A mechanical arm automatic assembly mechanism and assembly method thereof

Abstract

The invention discloses a mechanical arm automatic assembly mechanism and an assembly method thereof, comprising an assembly line, a first conveying station and a first assembly station, wherein the first assembly station is arranged close to the assembly line; a first conveying line is arranged in the first conveying station, a conveying support plate and an ejection limit assembly are arranged in the first conveying line, wherein the ejection limit assembly comprises an ejection cylinder, an ejection frame is installed on the telescopic rod of the ejection cylinder, the ejection frame is arranged in a U shape, positioning pins are symmetrically arranged at both ends of the ejection frame, and positioning pin sleeves are penetratingly arranged at the four corners of the conveying support plate, and the positioning pins are matched with the positioning pin sleeves; the conveying support plate is pushed away from the conveying roller by the ejection limit assembly, so that the conveying support plate is no longer affected by the power of the conveying roller, can stably and accurately carry the parts, and ensure the accuracy and stability of the parts feeding, so that the parts conveying and processing assembly can be stably, smoothly and accurately coordinated.

Description

Technical Field

[0001] The present invention relates to the technical field of robot assembly, and in particular to a robot arm automatic assembly mechanism and an assembly method thereof. Background Art

[0002] As a unique industrial robot, the four-axis robot has excellent flexibility and operational complexity in a specific space due to its four electric motor-driven joint design. Therefore, it is also called SCARA robot (selective compliance assembly robot arm) in the industry. In modern manufacturing processes, the four-axis robot has become the preferred tool in many fields such as assembly, material handling and processing and manufacturing due to its high precision, fast response and high flexibility.

[0003] However, although four-axis robots play a key role in the production line, in the traditional production environment, their assembly process is highly dependent on manual operation. This not only leads to low assembly efficiency, time-consuming and labor-intensive, but also prone to errors. The overall structure of the four-axis robot is complex and has many parts. In particular, the precise assembly of key components such as the housing, motor, reducer and its internal precision transmission mechanism poses a great challenge to manual operation. In traditional production lines, the assembly of these parts mainly relies on manual operation by workers, which makes it difficult to ensure the consistency and stability of the assembly and is inefficient. In particular, the installation of the reducer, which contains multiple precision components such as the input shaft, output shaft, reducer fixing seat and output flange, requires extremely high precision and patience in the assembly process. Any negligence may lead to assembly failure or product quality problems.

[0004] In view of the above challenges, in recent years, many companies have begun to actively explore the application of automated assembly technology in order to improve the efficiency and quality of production line assembly. Summary of the invention

[0005] The purpose of the present invention is to provide a robotic arm automatic assembly mechanism and an assembly method thereof, which improves the assembly efficiency through automated assembly, and at the same time, by setting a limit ejection component on the conveyor line, ensures the accuracy and stability of parts feeding, and solves the quality problems caused by low assembly efficiency and unstable feeding of the production line.

[0006] The purpose of the present invention can be achieved through the following technical solutions:

[0007] A robotic arm automatic assembly mechanism comprises an assembly line, a first conveying station and a first assembly station, wherein the first assembly station is arranged close to the assembly line;

[0008] A first conveying line is provided in the first conveying station, and a conveying support plate and an ejection limiting assembly are provided in the first conveying line, wherein the ejection limiting assembly comprises an ejection cylinder, an ejection frame is installed on the telescopic rod of the ejection cylinder, the ejection frame is arranged in a U shape, and locating pins are symmetrically arranged at both ends of the ejection frame, and penetrating locating pin sleeves are arranged at the four corners of the conveying support plate, and the locating pins are adapted to the locating pin sleeves.

[0009] As a further solution of the present invention: the first conveying station includes a first conveyor platform, and two groups of first conveyor lines are symmetrically arranged on the first conveyor platform, and the two groups of first conveyor lines respectively convey corresponding assembly parts.

[0010] As a further solution of the present invention: the first conveyor line includes a conveyor line bracket, and multiple groups of conveyor rollers are rotatably connected between the two ends of the top of the conveyor line bracket. The multiple groups of conveyor rollers are connected by belt transmission. A conveyor motor is installed at the bottom of the conveyor line bracket, and power is transmitted between the conveyor motor and the conveyor rollers through belts.

[0011] As a further solution of the present invention: conveying limit bend plates are symmetrically installed at both ends of the top of the conveying line bracket, a vertical portion is vertically arranged on one side of the conveying limit bend plate, the conveying support plate is driven on the top of multiple groups of conveying rollers, and movable rollers are arranged at the four corners of the conveying support plate. The four movable rollers are in contact with the vertical portions of the conveying limit bend plates on both sides, and the outer ends of the vertical portions of the conveying limit bend plates are arranged in an outwardly inclined inclined surface, and the conveying line bracket is provided with a limit baffle plate on the side close to the first assembly station.

[0012] As a further solution of the present invention: two ends of the ejection frame are arranged through gaps between corresponding adjacent conveying rollers.

[0013] As a further solution of the present invention: a top limiting platform is horizontally extended inward from the top of the vertical portion of the conveying limiting bent plate, and the top limiting platform forms a limiting interval with the top surface of the conveying roller to limit the ejection of the conveying support plate.

[0014] As a further solution of the present invention: the first assembly station includes a first assembly table, on which are disposed a four-bit screw-driving robot and a transport robot 1, a reverse assembly platform and a forward assembly platform are disposed between the transport robot 1 and the four-bit screw-driving robot, and the reverse assembly platform includes an assembly base plate and a limiting member located on the assembly base plate.

[0015] As a further solution of the present invention: the assembly line includes an assembly line body and a placement station 1 corresponding to the first assembly station position, a jig is transmitted on the assembly line body, and a positioning system is provided at the placement station 1;

[0016] The fixture comprises a base plate, and two positioning pin sleeves are correspondingly arranged at the four corners of the base plate. The positioning system comprises two groups of limit components and two groups of positioning components, and the distance between the two limit components is equal to the length of the fixture.

[0017] As a further solution of the present invention: the limiting assembly includes a connecting frame, a limiting cylinder is arranged on the bottom surface of the connecting frame, the telescopic rod of the limiting cylinder extends downward to connect with the limiting movable plate, limiting rods are symmetrically arranged at both ends of the limiting movable plate, the tops of the two limiting rods are close to one side of the fixture and cooperate with the limiting cross plate, limiting bead plates are symmetrically arranged at both ends of the limiting cross plate, the positioning assembly includes a connecting plate, a positioning cylinder is arranged on the bottom surface of the connecting plate, the telescopic rod of the positioning cylinder is connected with the positioning movable plate, positioning rods are symmetrically arranged at both ends of the positioning movable plate, and positioning pins are arranged on the tops of the positioning rods, and the positioning pins are adapted to the positioning pin sleeves.

[0018] As a further solution of the present invention: an assembly method of a robotic arm automatic assembly mechanism, using the above-mentioned robotic arm automatic assembly mechanism, the assembly method comprises the following steps:

[0019] Step 1: Loading: The AGV trolley guides the conveying plate into the corresponding first conveying line. When the conveying plate moves to the set position, the ejection limit assembly operates to push the conveying plate away from the conveying roller until it contacts the top limit platform.

[0020] Step 2: Assembly: The first handling robot and the fourth screw driving robot cooperate to assemble the two groups of parts conveyed by the first conveyor line;

[0021] Step 3: Docking the assembly line: When the jig is transported to the placement station 1, the assembly line's positioning system runs to lift the jig, and then the assembled column assembly is placed on the base plate through the handling robot 1.

[0022] Beneficial effects of the present invention:

[0023] The present invention provides an ejection limit assembly to push the conveying carrier plate away from the conveying roller when conveying parts, so that the conveying carrier plate is no longer affected by the power of the rotation of the conveying roller, and can stably and accurately carry the parts for the automated equipment in the first assembly station to obtain. The ejection limit assembly drives the conveying carrier plate to move, thereby ensuring the accuracy and stability of part feeding, so that the part conveying and processing assembly can be stably, smoothly and accurately coordinated. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the structure of the first conveying station and the first assembly station of the present invention. Figure 1 ;

[0026] Figure 2 This is a schematic diagram of the structure of the first conveying station and the first assembly station in the present invention. Figure 2 ;

[0027] Figure 3 yes Figure 1 A schematic diagram of the enlarged structure of the middle A area;

[0028] Figure 4 It is a schematic diagram of the structure of the first conveying station in the present invention;

[0029] Figure 5 This is a schematic diagram of the first conveyor line structure in the present invention. Figure 1 ;

[0030] Figure 6 This is a schematic diagram of the first conveyor line structure in the present invention. Figure 2 ;

[0031] Figure 7 It is a schematic diagram of the assembly line structure in the present invention;

[0032] Figure 8 This is a schematic diagram of the position structure of the fixture and positioning system in the present invention. Figure 1 ;

[0033] Fig. 9 This is a schematic diagram of the position structure of the fixture and positioning system in the present invention. Figure 2 ;

[0034] Fig.10 It is a schematic diagram of the structure of the positioning system in the present invention.

[0035] In the figure: 11, the first conveying station; 110, the first conveyor platform; 111, the first conveyor line; 1111, the conveyor line bracket; 1112, the conveyor roller; 1113, the conveyor limit bending plate; 1114, the top limit platform; 1115, the conveyor support plate; 1116, the ejection cylinder; 1117, the ejection frame; 1118, the positioning pin 1; 1119, the positioning pin sleeve 1; 12, the first assembly station; 120, the first assembly platform; 121, the four-bit screw driving manipulator; 123, the reverse assembly platform; 1231, the assembly bottom plate; 1232, the limiter; 124, the front assembly platform; 125, the handling manipulator 1; 9, the assembly line; 90, Assembly line body; 91, placement station one; 97, fixture; 970, bottom plate; 971, support bracket; 972, assembly groove; 973, limit slide; 98, positioning system; 981, positioning assembly; 9810, connecting plate; 9811, positioning cylinder; 9812, positioning movable plate; 9813, positioning rod; 9814, positioning pin two; 982, limit assembly; 9820, connecting frame; 9821, limit movable plate; 9822, limit rod; 9823, limit bead plate one; 9824, ball; 9825, limit cylinder; 400, silo; 500, flexible vibration plate; 600, top CCD; 700, bottom CCD. DETAILED DESCRIPTION

[0036] 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.

[0037] Embodiment 1

[0038] like Figure 1-Figure 10 As shown, this embodiment provides an automatic assembly mechanism for a robot arm, including an assembly line 9, a first conveying station 11 and a first assembly station 12, wherein the first assembly station 12 is arranged close to the assembly line 9, and the first conveying station 11 is located on the side of the first assembly station 12 away from the assembly line 9. The one-arm column assembly of the four-axis robot is assembled through the first conveying station 11 and the first assembly station 12, and the column assembly includes a column, a pad and a sealing plate, and the assembly of the one-arm column assembly is completed quickly and accurately through automated assembly.

[0039] Specific as Figure 1 and Figure 2As shown, the first conveying station 11 includes a first conveyor platform 110 arranged on one side of the first assembly station 12, and a conveying area is arranged in the middle of the first conveyor platform 110, and two groups of first conveyor lines 111 are arranged in the conveying area. The two groups of first conveyor lines 111 are arranged along the length direction of the first conveyor platform 110, one group of first conveyor lines 111 is used to convey columns, and the other group of first conveyor lines 111 is used to convey pads and sealing plates, and the two groups of first conveyor lines 111 are connected to the external AGV to realize the automatic loading and transportation of parts.

[0040] More specifically, Figure 4-Figure 6 As shown, the above-mentioned first conveyor line 111 includes a conveyor line bracket 1111, which is detachably mounted on the first conveyor platform 110. A plurality of conveyor rollers 1112 are rotatably connected between the two ends of the top of the conveyor line bracket 1111. The plurality of conveyor rollers 1112 are connected via belt drive, and a conveying motor is installed at the bottom of the conveyor line bracket 1111. Power is transmitted between the conveying motor and the conveying rollers 1112 via a belt. The power is provided by the conveying motor, thereby driving the plurality of conveyor rollers 1112 to rotate synchronously, thereby realizing the conveying of parts on the conveying carrier plate 1115.

[0041] Furthermore, conveying limit bend plates 1113 are symmetrically installed at both ends of the top of the conveyor line bracket 1111, and the conveying limit bend plate 1113 includes a horizontal portion arranged horizontally and a vertical portion arranged vertically, wherein the vertical portion is arranged on the inner side, and a conveying support plate 1115 is arranged on the top of the multiple groups of conveying rollers 1112 for transmission, and movable rollers are arranged at the four corners of the conveying support plate 1115, and the four movable rollers are in contact with the vertical portions of the conveying limit bend plates 1113 on both sides to limit the conveying direction of the conveying support plate 1115. At the same time, the conveyor line bracket 1111 is also provided with a limit baffle on the side close to the first assembly station 12 to block the conveying of the conveying support plate 1115 to ensure that the carried parts are located in a suitable grasping position, and the conveying support plate 1115 can be exchanged with the connected AGV to the outside world.

[0042] During the entire conveying process, since the multiple groups of conveying rollers 1112 are in a continuously rotating conveying state, when the conveying plate 1115 moves to the set position (i.e., the position blocked by the limit baffle), the continuously rotating conveying rollers 1112 will cause the conveying plate 1115 to vibrate (the friction force generated by the multiple groups of conveying rollers 1112 and the bottom surface of the conveying plate 1115 is inconsistent), and the vibrating conveying plate 1115 causes the bearing parts thereon to vibrate, which makes it inconvenient for the automated equipment on the first assembly station 12 to perform precise grasping.

[0043] In view of this, an ejection limit assembly is arranged inside the conveyor line bracket 1111, wherein the ejection limit assembly includes an ejection cylinder 1116 located at the bottom of the conveyor line bracket 1111, and an ejection frame 1117 is installed on the telescopic rod of the ejection cylinder 1116, wherein the ejection frame 1117 is arranged in a U shape, and the two ends of the ejection frame 1117 are arranged through the gaps between the corresponding adjacent conveying rollers 1112, and the two ends of the ejection frame 1117 are symmetrically provided with positioning pins 1118. It should be noted that the conveying support plate 1115 in this embodiment is provided with penetrating positioning pin sleeves 1119 at the four corners, and the conveying support plate 1115 is accurately positioned by docking the positioning pin 1118 with the positioning pin sleeve 1119, which is also convenient for subsequent automated equipment to accurately obtain. When the ejection cylinder 1116 is extended, the ejection frame 1117 drives the positioning pin 1118 upward, and the positioning pin 1118 is docked with the corresponding positioning pin sleeve 1119 to adjust and position the conveying support plate 1115. Then the ejection frame 1117 continues to rise to push the conveying support plate 1115 away from the conveying roller 1112, so that the conveying support plate 1115 is no longer affected by the power of the rotation of the conveying roller 1112, and can stably and accurately carry the parts for the automated equipment in the first assembly station 12 to obtain. The conveying support plate 1115 is driven to move by the ejection limit assembly, which ensures the accuracy and stability of the parts feeding, so that the parts transportation and processing assembly can be stably, smoothly and accurately coordinated.

[0044] Furthermore, if Figure 6 As shown, the vertical portion of the conveying limit bend plate 1113 is arranged close to the AGV connection portion and is inclined outwardly, so as to guide the conveying support plate 1115 to be transferred from the AGV trolley, thereby ensuring smooth transfer of the conveying support plate 1115.

[0045] What should be further noted in the present embodiment is that, since the conveying plates 1115 of different first conveyor lines 111 carry different workpieces, corresponding limit assemblies are provided on the conveying plates 1115, and the conveyed workpieces are positioned by the corresponding limit assemblies to facilitate subsequent grasping.

[0046] Furthermore, if Figure 5 and Figure 6As shown, a top limit platform 1114 is horizontally extended inward from the top of the vertical part of the conveying limit bend 1113, and a limit interval is formed by the top limit platform 1114 and the top surface of the conveying roller 1112. When the ejection cylinder 1116 is extended to drive the positioning pin 1118 to position the conveying support plate 1115 and push the conveying support plate 1115, the upper position of the ejected conveying support plate 1115 is restricted to prevent the parts from being skewed (especially the uneven force on the columns is prone to deflection) and getting stuck with the limit assembly on the conveying support plate 1115 when the automated equipment in the first assembly station 12 obtains the parts carried by the conveying support plate 1115, thereby driving the conveying support plate 1115 to break away from the positioning of the positioning pin 1118, resulting in the inability to accurately obtain the remaining parts.

[0047] like Figure 1 and Figure 2 As shown, the above-mentioned first assembly station 12 includes a first assembly table 120, and a four-bit screw-driving robot 121 is arranged on one side of the top surface of the first assembly table 120, and a transport robot 125 is arranged on the other side of the top surface of the first assembly table 120. The transport robot 125 grabs the conveying parts (columns, pads and sealing plates) on the first conveyor line 111 to the first assembly table 120, and then the four-bit screw-driving robot 121 is used to perform screw driving and assembly.

[0048] A material bin 400, a flexible vibration disk 500, a top CCD 600 and a bottom CCD 700 are also provided outside the four-bit screw driving robot 121 and located at the first assembly station 120. The material bin 400 and the flexible vibration disk 500 are combined to realize the arrangement of the screws. The material bin 400 is used to provide screws, and the flexible vibration disk 500 is used to arrange the chaotic screws to facilitate the subsequent acquisition of screws by the four-bit screw driving robot 121. The material bin 400 and the flexible vibration disk 500 are both provided with multiple groups, corresponding to screws of different specifications for processing. Before the four-bit screw driving robot 121 acquires the screws, the top CCD 600 is used to take photos to identify the arranged screws, and then the four-bit screw driving robot 121 is controlled to go to the corresponding position to acquire the arranged screws (generally with the tail facing up). After the screws are adsorbed, the bottom CCD 700 takes a photo to identify whether the state of the adsorbed screws is qualified. If there is a deviation or the screw position is incorrect, the four-bit screw-driving robot 121 is controlled to release the screws and re-adsorb new screws. After the state is qualified, the parts (columns, pads and cover plates) on the first assembly table 120 are screwed and fixed.

[0049] It should be noted that the flexible vibration plate 500, the top CCD 600 and the bottom CCD 700 are all prior art, and their specific structures are not described in detail here.

[0050] Furthermore, a reverse assembly platform 123 and a forward assembly platform 124 are provided between the transport robot 125 and the four-bit screw driving robot 121, wherein the specific Figure 3 As shown, the above-mentioned reverse assembly platform 123 includes an assembly base plate 1231 and a limit piece 1232 located on the assembly base plate 1231. The column is reversely placed between the limit pieces 1232 by the transport robot 125, and then the pad is grabbed again and placed on the bottom surface of the column. The four-screw screwing robot 121 is used to screw it in place, and then the sealing plate is grabbed and placed on the pad, and screwed in place. After being fixed, the column assembly is grabbed by the transport robot 125, and turned 180 degrees and placed on the front assembly platform 124 to place pins, thereby completing the assembly of the partial structural column assembly of one arm.

[0051] The structure of the front assembly platform 124 is consistent with that of the rear assembly platform 123, and the shape and position of the limiting piece 1232 are different, so as to limit the different positions of the column assembly.

[0052] like Figure 7-10 As shown, the specific structure of the pipeline 9 in this embodiment is as follows:

[0053] like Figure 7 As shown, the above-mentioned assembly line 9 includes an assembly line body 90 distributed in a straight line, and the assembly line body 90 is a conventional roller-type assembly line, and multiple rollers roll synchronously to achieve transmission. The assembly line body 90 is provided with a placement station 1 91 corresponding to the first assembly station 12.

[0054] like Figure 7 As shown, a jig 97 is driven on the assembly line body 90, and a positioning system 98 is provided at a corresponding position of the placement station 91, and the assembly task of the station is achieved through the cooperation of the positioning system 98 and the jig 97.

[0055] Among them, specific Figure 8 As shown, the above-mentioned fixture 97 includes a base plate 970 stably transmitted on the assembly line body 90, and movable rollers are arranged at the four corners of the base plate 970, which realize stable linear transmission by cooperating with the limiting structures on both sides of the assembly line body 90. Furthermore, a plurality of weight-reducing holes are opened on one side of the top of the base plate 970 to reduce the overall weight of the fixture 97 and reduce the transmission power requirement, and a support bracket 971 is arranged on the top of the base plate 970 and above the weight-reducing holes to support the two-arm assembly process to prevent the assembled parts from being skewed or the center of gravity from being unstable.

[0056] Furthermore, an assembly groove 972 is provided on the top surface of one end of the base plate 970 away from the supporting bracket 971 for placing the assembled column assembly and transferring it to the next process for the next assembly. A limiting slide groove 973 is provided in the middle of the outer side of the assembly groove 972 for limiting the column assembly in cooperation with the positioning system 98 when installing the column assembly, so that the column assembly can be stably and accurately installed on the jig 97 and avoid affecting other subsequent assemblies such as two-arm or three-arm assemblies.

[0057] During the process of the assembly line body 90 transferring the fixture 97, Figure 7 The multiple workstations shown all require the jig 97 to stop for corresponding assembly, including placement workstation 1 91. Since the assembly line body 90 is in continuous operation (to improve productivity, save energy and increase equipment life), the jig 97 is transferred to the corresponding workstation, and the position of the jig 97 needs to be limited to facilitate the assembly of the corresponding workstation. Since the assembly requires precision, the position of the jig 97 at each workstation on the assembly line body 90 needs to be precisely defined.

[0058] In view of this, if Figure 8-Figure 9 As shown, in this embodiment, a positioning system 98 is provided at a position corresponding to the placement station 1 91 to accurately position the fixture 97 transferred to the placement station 1 91 to ensure accurate and stable assembly.

[0059] The positioning system 98 includes a limiting assembly 982 symmetrically arranged on both sides of the assembly line body 90 of the placement station 1 91 and a positioning assembly 981 located between the limiting assemblies 982 on both sides, wherein the spacing between the two limiting assemblies 982 is equal to the length of the fixture 97, and when the fixture 97 moves to the placement station 1 91, the two limiting assemblies 982 are arranged on both sides of the fixture 97, for accurately limiting the fixture 97, so as to facilitate the subsequent accurate alignment of the positioning assembly 981;

[0060] And more specifically, Fig.10As shown, the limit assembly 982 includes a connecting frame 9820 fixed to the assembly line body 90 structure, a limit cylinder 9825 is arranged on the bottom surface of the connecting frame 9820, and the telescopic rod of the limit cylinder 9825 extends downward to connect the limit moving plate 9821, and the limit rods 9822 are symmetrically arranged at both ends of the limit moving plate 9821. The limit rods 9822 pass through the connecting frame 9820, and the tops of the two limit rods 9822 are matched with the limit horizontal plate near the side of the fixture 97, and the limit horizontal plate is symmetrically arranged at both ends. The two sets of limiting components 982 use four limiting bead plates 9823 to limit the front and rear sides of the conveying direction of the jig 97 during the transmission of the jig 97 along the assembly line body 90, so as to avoid setting a blocking structure only on the front side. After the jig 97 stops, the rotating roller in the assembly line body 90 continues to affect the jig 97, causing a slight fluctuation of the jig 97 front and back, affecting the subsequent positioning component 981 to perform precise positioning, and further avoiding the phenomenon that the positioning component 981 will overturn the jig 97 due to inaccurate position.

[0061] Furthermore, the above-mentioned limiting bead plate 9823 includes a mounting plate and a base plate, and a plurality of circular grooves are provided in the mounting plate, one side of the circular grooves is connected to the outside, and balls 9824 are placed in the circular grooves, and the balls 9824 can roll in the circular grooves. Then, the mounting plate with the balls 9824 installed is fixed to the base plate to be assembled into a limiting bead plate 9823, and the friction between the limiting bead plate 9823 and the side of the base plate 970 is rolled to reduce the influence of the friction on the subsequent jacking, and the number of balls 9824 in the limiting bead plate 9823 can be adjusted according to the actual situation, which saves the use cost, and is easier to maintain and has a lower replacement cost.

[0062] Furthermore, if Fig.10 As shown, the above-mentioned positioning components 981 are provided with two groups, which are also symmetrically arranged on the assembly line body 90, wherein the positioning components 981 include a connecting plate 9810 fixed to the assembly line body 90, a positioning cylinder 9811 is arranged on the bottom surface of the connecting plate 9810, the telescopic rod of the positioning cylinder 9811 is connected to the positioning movable plate 9812, positioning rods 9813 are symmetrically arranged at both ends of the positioning movable plate 9812, a positioning pin 2 9814 is arranged on the top of the positioning rod 9813, and positioning pin sleeves 2 are also correspondingly arranged at the four corners of the bottom plate 970. Through the synchronous movement of the two groups of positioning cylinders 9811, the four positioning pins 2 9814 are driven to rise and dock with the corresponding positioning pin sleeves 2 to realize the positioning of the fixture 97, and then continue to move upward to lift the fixture 97 for assembly operation to avoid the continuous rotation of the roller causing the fixture 97 to vibrate and affect the accuracy of assembly.

[0063] In addition, the positioning components 981 can also be arranged in parallel into a group, and the four positioning pins 9814 can be driven to rise by the same positioning cylinder 9811, so that the rising of the positioning pins 9814 is more synchronous, thereby avoiding the two groups of positioning components 981 being ejected out of sync due to external reasons, such as confusion in the electronic control system, and then flipping the fixture 97.

[0064] It should be further noted in this embodiment that the four groups of positioning rods 9813 are all located between two adjacent rollers and do not affect the transmission of the assembly line 9.

[0065] Furthermore, when placing the workstation 1 91, the assembled column components are placed in the assembly grooves 972 accordingly and transferred to the subsequent workstations for further processing.

[0066] The positioning system 98 of this embodiment is configured to limit the position by first extending the limit component 982 on the front side of the conveying direction, and then extending the limit component 982 on the rear side of the conveying direction to accurately limit the position of the fixture 97 along the conveying direction. After that, the two groups of positioning components 981 are synchronously extended to lift the fixture 97 to perform specific assembly operations at this workstation.

[0067] Embodiment 2

[0068] This embodiment provides an assembly method of a robot arm automatic assembly mechanism, using the robot arm automatic assembly mechanism in Embodiment 1, the method comprises the following steps:

[0069] Step 1, loading: the external AGV trolley guides the conveying plate 1115 carrying the parts into the corresponding first conveyor line 111. When the conveying plate 1115 moves to the position blocked by the limit baffle, the ejection cylinder 1116 extends, and the ejection frame 1117 drives the positioning pin 1118 upward, and the positioning pin 1118 docks with the corresponding positioning pin sleeve 1119 to adjust and position the conveying plate 1115. Then, the ejection frame 1117 continues to rise, and the conveying plate 1115 is pushed away from the conveying roller 1112 until it contacts the top limit platform 1114.

[0070] Step 2, assembly: The column is reversely placed between the limit pieces 1232 by the transport robot 125, and then the pad is grabbed again and placed on the bottom surface of the column, and the four-bit screwing robot 121 is used to screw and fix it, and then the sealing plate is grabbed and placed on the pad, and screwed and fixed, and the fixed column assembly is grabbed by the transport robot 125, and turned 180 degrees and placed on the front assembly platform 124 to place pins, thus completing the assembly of the partial structural column assembly of one arm;

[0071] Step three, docking assembly line 9: when the jig 97 is transported to the placement station 91, the limit assembly 982 on the front side of the conveying direction is extended first for limiting the position, and then the limit assembly 982 on the rear side of the conveying direction is extended to accurately limit the jig 97 along the conveying direction, and then the two groups of positioning assemblies 981 are extended synchronously to position and lift the jig 97, and then the assembled column assembly is placed on the base plate 970 through the handling robot 125.

[0072] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0073] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A robotic arm automatic assembly mechanism, characterized in that: It comprises an assembly line (9), a first conveying station (11) and a first assembly station (12), wherein the first assembly station (12) is arranged close to the assembly line (9); A first conveying line (111) is arranged in the first conveying station (11), and a conveying support plate (1115) and an ejection limiting assembly are arranged in the first conveying line (111), wherein the ejection limiting assembly comprises an ejection cylinder (1116), an ejection frame (1117) is installed on the telescopic rod of the ejection cylinder (1116), the ejection frame (1117) is arranged in a U shape, and positioning pins (1118) are symmetrically arranged at both ends of the ejection frame (1117), and positioning pin sleeves (1119) are arranged at the four corners of the conveying support plate (1115), and the positioning pins (1118) are matched with the positioning pin sleeves (1119).

2. The automatic assembly mechanism of a robot arm according to claim 1, characterized in that: The first conveying station (11) comprises a first conveyor platform (110), on which two groups of first conveying lines (111) are symmetrically arranged, and the two groups of first conveying lines (111) respectively convey corresponding assembly parts.

3. A robotic arm automatic assembly mechanism according to claim 1 or 2, characterized in that: The first conveyor line (111) comprises a conveyor line bracket (1111), a plurality of groups of conveyor rollers (1112) are rotatably connected between the two ends of the top of the conveyor line bracket (1111), the plurality of groups of conveyor rollers (1112) are connected via belt transmission, a conveyor motor is installed at the bottom of the conveyor line bracket (1111), and power is transmitted between the conveyor motor and the conveyor rollers (1112) via belts.

4. The automatic assembly mechanism of a robot arm according to claim 3, characterized in that: Conveying limit bending plates (1113) are symmetrically installed at both ends of the top of the conveying line bracket (1111), a vertical portion is vertically arranged on one side of the conveying limit bending plate (1113), and a conveying support plate (1115) is driven on the top of the multiple groups of conveying rollers (1112). The four corners of the conveying support plate (1115) are all provided with movable rollers, and the four movable rollers are in contact with the vertical portions of the conveying limit bending plates (1113) on both sides, and the outer ends of the vertical portions of the conveying limit bending plates (1113) are arranged in an outwardly inclined inclined surface, and the conveying line bracket (1111) is provided with a limit baffle on the side close to the first assembly station (12).

5. The automatic assembly mechanism of a robot arm according to claim 1, characterized in that: The two ends of the ejection frame (1117) are arranged to pass through the gaps between the corresponding adjacent conveying rollers (1112).

6. The automatic assembly mechanism of a robot arm according to claim 4, characterized in that: A top limiting platform (1114) is horizontally extended inward from the top of the vertical portion of the conveying limiting bent plate (1113), and the top limiting platform (1114) forms a limiting interval with the top surface of the conveying roller (1112) to limit the ejection of the conveying support plate (1115).

7. The automatic assembly mechanism of a robot arm according to claim 1, characterized in that: The first assembly station (12) comprises a first assembly table (120), on which a four-bit screw driving robot (121) and a transport robot (125) are arranged, and between the transport robot (125) and the four-bit screw driving robot (121) a reverse assembly platform (123) and a forward assembly platform (124) are arranged, and the reverse assembly platform (123) comprises an assembly base plate (1231) and a limiting member (1232) located on the assembly base plate (1231).

8. The automatic assembly mechanism of a robot arm according to claim 1, characterized in that: The assembly line (9) comprises an assembly line body (90) and a placement station (91) corresponding to the first assembly station (12); a fixture (97) is driven on the assembly line body (90), and a positioning system (98) is provided at the placement station (91); The fixture (97) comprises a base plate (970), and two positioning pin sleeves are correspondingly arranged at four corners of the base plate (970). The positioning system (98) comprises two groups of limit assemblies (982) and two groups of positioning assemblies (981), and the distance between the two limit assemblies (982) is equal to the length of the fixture (97).

9. The automatic assembly mechanism of a robot arm according to claim 8, characterized in that: The limit assembly (982) includes a connecting frame (9820), a limit cylinder (9825) is arranged on the bottom surface of the connecting frame (9820), a telescopic rod of the limit cylinder (9825) extends downward to connect to the limit movable plate (9821), limit rods (9822) are symmetrically arranged at both ends of the limit movable plate (9821), the tops of the two limit rods (9822) are matched and connected to the limit horizontal plate near one side of the fixture (97), and limit beads are symmetrically arranged at both ends of the limit horizontal plate. Plate one (9823), the positioning assembly (981) includes a connecting plate (9810), a positioning cylinder (9811) is arranged on the bottom surface of the connecting plate (9810), the telescopic rod of the positioning cylinder (9811) is connected to a positioning movable plate (9812), positioning rods (9813) are symmetrically arranged at both ends of the positioning movable plate (9812), and a positioning pin two (9814) is arranged on the top of the positioning rod (9813), and the positioning pin two (9814) is adapted to the positioning pin sleeve two.

10. An assembly method for a robotic arm automatic assembly mechanism, characterized in that: Using a robotic arm automatic assembly mechanism as described in any one of claims 1 to 9, the assembly method comprises the following steps: Step 1, loading: the AGV trolley guides the conveying support plate (1115) into the corresponding first conveying line (111). When the conveying support plate (1115) moves to the set position, the ejection limit assembly operates to push the conveying support plate (1115) away from the conveying roller (1112) until it contacts the top limit platform (1114); Step 2: Assembling: The first handling robot (125) and the four-bit screw driving robot (121) cooperate to assemble the parts conveyed by the two groups of first conveyor lines (111); Step 3, docking assembly line (9): When the jig (97) is transported to the placement station 1 (91), the positioning system (98) of the assembly line (9) is operated to lift the jig (97), and then the assembled column assembly is placed on the base plate (970) through the handling robot 1 (125).

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