A four-axis robot automatic assembly production line and production method thereof

Abstract

The invention discloses a four-axis robot automatic assembly production line and a production method thereof, which relate to the technical field of robot assembly, and comprise a fixedly installed assembly line, wherein a one-arm assembly station, a two-arm assembly station and a three-arm assembly station are sequentially arranged along the conveying direction of the assembly line; wherein the one-arm assembly station comprises a first station and a second station respectively arranged on both sides of the assembly line, wherein the two-arm assembly station comprises a fifth station located on one side of the assembly line, and wherein the three-arm assembly station comprises a seventh station and an eighth station located on one side of the assembly line; by connecting the first station, the second station, the fifth station, the seventh station and the eighth station in series on the assembly line, one arm, two arms and three arms of the four-axis robot are synchronously and continuously assembled; through the cooperation of the above-mentioned stations, fast and efficient installation is achieved, and compared with traditional manual assembly, the assembly efficiency is greatly improved, the assembly accuracy is greatly improved, and the labor cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot assembly, and in particular to a four-axis robot automatic assembly production line and a production 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. Therefore, it is particularly important to develop a "four-axis robot automatic assembly line" that is both efficient, stable, and economical. Summary of the invention

[0005] The purpose of the present invention is to provide a four-axis robot automatic assembly production line and a production method thereof, which realizes fast and efficient installation through synchronous and continuous cooperation of multiple stations, and arranges an ejection limit assembly on each conveyor line, so that the conveyor carrier plate is pushed away from the conveyor roller when conveyed into place, so that the conveyor carrier plate is no longer affected by the power of the rotation of the conveyor roller, and can stably and accurately carry parts, making the assembly more stable, and the machine replaces manual labor, saving labor costs, and solving the problems of low efficiency, instability and low economic practicality of traditional production lines.

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

[0007] A four-axis robot automatic assembly production line includes a fixed assembly line, wherein a one-arm assembly station, a two-arm assembly station and a three-arm assembly station are sequentially arranged along the conveying direction of the assembly line;

[0008] The one-arm assembly station includes a first station and a second station located on both sides of the assembly line, the two-arm assembly station includes a fifth station located on one side of the assembly line, and the three-arm assembly station includes a seventh station and an eighth station located on one side of the assembly line;

[0009] The first, second, fifth, seventh and eighth stations are connected in series through the assembly line to synchronously and continuously assemble the first arm, second arm and third arm of the four-axis robot;

[0010] A first conveyor line is provided in the first station, a second conveyor line and a third conveyor line are provided in the second station, a fourth conveyor line is provided in the fifth station, a fifth conveyor line is provided in the seventh station, and a sixth conveyor line is provided in the eighth station, wherein the second conveyor line, the third conveyor line, the fourth conveyor line, the fifth conveyor line and the sixth conveyor line are all consistent with the structure of the first conveyor line, and an ejection limit assembly is provided in the first conveyor line to limit the ejection of the conveying support plate of the first conveyor line.

[0011] As a further solution of the present invention: the first workstation includes a first conveying station and a first assembly station, the first conveying station includes a first conveyor platform, first conveyor lines are symmetrically arranged at both ends of the top surface of the first conveyor platform, two groups of first conveyor lines respectively convey corresponding assembly parts, and the first assembly station is provided with a reverse assembly platform and a front assembly platform, the reverse assembly platform is used for reverse assembly of parts conveyed by the first conveyor line, and the front assembly platform is used for assembling pins.

[0012] 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.

[0013] 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, and a conveying support plate is arranged on the top of multiple groups of conveying rollers. Moving rollers are arranged at the four corners of the conveying support plate. The four moving 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 with inclined surfaces inclined outward.

[0014] As a further solution of the present invention: an ejection limit assembly is arranged inside the conveyor line bracket, and the ejection limit assembly includes an ejection cylinder, and an ejection frame is installed on the telescopic rod of the ejection cylinder. The two ends of the ejection frame are arranged through the gaps between the corresponding adjacent conveying rollers, and the two ends of the ejection frame are symmetrically provided with positioning pins, and the four corners of the conveying support plate are provided with positioning pin sleeves, and the positioning pins are adapted to the positioning pin sleeves.

[0015] 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.

[0016] As a further solution of the present invention: the assembly line includes an assembly line body, a jig is driven on the assembly line body, and a positioning system is arranged at a corresponding work station;

[0017] The fixture includes a bottom plate, a support bracket is arranged on the bottom plate, and two positioning pin sleeves are arranged at the four corners of the bottom plate, an assembly groove is opened at one end of the top surface of the bottom plate, and a limited position slide groove is opened in the middle of the outer side of the assembly groove;

[0018] The positioning system includes a limit assembly and a positioning assembly. Two groups of limit assemblies are provided, and the distance between the two limit assemblies is equal to the length of the fixture.

[0019] 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, a telescopic rod of the limiting cylinder is connected to 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 matched and connected to the limiting horizontal plate near one side of the fixture, and limiting bead plates 1 are symmetrically arranged at both ends of the limiting horizontal 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 to the positioning movable plate, positioning rods are symmetrically arranged at both ends of the positioning movable plate, and a positioning pin 2 is arranged on the top of the positioning rod, and the positioning pin 2 is adapted to the positioning pin sleeve 2;

[0020] As a further solution of the present invention: an arm assembly station also includes a third station and a fourth station, and a fixed station one is arranged at the cooperation position between the assembly line and the third station. If and only if the positioning system of the fixed station one also includes a placement limit component, the placement limit component includes a connecting vertical frame connected to the positioning movable plate, and a limiting bead plate two is arranged at the position of the limiting slide groove corresponding to the top of the connecting vertical frame.

[0021] As a further solution of the present invention: a production method of a four-axis robot automatic assembly production line, using the above-mentioned four-axis robot automatic assembly production line: the production method comprises the following steps:

[0022] Step 1, assembling one arm: assembling the column assembly of one arm of the four-axis robot through the first station, and assembling the reducer assembly of one arm of the four-axis robot through the second station at the same time, and the assembled column assembly and reducer assembly are fixedly assembled on the assembly line to form one arm;

[0023] Step 2, assembling the two arms: assembling the parts of the two arms through the fifth station, the assembly of the two arms is carried out simultaneously with the assembly of the one arm, and after the two arms are assembled, they are fixedly assembled with the assembled one arm on the assembly line;

[0024] Step 3, three-arm assembly: assemble the three arms of the four-axis robot in turn through the seventh station and the eighth station, and the three-arm parts assembled at the seventh station and the three-arm parts assembled at the eighth station are fixedly assembled with the assembled two arms transmitted from step 2 on the assembly line in turn;

[0025] Step 4: Aging test: After overall assembly, transfer to the aging test bench for aging test;

[0026] In the fixed assembly process of step 1, step 2 and step 3 on the assembly line, the positioning system provided in the assembly line is used to accurately position the jigs transmitted on the assembly line.

[0027] Beneficial effects of the present invention:

[0028] Through the coordination of various workstations on the production line, fast and efficient installation is achieved. Compared with traditional manual assembly, the efficiency is greatly improved from assembling one in four hours to assembling two to three in one hour. The assembly accuracy is greatly improved, and a large number of manual workstations are replaced by machinery, saving labor costs. In addition, the one-arm assembly station, the two-arm assembly station and the three-arm assembly station can be assembled at the same time, and then the assembly efficiency is further improved through the series coordination of the assembly line. At the same time, an ejection limit assembly is set on the conveyor line. When the conveyor is in place, the conveyor plate is pushed away from the conveyor roller, so that the conveyor plate is no longer affected by the power of the conveyor roller rotation, and can stably and accurately carry the parts for the automated equipment in each assembly station to obtain. The ejection limit assembly drives the conveyor plate to move, ensuring the accuracy and stability of the parts feeding, so that the parts conveying and processing assembly can be stably, smoothly and accurately coordinated, further improving the stability of the assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with the accompanying drawings.

[0030] Figure 1 It is a structural schematic diagram of the automatic assembly production line of the present invention;

[0031] Figure 2 This is a schematic diagram of the first station structure of the present invention Figure 1 ;

[0032] Figure 3 This is a schematic diagram of the first station structure of the present invention Figure 2 ;

[0033] Figure 4 yes Figure 2 A schematic diagram of the enlarged structure of the middle A area;

[0034] Figure 5 It is a schematic diagram of the structure of the first conveying station of the present invention;

[0035] Figure 6 This is a schematic diagram of the first conveyor line structure of the present invention. Figure 1 ;

[0036] Figure 7 This is a schematic diagram of the first conveyor line structure of the present invention. Figure 2 ;

[0037] Figure 8 It is a schematic diagram of the assembly line structure of the present invention;

[0038] Fig. 9 This is a schematic diagram of the coordination structure of the fixture and the positioning system of the present invention. Figure 1 ;

[0039] Fig.10 This is a schematic diagram of the coordination structure of the fixture and the positioning system of the present invention. Figure 2 ;

[0040] Fig.11 It is a schematic diagram of the structure of the positioning system of the present invention;

[0041] Fig.12 This is a schematic diagram of the second station structure of the present invention Figure 1 ;

[0042] Fig.13 This is a schematic diagram of the second station structure of the present invention Figure 2 ;

[0043] Fig.14 It is a structural schematic diagram of the assembly alignment platform and the flip platform of the present invention;

[0044] Fig.15 It is a schematic diagram of the structure of the assembly alignment platform of the present invention;

[0045] Fig.16 It is a schematic diagram of the third station structure of the present invention;

[0046] Fig.17 It is a schematic diagram of the fifth station structure of the present invention;

[0047] Fig.18 It is a schematic diagram of the structure of the seventh station of the present invention;

[0048] Fig.19 It is a schematic diagram of the structure of the eighth workstation of the present invention.

[0049] In the figure: 100, one-arm assembly station; 1, first station; 11, first conveying station; 110, first conveyor platform; 111, first conveyor line; 1111, conveyor line bracket; 1112, conveyor roller; 1113, conveyor limit bending plate; 1114, top limit platform; 1115, conveyor support plate; 1116, ejection cylinder; 1117, ejection frame; 1118, positioning pin 1; 1119, positioning pin sleeve 1; 12, first assembly station; 120, first assembly platform; 121, four-bit screw driving manipulator; 123, reverse assembly platform; 1231, assembly bottom plate; 1232, limiter; 124, front assembly platform; 125, handling manipulator 1; 2, second station; 21, second conveying station; 210, second conveyor platform; 211, second conveyor line; 22, second assembly station; 220, handling robot 2; 221, handling robot 3; 222, first screwing robot; 223, handling robot 4; 224, handling robot 5; 225, second screwing robot; 226, manual processing station; 227, linear module 1; 228, first assembly platform; 229, assembly alignment platform; 2291, alignment support platform; 2292, drive motor; 23293, hollow platform; 2294, pressing cylinder; 2210, flip platform 1; 2211, linear module 2; 2212, mobile platform; 2213, alignment cylinder; 2214, telescopic cylinder; 2215, rotating cylinder; 221 6. Gripper; 2217. Turning support table; 2211. Second assembly table; 2212. Third screwing robot; 23. Third conveying station; 230. Third conveying line; 3. Third station; 31. Workbench; 32. Fourth screwing robot; 4. Fourth station; 200. Two-arm assembly station; 5. Fifth station; 51. Fourth conveying station; 510. Fourth conveyor platform; 511. Fourth conveying line; 52. Third assembly station; 520. Third assembly table; 521. Handling robot six; 522. Handling robot seven; 523. Linear module three; 524. Linear module four; 525. Fifth screwing robot; 526. Turning station; 527. Turning platform two; 528. Handling robot eight; 6 , the sixth station; 300, three-arm assembly station; 7, the seventh station; 71, the fourth assembly station; 72, the conveyor line one; 73, the fifth conveyor line; 74, the handling robot nine; 75, the manual assembly station one; 8, the eighth station; 81, the fifth assembly station; 82, the conveyor line two; 83, the sixth conveyor line; 84, the handling robot ten; 85, the manual assembly station two; 9, the assembly line; 90, the assembly line body; 91, the placement station one; 92, the fixed station one; 93, the fixed station two; 94, the fixed station three; 95, the placement station two; 96, the placement station three; 97, the fixture; 970, the bottom plate; 971, the support bracket; 972, the assembly slot; 973, the limit slide; 98, the positioning system; 981, the positioning component;9810, connecting plate; 9811, positioning cylinder; 9812, positioning movable plate; 9813, positioning rod; 9814, positioning pin 2; 982, limiting assembly; 9820, connecting frame; 9821, limiting movable plate; 9822, limiting rod; 9823, limiting bead plate 1; 9824, ball bearing; 9825, limiting cylinder; 983, placing limiting assembly; 9831, limiting bead plate 2; 400, silo; 500, flexible vibration plate; 600, top CCD; 700, bottom CCD. ; DETAILED DESCRIPTION

[0050] 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.

[0051] Embodiment 1

[0052] like Figures 1 to 19 As shown, this embodiment provides a four-axis robot automatic assembly production line, including a fixedly installed assembly line 9, along the conveying direction of the assembly line 9 (the direction of the arrow in the figure), a one-arm assembly station 100, a two-arm assembly station 200 and a three-arm assembly station 300 are sequentially arranged, and the four-axis robot is efficiently and stably assembled through the mutual continuity coordination of the one-arm assembly station 100, the two-arm assembly station 200 and the three-arm assembly station 300, thereby improving the assembly efficiency and quality of the production line.

[0053] Specific as Figure 1 As shown, the one-arm assembly station 100 includes a first station 1, a second station 2, a third station 3 and a fourth station 4 which are arranged on both sides of the assembly line 9, wherein the first station 1, the third station 3 and the fourth station 4 are located on one side of the assembly line 9, and the second station 2 is located on the other side of the assembly line 9, and is arranged corresponding to the first station 1, the third station 3 and the fourth station 4. Through the automated coordination of the first station 1, the second station 2, the third station 3 and the fourth station 4, the assembly of one arm of the four-axis robot is completed efficiently and stably, and combined with the assembly line 9, it is orderly and continuously transmitted to the two-arm assembly station 200 to realize the next step of installation. The automated assembly simplifies the steps of the manual assembly process, coordinates the continuity between the various processes, completes it with a better route, saves assembly time, improves the assembly efficiency of the entire production line, and further saves labor costs.

[0054] Furthermore, the above-mentioned two-arm assembly station 200 includes a fifth station 5 and a sixth station 6 which are respectively arranged on both sides of the assembly line 9, wherein the fifth station 5 is on the same side as the second station 2, and the sixth station 6 is located on the other side of the assembly line 9. Through the cooperation of the fifth station 5 and the sixth station 6, the two arms of the four-axis robot are assembled after the assembly of one arm is completed. The entire two-arm assembly station 200 is connected with the one-arm assembly station 100 through the assembly line 9 to form an orderly assembly route.

[0055] Furthermore, the above-mentioned three-arm assembly station 300 includes a seventh station 7 and an eighth station 8, wherein the seventh station 7 and the eighth station 8 are arranged along the conveying direction of the assembly line 9, and the seventh station 7 and the eighth station 8 are located on the same side as the fifth station 5. The assembly of the three arms of the four-axis robot is completed through the seventh station 7 and the eighth station 8, and the assembled four-axis robot enters the next process for aging testing.

[0056] The automatic assembly production line in this embodiment achieves fast and efficient installation through the cooperation of the above-mentioned stations. Compared with traditional manual assembly, the efficiency is greatly improved from assembling one in four hours to assembling two to three in one hour, and the assembly accuracy is greatly improved. A large number of manual stations are replaced by machinery, saving labor costs. Furthermore, the above-mentioned one-arm assembly station 100, two-arm assembly station 200 and three-arm assembly station 300 can be assembled at the same time, and then coordinated in series through the assembly line 9 to further improve the assembly efficiency.

[0057] like Figure 2-Figure 7 As shown, the specific structure of the first station 1 in this embodiment is as follows:

[0058] The first station 1 includes 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 one-arm column assembly is assembled quickly and accurately through automated assembly.

[0059] Specific as Figure 2 and Figure 3 As 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.

[0060] More specifically, Figure 5-Figure 7 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 conveying motor provides power, thereby driving the plurality of conveyor rollers 1112 to rotate synchronously to realize the conveying of materials.

[0061] 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 and ensure that the carried parts are located in a suitable grasping position.

[0062] 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.

[0063] 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.

[0064] Furthermore, if Figure 7 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.

[0065] 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.

[0066] Furthermore, if Figure 6 and Figure 7As 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.

[0067] like Figure 2 and Figure 3 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.

[0068] A material bin 400, a flexible vibration plate 500, a top CCD600 and a bottom CCD700 are also provided outside the four-batch screw driving robot 121 and located at the first assembly station 120. The material bin 400 and the flexible vibration plate 500 are combined to realize the arrangement of the screws. The material bin 400 is used to provide screws, and the flexible vibration plate 500 is used to arrange the chaotic screws, so as to facilitate the subsequent acquisition of screws by the four-batch screw driving robot 121. The material bin 400 and the flexible vibration plate 500 are both provided with multiple groups, corresponding to screws of different specifications for processing, and in the four batches Before the first screw driving robot 121 obtains the screws, the top CCD600 takes a photo to identify the arranged screws, and then controls the four-bit first screw driving robot 121 to go to the corresponding position to obtain the arranged screws (generally with the tail facing up). After adsorbing the screws, the bottom CCD700 takes a photo to identify whether the adsorbed screws are in a qualified state. If there is a deviation or the screw position is incorrect, the four-bit first 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.

[0069] 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.

[0070] 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 4 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.

[0071] 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.

[0072] like Figure 8-Figure 11 As shown, the specific structure of the pipeline 9 in this embodiment is as follows:

[0073] like Figure 8 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. On the assembly line body 90, a placement station 1 91, a fixed station 1 92, a fixed station 2 93, a fixed station 3 94, a placement station 2 95 and a placement station 3 96 are sequentially arranged along the conveying direction.

[0074] Among them combined Figure 1 As shown, the placement station 1 91 is located at the cooperation between the first station 1 and the second station 2 and the assembly line body 90, the fixed station 1 92 is located at the cooperation between the third station 3 and the assembly line body 90, the fixed station 2 93 is located at the cooperation between the fourth station 4 and the assembly line body 90, the fixed station 3 94 is located at the cooperation between the fifth station 5 and the sixth station 6 and the assembly line body 90, the placement station 2 95 is located at the cooperation between the seventh station 7 and the assembly line body 90, and the placement station 3 96 is located at the cooperation between the eighth station 8 and the assembly line body 90. The first station 1, the second station 2, the third station 3, the fourth station 4, the fifth station 5, the sixth station 6, the seventh station 7 and the eighth station 8 are connected and linked through the assembly line body 90 to achieve assembly continuity.

[0075] like Figure 8As shown, a jig 97 is transmitted on the assembly line body 90, and a positioning system 98 is provided at the corresponding positions of the placement station 1 91, the fixed station 1 92, the fixed station 2 93, the fixed station 3 94, the placement station 2 95 and the placement station 3 96. The positioning system 98 cooperates with the jig 97 to realize the assembly tasks of the different above-mentioned stations.

[0076] Among them, specific Fig. 9 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.

[0077] Furthermore, an assembly groove 972 is provided on the top surface of one end of the base plate 970 away from the support bracket 971 for installing the one-arm component after the one-arm assembly, and a limiting slide groove 973 is provided in the middle of the outer side of the assembly groove 972 for limiting the one-arm component when installing it in cooperation with the positioning system 98, so that the one-arm component can be stably and accurately installed on the jig 97, and avoid affecting other subsequent assemblies such as two-arm or three-arm assemblies.

[0078] During the process of the assembly line body 90 transferring the fixture 97, Figure 8 The multiple workstations shown all require the jig 97 to stop for corresponding assembly. 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.

[0079] In view of this, if Figure 9-10 As shown, in this embodiment, positioning systems 98 are provided at the corresponding positions of placement station 1 91, fixed station 1 92, fixed station 2 93, fixed station 3 94, placement station 2 95 and placement station 3 96 to accurately position the jig 97 transmitted to the corresponding position to ensure accurate and stable assembly.

[0080] The above-mentioned positioning system 98 includes a limit assembly 982 symmetrically arranged on both sides of the assembly line body 90 corresponding to the workstation and a positioning assembly 981 located between the limit assemblies 982 on both sides, wherein the spacing between the two limit assemblies 982 is equal to the length of the fixture 97, and when the fixture 97 moves to the set workstation (the workstation on the assembly line body 90), the two limit 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;

[0081] And more specifically, Fig.11 As 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.

[0082] 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.

[0083] Furthermore, if Fig.11As 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.

[0084] 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.

[0085] 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.

[0086] Furthermore, when placing station 1 91, the assembled column assembly is placed in the assembly groove 972 accordingly. When fixing station 1 92, the column assembly needs to be fixed to the base plate 970. Through the transmission from placing station 1 91 to fixing station 1 92, the column assembly placed in the assembly groove 972 may produce a certain position offset due to the slight vibration of the transmission. Therefore, the positioning system 98 in this embodiment is also provided with a placement limit assembly 983, which includes a connecting vertical frame connected to the positioning movable plate 9812, and a limiting bead plate 2 9831 is provided at the top of the connecting vertical frame corresponding to the position of the limiting slide groove 973. The limiting bead plate 2 9831 has the same structure as the limiting bead plate 1 9823. By further limiting the placed column assembly during the ejection positioning process of fixing station 1 92, the accuracy of the installation of the column assembly and the assembly groove 972 is ensured, which is convenient for subsequent screw fixing.

[0087] It should be noted that the placement limit assembly 983 can be set only at the fixed workstation 1 92 position, and no requirement is made for other workstations.

[0088] The positioning system 98 of this embodiment is to limit the position by first extending the limiting component 982 on the front side of the conveying direction, and then extending the limiting component 982 on the rear side of the conveying direction to accurately limit the position of the fixture 97 along the conveying direction, and then the two sets of positioning components 981 are synchronously extended to lift the fixture 97 to perform the specific assembly operation of the station. When fixing the station 1 92, as the positioning component 981 is extended, the preventing limiting component 983 is also extended to further limit the column component.

[0089] like Figure 12-Figure 15 As shown, the specific structure of the second station 2 in this embodiment is as follows:

[0090] The above-mentioned second station 2 includes a second conveying station 21, a second assembly station 22 and a third conveying station 23, wherein the second assembly station 22 is arranged close to the assembly line 9, and the second conveying station 21 and the third conveying station 23 are located at the two ends of the second assembly station 22 away from the assembly line 9. The second conveying station 21, the second assembly station 22 and the third conveying station 23 cooperate to realize the assembly of the reducer assembly in the one-arm structure.

[0091] Among them, Fig.12 As shown, the second conveying station 21 includes a second conveying platform 210 and a second conveying line 211 installed on the second conveying platform 210. The second conveying line 211 has the same structure as the first conveying line 111, and only the conveyed parts are different. The second conveying line 211 conveys the harmonic reducer, flange plate, upper cover plate and battery of the four-axis robot, and is also connected to the external AGV cart for automatic loading.

[0092] The third conveying station 23 also has a third conveying line 230, which has the same structure as the first conveying line 111. The difference is that the third conveying line 230 conveys the motor, O-ring and coupling of the four-axis robot, and is also connected to the external AGV cart for automatic loading.

[0093] Among them, Fig.12 and Fig.13As shown, the second assembly station 22 includes a second assembly table 2211, on which a handling robot 220 and a handling robot 3 221 are installed near the second conveying station 21. The harmonic reducer and the flange plate are handled by the handling robot 220, and the upper cover plate and the battery are automatically handled by the handling robot 3 221. A first screw-driving robot 222 and a third screw-driving robot 2212 are arranged on the second assembly table 2211 away from the second conveying station 21, wherein corresponding silos 400, flexible vibration disks 500, top CCD 600 and bottom CCD 700 are arranged around the first screw-driving robot 222 and the third screw-driving robot 2212 for arranging screws and determining the screw adsorption status (consistent with the working process of the above structure in the first assembly station 12). Furthermore, a first assembly platform 228, an assembly alignment platform 229 and a flip platform 2210 are sequentially arranged in the middle of the top surface of the second assembly table 2211 along the conveying direction of the assembly line 9, and a linear module 227 is arranged on the side of the flip platform 2210 away from the first assembly platform 228, a second screw driving robot 225 is arranged on the side of the linear module 227 close to the second conveying station 21, a transport robot 4 223 and a transport robot 5 224 are arranged on the side of the linear module 227 away from the second conveying station 21, and a manual processing station 226 is arranged on the side of the linear module 227 close to the third conveying station 23.

[0094] The harmonic reducer and flange plate are transported to the first assembly platform 228 by the transporting robot 220, and then fixed by screwing by the first screwing robot 222. Then, the assembled harmonic reducer and flange plate are transported to the assembly alignment platform 229 by the transporting robot 220 again. The transporting robot 3 221 transports the upper cover plate and the battery to the assembly alignment platform 229, and screws are installed by the third screwing robot 2212. Then, the transporting robot 220 adsorbs the assembly onto the flip platform 1 2210 and flips it 180 degrees. Then, the transporting robot 4 223 transports it to the linear module 1 227 and transports it to the manual processing station 226 to assemble the motor, O-ring and coupling. Then, it returns to the middle position of the linear module 1 227. The transporting robot 5 224 transports the assembled reducer assembly to the placement station 1 91 on the assembly line body 90 to cooperate with the column assembly.

[0095] What needs to be elaborated in detail is that Figure 4 and Figure 5The above-mentioned assembly alignment platform 229 includes an alignment support platform 2291 installed with the second assembly platform 2211, and a hollow platform 2293 is installed under the alignment support platform 2291. A driving motor 2292 is connected to one side of the hollow platform 2293, and pressure cylinders 2294 are arranged on both sides of the top of the alignment support platform 2291. The hollow platform 2293 is driven to rotate by the driving motor 2292 to realize the alignment of the upper cover plate and the harmonic reducer, wherein the hollow platform 2293 is a structure capable of rotational alignment in the prior art, which can be: PTN060-10-8-30-46 combined with a Mitsubishi servo motor, and the pressure cylinder 2294 is also a prior art, and the upper cover plate and the harmonic reducer are positioned and pressed by the deflected pressure rod.

[0096] like Figure 4 As shown, the above-mentioned flipping platform 2210 includes a linear module 2211 connected to the bottom of the second assembly platform 2211, the slider on the linear module 2211 is connected to the moving platform 2212, the two ends of the moving platform 2212 are symmetrically provided with alignment cylinders 2213, the top of the moving part of the alignment cylinder 2213 is provided with a telescopic cylinder 2214, the telescopic rod of the telescopic cylinder 2214 is connected to the rotating cylinder 2215, the rotating rod of the rotating cylinder 2215 is connected to the clamp 2216, and a flipping support platform 2217 is provided between the two clamps 2216.

[0097] The harmonic reducer connected to the upper cover is flipped through a flipping platform 2210 to facilitate the subsequent assembly of the motor, O-ring and coupling. After the upper cover is connected to the harmonic reducer, there is no clamping position, which allows the handling robot 223 to flip directly during the transportation process. Therefore, a flipping platform 2210 is added to flip the assembled parts, and the flipping platform 2210 is located at the bottom to save upper space and avoid interference with other upper running structures (such as handling robots, etc.).

[0098] Furthermore, if Figure 1 and Fig.16 As shown, a workbench 31 is provided at the third station 3, the fourth station 4 and the sixth station 6, and a fourth screw-driving robot 32 is provided on the workbench 31, wherein the fourth screw-driving robot 32 of the third station 3 is used to fix the column assembly and the base plate 970, the fourth screw-driving robot 32 of the fourth station 4 is used to fix the reducer assembly and the column assembly, and the fourth screw-driving robot 32 of the sixth station 6 is used to fix the second arm and the first arm, and a silo 400, a flexible vibration disk 500, a top CCD600 and a bottom CCD700 are also provided on the workbench 31 for arranging the screws and judging the adsorption status of the screws.

[0099] Furthermore, if Fig.17As shown, the fifth station 5 in this embodiment includes a fourth conveying station 51 and a third assembly station 52. The fourth conveying station 51 includes a fourth conveyor platform 510, and a fourth conveyor line 511 is arranged on the fourth conveyor platform 510. The fourth conveyor line 511 has the same structure as the first conveyor line 111, except that the fourth conveyor line 511 is used to convey two-arm aluminum parts, two-arm harmonic reducers and flange plates, and connect to external AGV carts for automatic loading.

[0100] The third assembly station 52 comprises a third assembly table 520 arranged near the assembly line 9, a handling robot 6 521 and a handling robot 7 522 are arranged on the third assembly table 520 near the fourth conveying station 51, a linear module 3 523 and a linear module 4 524 are arranged outside the handling robot 6 521 and the handling robot 7 522, a fifth screw-driving robot 525 is arranged at the outer end of the linear module 4 524, and a material bin 400, a flexible vibration plate 500, and a screw-driving robot 525 are arranged around the fifth screw-driving robot 525. The top CCD600 and the bottom CCD700 arrange the screws and determine the screw adsorption status, wherein a flipping station 526 is provided on the other side of the linear module four 524, and a flipping platform two 527 is provided on the flipping station 526. The flipping platform two 527 has the same structure as the flipping platform one 2210, and both can realize a 180-degree flip of the component, and a transport robot eight 528 is correspondingly provided on the outer side of the flipping platform one 2210, which is used to transport the assembled two-arm assembly to the fixed station three 94 for assembly with the one-arm assembly.

[0101] The two-arm aluminum part is placed on the linear module three 523 by the transport robot six 521, and the harmonic reducer and flange plate of the two-arm are transported to the installation position of the two-arm aluminum part by the transport robot seven 522. The workpiece two-arm aluminum part and the harmonic reducer and flange plate of the two-arm are matched and flipped 180 degrees, and clamped on the slider of the linear module four 524. The linear module four 524 transports the clamped assembly to the position of the fifth screw-driving robot 525 for screwing and fixing, and then continues to transport it to the other end of the linear module four 524, and the installed two-arm assembly is transported to the flip platform two 527 by the transport robot eight 528 for flipping, and then flipped 180 degrees, and transported by the transport robot eight 528 to the fixed station three 94 of the assembly line 9 for assembly with the one-arm assembly.

[0102] Furthermore, if Fig.18 As shown, the structure of the seventh station 7 in this embodiment is as follows:

[0103] The seventh station 7 includes a fourth assembly station 71, on which a conveyor line 72 is arranged near the assembly line 9, and on the side away from the assembly line 9, a plurality of fifth conveyor lines 73 and handling robots 74 are arranged in sequence along the conveying direction of the assembly line 9, wherein the fifth conveyor line 73 is consistent with the first conveyor line 111 in structure, and only differs in the parts conveyed. The fifth conveyor line 73 is also connected to the external AGV cart for automatic loading. A plurality of handling robots 74 are used to transport the parts on each fifth conveyor line 73 to the conveyor line 72, and a manual assembly station 75 is arranged at the terminal of the conveyor line 72, and the three-arm parts conveyed by the conveyor line 72 are manually assembled, wherein the fifth conveyor line 73 conveys the lifting motor, brake motor, rotating motor, synchronous wheel, fixing ring, screw nut, screw, linear bearing, upper and lower covers and end face covers of the four-axis robot, and the above parts are manually assembled and then transported to the placement station 2 95 of the assembly line 9 for fixed installation with the two-arm assembly.

[0104] Furthermore, if Fig.19 As shown, the structure of the eighth station 8 in this embodiment is as follows:

[0105] The above-mentioned eighth station 8 includes a fifth assembly table 81, on the side of the fifth assembly table 81 close to the assembly line 9, a conveyor line 2 82 is arranged, and on the side away from the assembly line 9, multiple groups of sixth conveyor lines 83 and handling robots 10 84 are arranged in sequence along the conveying direction of the assembly line 9, wherein the sixth conveyor line 83 has the same structure as the first conveyor line 111, and only the conveyed parts are different. It is also connected to the external AGV cart for automatic loading. Multiple handling robots 10 84 are used to transport the parts on each sixth conveyor line 83 to the conveyor line 2 82, and a manual assembly station 2 85 is arranged at the terminal of the conveyor line 2 82, and the three-arm parts conveyed by the conveyor line 2 82 are manually assembled, wherein the parts conveyed by the sixth conveyor line 83 include the outer shell, the wiring harness and the bottom cover of the second arm. After the above-mentioned parts are manually assembled, they are transported to the placement station 3 96 of the assembly line 9 and fixedly installed with the two-arm assembly.

[0106] After the overall assembly, it is transported to the aging test bench for aging testing.

[0107] Embodiment 2

[0108] This embodiment provides a production method of a four-axis robot automatic assembly production line, using the automatic assembly production line in Embodiment 1, specifically comprising the following steps:

[0109] Step 1, assembly of one arm: 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 screw-driving 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, completing the assembly of the column assembly of one arm, and then the assembled column assembly is placed in the assembly groove 972 accordingly; at the same time, the harmonic reducer and the flange plate are transported to the first assembly platform 228 by the transport robot 220, and then the first screw-driving robot 222 is used to screw and fix them, and then the transport robot 220 is used again. The assembled harmonic reducer and flange plate are transported to the assembly alignment platform 229, and the transport robot 3 221 transports the upper cover plate and the battery to the assembly alignment platform 229, and the third screwing robot 2212 is used to screw and install them, and then the transport robot 2 20 adsorbs the assembly to the flip platform 1 2210 and flips it 180 degrees, and then the transport robot 4 223 transports it to the linear module 1 227, and transports it to the manual processing station 226 to assemble the motor, O-ring and coupling, and then returns to the middle position of the linear module 1 227, and the transport robot 5 224 transports the assembled reducer assembly to the placement station 1 91 on the assembly line body 90 to cooperate with the column assembly, and then fixes it at the third station 3 and the fourth station 4 to complete the one-arm assembly;

[0110] Step 2, two-arm assembly: Place the two-arm aluminum part on the linear module three 523 through the handling robot six 521, and carry the harmonic reducer and flange plate of the two-arm to the installation position of the two-arm aluminum part through the handling robot seven 522. The workpiece two-arm aluminum part and the harmonic reducer and flange plate of the two-arm are matched and turned 180 degrees, and clamped on the slider of the linear module four 524. The linear module four 524 transports the clamped assembly to the position of the fifth screw-driving robot 525 for screwing and fixing, and then continues to transport to the other end of the linear module four 524. The installed two-arm assembly is transported to the flip platform two 527 by the handling robot eight 528 for flipping, and then flipped 180 degrees, and transported by the handling robot eight 528 to the fixed station three 94 of the assembly line 9 for assembly with the one-arm assembly to complete the two-arm assembly;

[0111] Step 3, three-arm assembly: first, the parts on each fifth conveyor line 73 are transported to the conveyor line 1 72 by multiple handling manipulators 9 74, and the three-arm parts transported by the conveyor line 1 72 are assembled manually, wherein the fifth conveyor line 73 transports the lifting motor, brake motor, rotating motor, synchronous wheel, fixing ring, screw nut, screw, linear bearing, upper and lower covers and end face covers of the four-axis robot, and the above parts are assembled manually and then transported to the placement station 2 95 of the assembly line 9, and fixedly installed with the two-arm assembly; then, the parts on each sixth conveyor line 83 are transported to the conveyor line 2 82 by multiple handling manipulators 10 84, and the three-arm parts transported by the conveyor line 2 82 are assembled manually, wherein the parts transported by the sixth conveyor line 83 include the housing, the wiring harness and the bottom cover of the second arm, and the above parts are assembled manually and then transported to the placement station 3 96 of the assembly line 9, and fixedly installed with the two-arm assembly to complete the three-arm group;

[0112] Step 4: Aging test: After overall assembly, transfer to the aging test bench for aging test.

[0113] 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.

[0114] 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.

[0115] 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 four-axis robot automatic assembly production line, characterized in that: It comprises a fixedly installed assembly line (9), wherein a one-arm assembly station (100), a two-arm assembly station (200) and a three-arm assembly station (300) are sequentially arranged along the conveying direction of the assembly line (9); The one-arm assembly station (100) includes a first station (1) and a second station (2), the two-arm assembly station (200) includes a fifth station (5), and the three-arm assembly station (300) includes a seventh station (7) and an eighth station (8); the first station (1), the second station (2), the fifth station (5), the seventh station (7) and the eighth station (8) are connected in series via an assembly line (9) to synchronously and continuously assemble the one arm, the second arm and the third arm of the four-axis robot; A first conveyor line (111) is provided in the first station (1), a second conveyor line (211) and a third conveyor line (230) are provided in the second station (2), a fourth conveyor line (511) is provided in the fifth station (5), a fifth conveyor line (73) is provided in the seventh station (7), and a sixth conveyor line (83) is provided in the eighth station (8), wherein the second conveyor line (211), the third conveyor line (230), the fourth conveyor line (511), the fifth conveyor line (73) and the sixth conveyor line (83) are all consistent with the structure of the first conveyor line (111), and an ejection limit assembly is provided in the first conveyor line (1111) to limit the ejection of the conveying support plate (1115) of the first conveyor line (111).

2. A four-axis robot automatic assembly production line according to claim 1, characterized in that: The first station (1) comprises a first conveying station (11) and a first assembly station (12). The first conveying station (11) comprises a first conveyor platform (110). First conveyor lines (111) are symmetrically arranged at two ends of the top surface of the first conveyor platform (110). Two groups of first conveyor lines (111) respectively convey corresponding assembly parts. The first assembly station (12) is provided with a reverse assembly platform (123) and a front assembly platform (124). The reverse assembly platform (123) is used for reverse assembly of parts conveyed by the first conveyor line (111), and the front assembly platform (124) is used for assembling pins.

3. A four-axis robot automatic assembly production line according to claim 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. A four-axis robot automatic assembly production line 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 arranged on the top of the plurality of groups of conveying rollers (1112) for transmission. The four corners of the conveying support plate (1115) are all provided with movable rollers. 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 with inclined surfaces inclined outwards.

5. A four-axis robot automatic assembly production line according to claim 3 or 4, characterized in that: An ejection limit assembly is arranged inside the conveyor line support (1111), and the ejection limit assembly comprises an ejection cylinder (1116). An ejection frame (1117) is installed on the telescopic rod of the ejection cylinder (1116). The two ends of the ejection frame (1117) are arranged through the gaps between the corresponding adjacent conveying rollers (1112). Positioning pins (1118) are symmetrically arranged at both ends of the ejection frame (1117). Positioning pin sleeves (1119) are arranged at the four corners of the conveying support plate (1115), and the positioning pins (1118) are adapted to the positioning pin sleeves (1119).

6. A four-axis robot automatic assembly production line according to claim 5, 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 four-axis robot automatic assembly production line according to claim 1, characterized in that: The assembly line (9) comprises an assembly line body (90), a fixture (97) is driven on the assembly line body (90), and a positioning system (98) is arranged at a corresponding work station; The fixture (97) includes a bottom plate (970), a support bracket (971) is arranged on the bottom plate (970), and two positioning pin sleeves are arranged at four corners of the bottom plate (970), an assembly groove (972) is opened at one end of the top surface of the bottom plate (970), and a limited sliding groove (973) is opened in the middle of the outer side of the assembly groove (972); The positioning system (98) includes a limit assembly (982) and a positioning assembly (981), two groups of limit assemblies (982) are provided, and the distance between the two limit assemblies (982) is equal to the length of the fixture (97).

8. The four-axis robot automatic assembly production line according to claim 7, characterized in that: The limiting assembly (982) includes a connecting frame (9820), a limiting cylinder (9825) is arranged on the bottom surface of the connecting frame (9820), a telescopic rod of the limiting cylinder (9825) is connected to a limiting movable plate (9821), limiting rods (9822) are symmetrically arranged at both ends of the limiting movable plate (9821), the tops of the two limiting rods (9822) are matched and connected to a limiting horizontal plate near one side of the fixture (97), and limiting bead plates are symmetrically arranged at both ends of the limiting horizontal plate. (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 2 (9814) is arranged on the top of the positioning rod (9813), and the positioning pin 2 (9814) is adapted to the positioning pin sleeve 2.

9. The four-axis robot automatic assembly production line according to claim 8, characterized in that: The one-arm assembly station (100) also includes a third station (3) and a fourth station (4), and a fixed station one (92) is arranged at the joint position between the assembly line (9) and the third station (3), if and only if the positioning system (98) at the fixed station one (92) also includes a placement limit component (983), the placement limit component (983) includes a connecting vertical frame connected to the positioning movable plate (9812), and a limit bead plate two (9831) is arranged at the top of the connecting vertical frame corresponding to the position of the limit slide groove (973).

10. A production method for a four-axis robot automatic assembly production line, characterized in that: Using a four-axis robot automatic assembly production line as described in any one of claims 1-9: the production method comprises the following steps: Step 1, assembling one arm: assembling the column assembly of one arm of the four-axis robot through the first station (1), and simultaneously assembling the reducer assembly of one arm of the four-axis robot through the second station (2), and the assembled column assembly and reducer assembly are fixedly assembled on the assembly line (9) to form one arm; Step 2, assembling the two arms: assembling the parts of the two arms through the fifth station (5), the assembly of the two arms is carried out simultaneously with the assembly of the one arm, and after the two arms are assembled, they are fixedly assembled with the assembled one arm on the assembly line (9); Step 3, three-arm assembly: The three arms of the four-axis robot are assembled in sequence through the seventh station (7) and the eighth station (8), and the three-arm parts assembled in the seventh station (7) and the three-arm parts assembled in the eighth station (8) are fixedly assembled with the assembled two arms transmitted from step 2 on the assembly line (9) in sequence; Step 4: Aging test: After overall assembly, transfer to the aging test bench for aging test; In the fixed assembly process on the assembly line (9) in step one, step two and step three, a positioning system (98) provided in the assembly line (9) is used to accurately position the jig (97) transmitted on the assembly line (9).

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