comprises an adjusting assembly and a screwing mechanical arm assembly, the adjusting assembly comprises an adjusting table, the adjusting table is located at the center of the upper portion of the mounting frame, a sliding frame is arranged on the upper surface of the adjusting table, a liftable sliding table is arranged on the surface of one side of the sliding frame, and the screwing mechanical arm assembly is arranged on the surface of one side of the sliding table; and the screwing mechanical arm assembly comprises a connecting block, the connecting block is fixedly installed on the surface of one side of the sliding table, three combined cutter pieces are arranged on the surface of one side of the connecting block, and in the scheme, by arranging the adjusting assembly and the screwing mechanical arm assembly, accurate anchoring work can be efficiently conducted on various parts in different shapes.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing, and in particular to intelligent robot parts assembly equipment. Background Art

[0002] In the existing intelligent robot parts assembly process, screw anchoring is a key assembly link. This technical system aims to achieve high automation, precision and intelligence of screw anchoring operations to meet the stringent requirements of intelligent robot manufacturing for high quality, high efficiency and flexibility. The introduction of industrial automation technology enables screw anchoring operations to rely on advanced robot systems and automated assembly lines to achieve automatic grasping, positioning and tightening of screws. These systems not only greatly improve assembly efficiency, but also ensure the consistency and stability of operations, providing a solid hardware foundation for the manufacture of intelligent robots.

[0003] In the field of intelligent robot parts assembly, with the development of science and technology, although some automated equipment has been put into use, these devices still have many shortcomings. For example, traditional automated equipment often lacks precise positioning and adjustment functions when performing screw anchoring, resulting in inaccurate screw hole angles, which in turn affects the assembly quality of parts. Inaccurate screw hole angles may cause the screw to get stuck after being screwed into the interior of the screw. After the screw is stuck, it may take more time and effort to try to remove it, thereby increasing the difficulty and time cost of maintenance. If it cannot be successfully removed, the entire component or equipment may need to be replaced, which will further increase the cost of maintenance. Screw jams may also cause the equipment or machinery to be unable to be used normally, thereby affecting the progress of production or work. Forced removal may damage the screw head or surrounding components, resulting in damage to the overall performance of the equipment or machinery. In addition, these devices can usually only handle parts of a single size or shape. For workpieces of different specifications, different tooling needs to be replaced or equipment parameters adjusted, which undoubtedly increases production costs and operational complexity. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent robot parts assembly device to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an intelligent robot parts assembly device, comprising:

[0006] A base, wherein a movable base is arranged on the upper surface of the base, a base path is provided on the upper surface of the base for facilitating the sliding of the movable base, a rotating disk is arranged on the upper surface of the movable base, a mounting frame is fixedly mounted on the upper surface of the rotating disk, and an anchoring mechanism is arranged on the upper surface of the mounting frame;

[0007] The anchoring mechanism includes an adjustment component and a screwing mechanical arm component, wherein the adjustment component includes: an adjustment platform, the adjustment platform is located at the upper center of the mounting frame, a shaft body is provided at the connection between the adjustment platform and the mounting frame, a shaft body control motor is provided at one end of the shaft body, a sliding frame is provided on the upper surface of the adjustment platform, a lifting and lowering sliding platform is provided on one side surface of the sliding frame, and a screwing mechanical arm component is provided on one side surface of the sliding platform;

[0008] The tightening robot arm assembly includes: a connecting block, which is fixedly mounted on one side surface of the sliding table, and one side surface of the connecting block is provided with three combined cutting tools, and the combined cutting tools include: a rotating disk, and the upper surface of the rotating disk is provided with a frame bottom slide, and one side surface of the rotating disk is provided with a driving box, and the rotating disk and the driving box are fixedly connected through the side surface, and a side surface of the combined cutting tool farthest from the connecting block is provided with an end anchoring disk, and a storage groove is provided at the center of the end anchoring disk, and a rotatable tightening tool is provided inside the storage groove.

[0009] Furthermore, a sliding covering frame is arranged above the bottom slide of the frame, a connecting spring is connected between one side surface of the covering frame and the side surface of the rotating disk, two liftable lifting sliding plates are arranged on the upper surface of the covering frame, two small motors are arranged on one side surface of the covering frame, the output shaft ends of the small motors are fixedly connected to the upper surfaces of the lifting sliding plates, and a rotatable tightening tool is also arranged between the two lifting sliding plates.

[0010] Furthermore, a sliding ring is provided on one side surface of the driving box, a limiting ring matching with the sliding ring is provided on one side surface of the rotating disk, an adjustment motor is also provided inside the driving box, a driving gear is provided at the end of the output shaft of the adjustment motor, and an engaging gear matching with the driving gear is provided on one side surface of the rotating disk.

[0011] Furthermore, an electric rotating shaft is provided at the connection between the tightening tool and the storage groove, a brake motor for driving the tightening tool to rotate is provided at one end of the tightening tool, a sliding groove is provided on the surface of the tightening tool, a slidable locking movable block and a test movable ring are provided inside the sliding groove, a detection trigger ring is provided on one side surface of the test movable ring, a plurality of locking holes matching with the locking movable block are provided inside the sliding groove, a digital mark is also provided on the surface of the tightening tool for facilitating the depth adjustment of the locking movable block, a deflection sensing section is also provided in the middle section of the tightening tool, and a socket tool head is provided at the end of the tightening tool facing away from the brake motor.

[0012] Furthermore, an anchor screw is provided on one side surface of the socket cutter head, a screw socket is provided on one side surface of the anchor screw, magnets that attract each other are provided inside the screw socket and one end of the socket cutter head, an inner cutter head is provided inside the socket cutter head, elastic blocks are provided on the upper and lower surfaces of the inner cutter head, a fixing support hole that matches the elastic block is provided inside the screw socket, a hidden groove for accommodating the elastic block is provided at the center of the inner cutter head, a spring is provided between the bottom surface of the elastic block and the inside of the hidden groove, a top pile is also provided on one side surface of the inner cutter head, and one side surface of the top pile is connected to one end of the deflection sensing section.

[0013] Furthermore, a detection mechanism is provided on the upper surface of the base, and the detection mechanism includes: two fixed frames, a liftable scanning box is provided between the two fixed frames, a laser calibration point is provided on the side of the scanning box close to the sliding frame, and the laser calibration point is used to calibrate the position of the tightening tool on the surface of the end anchor disk, a liftable laser scanner is provided on the side surface of the scanning box away from the sliding frame, a lifting motor is provided on the bottom surface of the scanning box for lifting it, and a shielding plate cooperating with the scanning box is also provided on the upper surface of the base.

[0014] Furthermore, a bearing mechanism is provided on the upper surface of the base, a placing frame is fixedly installed on the upper surface of the base, a data processor is provided inside the placing frame, a rotatable placing table is provided on the upper surface of the placing frame, an axis is provided between the two side surfaces of the placing table and the placing frame, a fixed bottom plate is provided on the bottom surface of the placing table, a driving motor is provided on the lower surface of the placing frame, an output shaft end of the driving motor is fixedly connected to one side surface of the fixed bottom plate, two bearing movable plates are provided on the upper surface of the placing table, a bidirectional threaded rod is provided inside the placing table, both sides of the bidirectional threaded rod are respectively engaged with a bearing movable plate, a threaded rod control motor is provided at one end of the bidirectional threaded rod, a pressure trigger switch is provided on the upper surface of the bearing movable plate, clamping rods are also provided on both sides of the upper surface of the bearing movable plate, and there is an electrical connection between the pressure trigger switch and the clamping rods.

[0015] Furthermore, a telescopic motor for driving the movable base to move is also provided on the upper surface of the base, the output shaft end of the telescopic motor is connected to the side surface of the movable base, a force-bearing plate is fixedly installed on the side surface of the sliding table, a lifting motor is provided on the bottom surface of the force-bearing plate, a motor box is fixedly installed on the bottom surface of the adjustment table, and one end of the lifting motor is located inside the motor box.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In this solution, by providing an adjustment component, the adjustment platform and the mounting frame are connected through the shaft and the shaft control motor to ensure that the adjustment platform can rotate stably and accurately, providing the necessary angle adjustment for the subsequent tightening work. The combination of the sliding frame and the sliding platform, as well as the drive of the lifting motor, enables the tightening mechanical arm assembly to achieve precise lifting in the vertical direction, further increasing the flexibility of the anchoring work. Through the dual adjustment capabilities of height and angle, the anchoring mechanism can cope with screw holes at different positions and angles, greatly improving the assembly efficiency and accuracy.

[0018] 2. In this solution, by providing a tightening mechanical arm assembly, the tightening mechanical arm assembly can realize accurate anchoring of the processed parts through the combined cutter on the connecting block, and ensure the stability and accuracy of the anchoring process through the magnetic adsorption of the jack cutter head and the anchor screw. In addition, the setting of the positioning movable block and the test movable ring enables the tightening mechanical arm assembly to monitor the screw-in depth and position deviation of the anchor screw in real time. Once an abnormality is detected, it can immediately adjust or stop the operation, effectively avoiding the problem of the anchor screw being stuck inside the screw hole due to angle deviation;

[0019] 3. In this solution, a combination tool is provided with three socket tool heads of different lengths so that the combination tool can cover screw holes of different ranges and positions. At the same time, structures such as the bottom slide, covering frame and lifting sliding plate on the rotating disk improve the use efficiency of the combination tool and make the entire tightening robot arm assembly more efficient in dealing with complex processing parts. In addition, the setting of the electric push rod and the bevel push block further enhances the adaptability of the combination tool in dealing with non-planar processing parts and ensures the smooth progress of the anchoring work. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0022] Figure 3 It is a schematic diagram of the structure of the tightening mechanical arm assembly of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the rotating disk of the present invention;

[0024] Figure 5 It is a schematic diagram of the internal structure of the drive box of the present invention;

[0025] Figure 6 It is a schematic diagram of the internal structure of the rotating disk of the present invention;

[0026] Figure 7It is a schematic diagram of the structure of the tightening tool of the present invention;

[0027] Figure 8 It is a schematic diagram of the anchor screw structure of the present invention.

[0028] In the figure: 1, base; 2, movable base; 3, rotating disk; 4, mounting frame; 5, adjustment table; 6, sliding frame; 7, sliding table; 8, connecting block; 9, rotating disk; 10, end anchor disk; 11, fixed frame; 12, scanning box; 13, laser scanner; 14, shielding plate; 15, placement frame; 16, data processor; 17, telescopic motor; 18, placement table; 19, fixed bottom plate; 20, driving motor; 21, bearing movable plate; 22, pressure trigger switch; 23, clamping rod; 24, motor box; 25, lifting motor; 26, force plate; 27, anchor screw; 28, covering frame; 29, laser calibration point; 30, Drive box; 31. Lifting sliding plate; 32. Small motor; 33. Storage slot; 34. Tighten the tool; 35. Bottom slide; 36. Engaging gear disc; 37. Limiting ring; 38. Braking motor; 39. Sliding ring; 40. Adjusting motor; 41. Driving gear disc; 42. Electric push rod; 43. Inclined push block; 44. Connecting spring; 45. Positioning movable block; 46. Test movable ring; 47. Detection trigger ring; 48. Digital identification; 49. Positioning hole; 50. Sliding groove; 51. Deflection sensing section; 52. Socket cutter head; 53. Push pile; 54. Inner cutter head; 55. Elastic block; 56. Screw socket; 57. Fixed support hole. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Example 1: Please refer to Figures 1 to 8 , an intelligent robot parts assembly device, comprising:

[0031] A base 1, the upper surface of the base 1 is provided with a movable base 2, the upper surface of the base 1 is provided with a base track for facilitating the sliding of the movable base 2, the upper surface of the base 1 is also provided with a telescopic motor 17 for driving the movable base 2 to move, the output shaft end of the telescopic motor 17 is connected to a side surface of the movable base 2, the upper surface of the movable base 2 is provided with a rotating disk 3, the upper surface of the rotating disk 3 is fixedly provided with a mounting frame 4, and the upper surface of the mounting frame 4 is provided with an anchoring mechanism;

[0032] During the assembly and processing of intelligent robot parts, it is often necessary to perform screw anchoring work on the surface of the processed parts. When in use, the staff first places the processed parts on the supporting mechanism. Then, after the detection mechanism scans the processed parts, the scanned data is transmitted to the data processor 16. After the data processor 16 performs data analysis, the angle data of the screw holes is obtained, and according to the range of each screw hole and the coverage range of the three combined tool pieces, it is determined which combined tool group can be used. Then, the angle of the screwing robot arm assembly is adjusted by adjusting the assembly, and a signal is generated by the data processor 16 to drive the telescopic motor 17 on the base 1, and the output shaft of the telescopic motor 17 drives the movable base 2 to slide on the base track, so that the anchoring mechanism approaches the processed parts and anchors them. The rotating disk 3 arranged on the movable base 2 realizes the rotation function through the shaft and the shaft control motor. The mounting frame 4 on the rotating disk 3 is used to fix and support the anchoring mechanism to ensure that the parts can be accurately aligned and assembled.

[0033] The anchoring mechanism includes an adjustment component and a screwing mechanical arm component, and the adjustment component includes: an adjustment table 5, the adjustment table 5 is located at the upper center of the mounting frame 4, a shaft is provided at the connection between the adjustment table 5 and the mounting frame 4, a shaft control motor is provided at one end of the shaft, a sliding frame 6 is provided on the upper surface of the adjustment table 5, a liftable sliding table 7 is provided on one side surface of the sliding frame 6, a force-bearing sheet 26 is fixedly installed on one side surface of the sliding table 7, a lifting motor 25 is provided on the bottom surface of the force-bearing sheet 26, a motor box 24 is fixedly installed on the bottom surface of the adjustment table 5, one end of the lifting motor 25 is located inside the motor box 24, and a screwing mechanical arm component is provided on one side surface of the sliding table 7;

[0034] The adjustment component realizes the lifting function by adjusting the sliding table 7 on the adjustment table 5 and the sliding frame 6 using the lifting motor 25, thereby adjusting the height and angle of the anchoring mechanism, so that the tightening robot arm assembly can be more easily adjusted to the correct angle of the screw hole according to the data of the detection mechanism.

[0035] The tightening mechanical arm assembly includes: a connecting block 8, which is fixedly mounted on one side surface of the sliding table 7, one side surface of the connecting block 8 is provided with three combined cutting pieces, a rotating disk 9 is fixedly connected to a driving box 30 through a side surface, a side surface of a combined cutting piece farthest from the connecting block 8 is provided with an end anchoring disk 10, a receiving groove 33 is provided at the center of the end anchoring disk 10, a rotatable tightening tool 34 is provided inside the receiving groove 33, an electric rotating shaft is provided at the connection between the tightening tool 34 and the receiving groove 33, a brake motor 38 for driving the tightening tool 34 to rotate is provided at one end, a sliding groove 50 is provided on the surface of the tightening tool 34, a slidable positioning movable block 45 and a test movable ring 46 are provided inside the sliding groove 50, a detection trigger ring 47 is provided on one side surface of the test movable ring 46, a plurality of positioning holes 49 matching with the positioning movable block 45 are provided inside the sliding groove 50, and the surface of the tightening tool 34 The surface is also provided with a digital mark 48 for facilitating the depth adjustment of the positioning movable block 45, and the middle section of the tightening tool 34 is also provided with a deflection sensing section 51, and the end of the tightening tool 34 facing away from the brake motor 38 is provided with a jack cutter head 52, and an anchor screw 27 is provided on one side surface of the jack cutter head 52, and a screw socket 56 is provided on one side surface of the anchor screw 27, and magnets that attract each other are provided inside the screw socket 56 and one end of the jack cutter head 52, and an inner cutter head 54 is provided inside the jack cutter head 52, and elastic blocks 55 are provided on the upper and lower surfaces of the inner cutter head 54, and a fixed support hole 57 that matches the elastic block 55 is provided inside the screw socket 56, and a hidden groove for accommodating the elastic block 55 is provided at the center of the inner cutter head 54, and a spring is provided between the bottom surface of the elastic block 55 and the inside of the hidden groove, and a top pile 53 is also provided on one side surface of the inner cutter head 54, and one side surface of the top pile 53 is connected to one end of the deflection sensing section 51;

[0036] The tightening robot arm assembly performs anchoring work through the combined tool pieces on the connecting block 8. When in use, the electric shaft in the rotating disk 9 and the end anchor disk 10 is used to drive the tightening tool 34 to rotate, so that when the anchoring work is performed, the tightening tool 34 is rotated out for use, and the tightening tool 34 is stored when not in use, so as to achieve the purpose of reducing the volume when finding the screw hole position and preventing the tightening tool 34 from colliding with objects. The end socket tool head 52 of the tightening tool 34 is mutually adsorbed with the screw socket 56 of the anchor screw 27 through a magnet. When in use, the tool head 52 is attached to the screw socket 56 of the anchor screw 27 through the workpiece 9. The staff places the anchor screw 27 on the surface of the socket cutter head 52, and after entering the corresponding screw hole, the socket cutter head 52 is driven to rotate by the brake motor 38, so as to turn the anchor screw 27 into the screw hole. Before anchoring a single component, the staff adjusts the position of the positioning movable block 45 according to the depth of the screw hole and the digital mark 48. After pressing the button above the positioning movable block 45, the protrusion below the positioning movable block 45 is retracted, so that the positioning movable block 45 can be moved. After moving to the specified position, the positioning movable block is released. The button on the surface of 45 is used to fix the locking movable block 45 by using the locking hole 49. Then, when performing the anchoring work, after the anchoring screw 27 is turned into the inside of the screw hole, if there is no position deviation, the anchoring screw 27 can reach the normal depth, and the surface of the processed part will press the detection trigger ring 47 back to the inside of the test movable ring 46, which can be judged as the angle is accurate. If the angle of the anchoring screw 27 is offset, when it is screwed into the inside of the screw hole, the anchoring screw 27 cannot reach the specified depth. After the tightening tool 34 senses resistance, the detection trigger ring 47 is pressed back to the inside of the test movable ring 46. If it is not pressed back into the interior of the test movable ring 46, it can be determined as a position offset. Subsequently, the electric movable sleeve 51 contracts due to resistance, causing the top pile 53 to extend and the inner cutter head 54 to leave the interior of the socket cutter head 52. The elastic blocks 55 on both sides of the inner cutter head 54 pop out and engage with the fixed support holes 57 inside the screw socket 56, so that the anchor screw 27 is fixed to the surface of the socket cutter head 52. Subsequently, the brake motor 38 is reversed to bring the anchor screw 27 out of the screw hole, thereby preventing the anchor screw 27 from being stuck inside the screw hole due to angle offset.

[0037] The combined tool comprises: a rotating disk 9, a bottom slide 35 is provided on the upper surface of the rotating disk 9, a sliding cover frame 28 is arranged above the bottom slide 35, a connecting spring 44 is connected between the side surface of the cover frame 28 and the side surface of the rotating disk 9, two liftable lifting slide plates 31 are arranged on the upper surface of the cover frame 28, two small motors 32 are arranged on the side surface of the cover frame 28, the output shaft end of the small motor 32 is fixedly connected to the upper surface of the lifting slide plate 31, a rotatable tightening tool 34 is also arranged between the two lifting slide plates 31, an electric push rod 42 is arranged inside the rotating disk 9, and the upper surface of the electric push rod 42 is provided with A slidable inclined top block 43, an outlet for the inclined top block 43 to enter and exit is provided at the center of the frame bottom slide 35, a drive box 30 is provided on one side surface of the rotating disk 9, a sliding ring 39 is provided on one side surface of the driving box 30, a limiting ring 37 matched with the sliding ring 39 is provided on one side surface of the rotating disk 9, an adjustment motor 40 is also provided inside the drive box 30, a driving toothed disc 41 is provided at the end of the output shaft of the adjustment motor 40, and a meshing toothed disc 36 matched with the driving toothed disc 41 is provided on one side surface of the rotating disk 9. The closer the three combined blades are to the connecting block 8, the longer the length of the jack blade head 52 at the end of the tightening tool 34 provided above it;

[0038] When the three combined cutters are in use, due to the different lengths of the socket cutter heads 52 at the end of the tightening cutter 34 arranged above them, three different coverage ranges are achieved. After the detection by the detection mechanism, the tightening cutter 34 on the surface of the end anchor plate 10 is first aligned with the reference processing point, and then it is determined in which combination of cutters coverage range the other screw holes detected on the surface of the processed parts are located. Then, during the anchoring work, when the tightening cutter 34 on the surface of the end anchor plate 10 is ready for use, the combined cutter that is determined to be able to work is driven for use. At the time of startup, the small motor 32 is driven to rise and fall by the small motor 32, so that the tightening cutter 34 can be aligned with the position of the screw hole in the coverage range. Then, the staff places the anchor screw 27 on the upper The end of the tightening tool 34 on the side is then anchored after the tightening robot arm assembly brings the combined tool piece close to the processed part. When the surface of the processed part is not a plane, and the position of the screw hole aligned with the end anchor disk 10 is not in the same plane as the position of the screw hole aligned with the combined tool piece, the data processor 16 sends a signal to drive the electric push rod 42 inside the rotating disk 9 to extend, driving the inclined top block 43 to rise, and in the process of rising, the covering frame 28 is ejected, so that the covering frame 28 with the tightening tool 34 above can be closer to the surface of the processed part for processing. The connecting spring 44 on the side surface of the covering frame 28 can drive the covering frame 28 to reset after the anchoring is completed and the inclined top block 43 descends.

[0039] A detection mechanism is provided on the upper surface of the base 1, and the detection mechanism includes: two fixed frames 11, a liftable scanning box 12 is provided between the two fixed frames 11, a laser calibration point 29 is provided on the side of the scanning box 12 close to the sliding frame 6, and the laser calibration point 29 is used to calibrate the position of the tightening tool 34 on the surface of the end anchor plate 10, a liftable laser scanner 13 is provided on the side surface of the scanning box 12 away from the sliding frame 6, and a lifting motor for lifting the scanning box 12 is provided on the bottom surface of the scanning box 12, and a shielding plate 14 matched with the scanning box 12 is also provided on the upper surface of the base 1;

[0040] The detection mechanism realizes the detection function of the processed parts through the scanning box 12 between the two fixed frames 11. The laser calibration point 29 on the scanning box 12 is used to calibrate the position of the tightening tool 34 on the end anchor disk 10 to ensure the accuracy of assembly. In the calibration state, the laser scanner 13, the laser calibration point 29 and the tightening tool 34 on the end anchor disk 10 are in the same plane. Therefore, after the laser scanner 13 scans, the end anchor disk 10 can obtain a more accurate adjustment angle. The laser calibration point 29 can assist in the position calibration of the end anchor disk 10. The laser scanner 13 scans the parts through the lifting function and transmits the data to the data processor 16 for analysis and processing. The lifting motor is used to adjust the height of the scanning box 12 to adapt to parts of different sizes. After use, the lifting motor drives the scanning box 12 to descend, and one side of the scanning box 12 is combined with the shielding plate 14 to block the opening of the scanning box 12, so as to protect the laser scanner 13.

[0041] A bearing mechanism is provided on the upper surface of the base 1, a placing frame 15 is fixedly installed on the upper surface of the base 1, a data processor 16 is provided inside the placing frame 15, and there is an electrical connection between the data processor 16 and multiple motors on the equipment and the laser scanner 13, a rotatable placing table 18 is provided on the upper surface of the placing frame 15, an axis is provided between the two side surfaces of the placing table 18 and the placing frame 15, a fixed bottom plate 19 is provided on the bottom surface of the placing table 18, a driving motor 20 is provided on the lower surface of the placing frame 15, and the output shaft end of the driving motor 20 is fixedly connected to one side surface of the fixed bottom plate 19, two bearing movable plates 21 are provided on the upper surface of the placing table 18, a bidirectional threaded rod is provided inside the placing table 18, both sides of the bidirectional threaded rod are respectively engaged with a bearing movable plate 21, a threaded rod control motor is provided at one end of the bidirectional threaded rod, a pressure trigger switch 22 is provided on the upper surface of the bearing movable plate 21, and clamping rods 23 are also provided on both sides of the upper surface of the bearing movable plate 21, and there is an electrical connection between the pressure trigger switch 22 and the clamping rod 23;

[0042] The bearing mechanism realizes the bearing function of parts through the placement table 18 on the placement frame 15. The placement table 18 realizes the rotation function through the shaft and the driving motor 20, which is convenient for adjusting the processed parts to an angle that is more convenient for processing. The two bearing movable plates 21 control the motor to drive the bidirectional threaded rods through the threaded rods to realize the internal position adjustment, so as to adapt to the processing parts of different widths. The pressure trigger switch 22 is used to drive the clamping rod 23 to clamp inward to ensure stability during the processing process. The data processor 16 is electrically connected with multiple motors on the equipment and the laser scanner 13 to realize the automatic control and data processing functions of the entire equipment.

[0043] The working principle of the present invention is:

[0044] When in use, the staff first places the processed parts on the carrying mechanism. The carrying mechanism realizes the carrying function of the parts through the placement table 18 on the placement frame 15. The placement table 18 realizes the rotation function through the shaft body and the driving motor 20, which is convenient for adjusting the processed parts to an angle that is more convenient for processing. The two carrying movable plates 21 control the motor to drive the bidirectional threaded rods through the threaded rods to realize the position adjustment inward, so as to adapt to the processing parts of different widths. The pressure trigger switch 22 is used to drive the clamping rod 23 to clamp inward to ensure the stability during the processing. The data processor 16 is electrically connected with the multiple motors on the equipment and the laser scanner 13 to realize the automatic control and data processing functions of the entire equipment;

[0045] The detection mechanism realizes the detection function of the processed parts through the scanning box 12 between the two fixing frames 11. The laser calibration point 29 on the scanning box 12 is used to calibrate the position of the tightening tool 34 on the end anchor plate 10 to ensure the accuracy of assembly. In the calibration state, the laser scanner 13, the laser calibration point 29 and the tightening tool 34 on the end anchor plate 10 are in the same plane. Therefore, after the laser scanner 13 scans, the end anchor plate 10 can obtain a more accurate adjustment angle. The laser scanner 13 scans the parts through the lifting function and transmits the data to the data processor 16 for analysis and processing. The lifting motor is used to adjust the height of the scanning box 12 to adapt to parts of different sizes. After use, the lifting motor drives the scanning box 12 to descend. One side of the scanning box 12 is combined with the shielding plate 14 to shield the opening of the scanning box 12, so as to protect the laser scanner 13.

[0046] After the detection mechanism scans the processed parts, the scan data is transmitted to the data processor 16, and the angle data of the screw holes is obtained after the data processor 16 performs data analysis, and which combined tool group can be used is obtained according to the range of each screw hole and the coverage range of the three combined tool pieces. Then, the angle of the screwing robot arm assembly is adjusted by adjusting the assembly, and the data processor 16 generates a signal to drive the telescopic motor 17 on the base 1, and the output shaft of the telescopic motor 17 drives the movable base 2 to slide on the base track, so that the anchoring mechanism approaches the processed parts and anchors them. The rotating disk 3 arranged on the movable base 2 realizes the rotation function through the shaft and the shaft body to control the motor, and the mounting frame 4 on the rotating disk 3 is used to fix and support the anchoring mechanism to ensure that the parts can be accurately aligned and assembled;

[0047] The adjustment component realizes the lifting function by adjusting the table 5 and the sliding table 7 on the sliding frame 6 using the lifting motor 25, thereby adjusting the height and angle of the anchoring mechanism, so that the screwing mechanical arm assembly is easier to adjust to the correct angle of the screw hole according to the data of the detection mechanism;

[0048] The tightening mechanical arm assembly performs anchoring work through the combined blade on the connecting block 8. When in use, the staff will place the anchor screw 27 on the surface of the socket cutter head 52. After entering the corresponding screw hole, the socket cutter head 52 is driven to rotate by the brake motor 38, so as to turn the anchor screw 27 into the screw hole. Before performing the anchoring work of a single component, the staff adjusts the position of the positioning movable block 45 according to the depth of the screw hole and in accordance with the digital mark 48. After pressing the button above the positioning movable block 45, the protrusion under the positioning movable block 45 is retracted, so that the positioning movable block 45 can be moved. After moving to the specified position, release the button on the surface of the positioning movable block 45, and use the positioning hole 49 to fix the positioning movable block 45. Subsequently, when performing the anchoring work, after the anchor screw 27 is turned into the inside of the screw hole, if there is no position deviation, the anchor screw 27 can be When the normal depth is reached, the surface of the processed part will press the detection trigger ring 47 back into the inside of the test movable ring 46, which can be determined as the angle is accurate. If the angle of the anchor screw 27 is offset, the anchor screw 27 cannot reach the specified depth when it is screwed into the inside of the screw hole. After the tightening tool 34 senses the resistance, and the detection trigger ring 47 is not pressed back into the inside of the test movable ring 46, it can be determined as a position offset. Subsequently, the electric movable sleeve 51 is subjected to the resistance and contracts, so that the top pile 53 extends out and the inner cutter head 54 is separated from the inside of the socket cutter head 52. The elastic blocks 55 on both sides of the inner cutter head 54 pop out and engage with the fixed support holes 57 in the screw socket 56, so that the anchor screw 27 is fixed to the surface of the socket cutter head 52. Subsequently, the brake motor 38 is reversed to bring the anchor screw 27 out of the screw hole, so as to prevent the anchor screw 27 from being stuck in the screw hole due to angle offset.

[0049] When the three combined cutters are in use, due to the different lengths of the socket cutter heads 52 at the end of the tightening cutter 34 arranged above them, three different coverage ranges are achieved. After the detection by the detection mechanism, the tightening cutter 34 on the surface of the end anchor plate 10 is first aligned with the reference processing point, and then it is determined in which combination of cutters coverage range the other screw holes detected on the surface of the processed parts are located. Then, during the anchoring work, when the tightening cutter 34 on the surface of the end anchor plate 10 is ready for use, the combined cutter that is determined to be able to work is driven for use. At the time of startup, the small motor 32 is driven to rise and fall by the small motor 32, so that the tightening cutter 34 can be aligned with the position of the screw hole in the coverage range. Then, the staff places the anchor screw 27 on the upper The end of the tightening tool 34 on the side is then anchored after the tightening robot arm assembly brings the combined tool piece close to the processed part. When the surface of the processed part is not a plane, and the position of the screw hole aligned with the end anchor disk 10 is not in the same plane as the position of the screw hole aligned with the combined tool piece, the data processor 16 sends a signal to drive the electric push rod 42 inside the rotating disk 9 to extend, driving the inclined top block 43 to rise, and in the process of rising, the covering frame 28 is ejected, so that the covering frame 28 with the tightening tool 34 above can be closer to the surface of the processed part for processing. The connecting spring 44 on the side surface of the covering frame 28 can drive the covering frame 28 to reset after the anchoring is completed and the inclined top block 43 descends.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent robot parts assembly device, characterized in that: include: A base (1), wherein a movable base (2) is provided on the upper surface of the base (1), a base track is provided on the upper surface of the base (1) for facilitating the sliding of the movable base (2), a rotating disk (3) is provided on the upper surface of the movable base (2), a mounting frame (4) is fixedly mounted on the upper surface of the rotating disk (3), and an anchoring mechanism is provided on the upper surface of the mounting frame (4); The anchoring mechanism comprises an adjustment component and a screwing mechanical arm component, wherein the adjustment component comprises: an adjustment platform (5), the adjustment platform (5) is located at the upper center of the mounting frame (4), a shaft is provided at the connection between the adjustment platform (5) and the mounting frame (4), a shaft control motor is provided at one end of the shaft, a sliding frame (6) is provided on the upper surface of the adjustment platform (5), a liftable sliding platform (7) is provided on one side surface of the sliding frame (6), and a screwing mechanical arm component is provided on one side surface of the sliding frame (7); The tightening robot arm assembly comprises: a connecting block (8), the connecting block (8) being fixedly mounted on a side surface of a sliding platform (7), the side surface of the connecting block (8) being provided with three combined cutting tools, the combined cutting tools comprising: a rotating disk (9), the upper surface of the rotating disk (9) being provided with a frame bottom slideway (35), the side surface of the rotating disk (9) being provided with a driving box (30), the rotating disk (9) and the driving box (30) being fixedly connected via the side surface, the side surface of a combined cutting tool farthest from the connecting block (8) being provided with an end anchoring disk (10), the center of the end anchoring disk (10) being provided with a receiving groove (33), the interior of the receiving groove (33) being provided with a rotatable tightening tool (34).

2. The intelligent robot parts assembly equipment according to claim 1, characterized in that: A sliding covering frame (28) is arranged above the frame bottom slideway (35), a connecting spring (44) is connected between a side surface of the covering frame (28) and a side surface of the rotating disk (9), two liftable lifting sliding plates (31) are arranged on the upper surface of the covering frame (28), two small motors (32) are arranged on one side surface of the covering frame (28), the output shaft ends of the small motors (32) are fixedly connected to the upper surfaces of the lifting sliding plates (31), and a rotatable tightening tool (34) is also arranged between the two lifting sliding plates (31).

3. The intelligent robot parts assembly equipment according to claim 1, characterized in that: A sliding ring (39) is provided on one side surface of the driving box (30), a limiting ring (37) matched with the sliding ring (39) is provided on one side surface of the rotating disk (9), an adjusting motor (40) is also provided inside the driving box (30), a driving toothed disk (41) is provided at the end of the output shaft of the adjusting motor (40), and a meshing toothed disk (36) matched with the driving toothed disk (41) is provided on one side surface of the rotating disk (9).

4. The intelligent robot parts assembly equipment according to claim 1, characterized in that: An electric rotating shaft is provided at the connection between the tightening tool (34) and the storage groove (33); a brake motor (38) is provided at one end of the tightening tool (34) to drive the tightening tool (34) to rotate; a sliding groove (50) is provided on the surface of the tightening tool (34); a slidable positioning movable block (45) and a test movable ring (46) are provided inside the sliding groove (50); a detection trigger ring (47) is provided on one side surface of the test movable ring (46); a plurality of positioning holes (49) matched with the positioning movable block (45) are provided inside the sliding groove (50); a digital mark (48) is provided on the surface of the tightening tool (34) to facilitate the positioning movable block (45) to adjust the depth; a deflection sensing section (51) is provided in the middle section of the tightening tool (34); and a socket cutter head (52) is provided at one end of the tightening tool (34) away from the brake motor (38).

5. The intelligent robot parts assembly equipment according to claim 4, characterized in that: An anchor screw (27) is provided on one side surface of the jack cutter head (52), a screw insertion hole (56) is provided on one side surface of the anchor screw (27), the interior of the screw insertion hole (56) and one end of the jack cutter head (52) are provided with magnets that attract each other, an inner cutter head (54) is provided inside the jack cutter head (52), elastic blocks (55) are provided on the upper and lower surfaces of the inner cutter head (54), a fixing support hole (57) matched with the elastic block (55) is provided inside the screw insertion hole (56), a hidden groove for accommodating the elastic block (55) is provided at the center of the inner cutter head (54), a spring is provided between the bottom surface of the elastic block (55) and the interior of the hidden groove, a top pile (53) is also provided on one side surface of the inner cutter head (54), and one side surface of the top pile (53) is connected to one end of the deflection sensing section (51).

6. The intelligent robot parts assembly equipment according to claim 1, characterized in that: The upper surface of the base (1) is provided with a detection mechanism, and the detection mechanism comprises: two fixed frames (11), a liftable scanning box (12) is provided between the two fixed frames (11), a laser calibration point (29) is provided on the side of the scanning box (12) close to the sliding frame (6), and the laser calibration point (29) is used to calibrate the position of the tightening tool (34) on the surface of the end anchor plate (10), a liftable laser scanner (13) is provided on the side surface of the scanning box (12) away from the sliding frame (6), and a lifting motor for lifting the scanning box (12) is provided on the bottom surface of the scanning box (12), and a shielding plate (14) matched with the scanning box (12) is also provided on the upper surface of the base (1).

7. The intelligent robot parts assembly equipment according to claim 1, characterized in that: The upper surface of the base (1) is provided with a bearing mechanism, the upper surface of the base (1) is fixedly mounted with a placement rack (15), the interior of the placement rack (15) is provided with a data processor (16), the upper surface of the placement rack (15) is provided with a rotatable placement table (18), shafts are provided between the two side surfaces of the placement table (18) and the placement rack (15), the bottom surface of the placement table (18) is provided with a fixed bottom plate (19), the lower surface of the placement rack (15) is provided with a driving motor (20), the output shaft end of the driving motor (20) is connected to the fixed bottom plate (19), and the output shaft end of the driving motor (20) is connected to the fixed bottom plate (19). The side surface of the plate (19) is fixedly connected, and two supporting movable plates (21) are arranged on the upper surface of the placing platform (18). A bidirectional threaded rod is arranged inside the placing platform (18), and the two sides of the bidirectional threaded rod are respectively engaged with a supporting movable plate (21), and a threaded rod control motor is arranged at one end of the bidirectional threaded rod. A pressure trigger switch (22) is arranged on the upper surface of the supporting movable plate (21), and clamping rods (23) are also arranged on both sides of the upper surface of the supporting movable plate (21), and there is an electrical connection between the pressure trigger switch (22) and the clamping rod (23).

8. The intelligent robot parts assembly equipment according to claim 1, characterized in that: The upper surface of the base (1) is also provided with a telescopic motor (17) for driving the movable base (2) to move, the output shaft end of the telescopic motor (17) is connected to a side surface of the movable base (2), a force-bearing sheet (26) is fixedly mounted on a side surface of the sliding platform (7), a lifting motor (25) is arranged on the bottom surface of the force-bearing sheet (26), a motor box (24) is fixedly mounted on the bottom surface of the adjustment platform (5), and one end of the lifting motor (25) is located inside the motor box (24).

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