A humanoid robot assembly process and equipment for the production of core automotive parts

Abstract

The present invention relates to the technical field of machine tool mechanical arms, specifically to a humanoid robot assembly and assembling equipment for the production of core automotive parts, including a humanoid robot body for the production of core automotive parts, the humanoid robot body including a driving base, a mechanical seat fixedly mounted on the upper surface of the driving base, and a mechanical arm fixedly mounted on the upper surface of the mechanical seat for feeding, a supporting structure is arranged below the driving base; a cleaning part for cleaning the connection between the driving base and the mechanical seat is slidably mounted on the annular guide seat, the cleaning part is composed of a mounting structure, a walking mechanism, a shell, a cleaning mechanism, a dust collection device, and a scraping structure. The present invention designs a walking mechanism that can move in a circle around the driving base, and the dust collection and lubrication functions are linked to the rotation of the walking mechanism, that is, when the walking mechanism rotates, the inertia and the rotating shaft are used to make the dust collection and lubrication work, so as to achieve the cleaning of the outer surface of the rotating part of the mechanical arm base.

Description

Technical Field

[0001] The present invention relates to a humanoid robot assembly process and equipment for the production of automotive core parts, in particular to a humanoid robot assembly process and equipment for the production of automotive core parts, belonging to the technical field of machine tool mechanical arms. Background Art

[0002] Machine tool manipulators are important equipment in the field of industrial automation. They combine multidisciplinary technologies such as mechanics, electronics, control, and computers. They have the characteristics of high precision, high flexibility, and high efficiency. They are used in many processing industries, such as the production of core automotive parts. The production of core automotive parts has extremely high requirements for precision, quality, and efficiency. The introduction of humanoid robots has brought innovation and breakthroughs to this field. The production processes of core automotive parts mainly include inspection, handling, sorting and loading and unloading, wiring harness insertion, assembly, gluing, tightening, welding, multi-machine collaboration, data collection and analysis. In the process of component production, the introduction of humanoid manipulators is required.

[0003] Robotic arms are divided into mobile and fixed types. The difference between the two depends on their installation structure, that is, the specific placement method of the robot arm base, which is more common in the production process of intelligent equipment. However, the existing robot arm base for intelligent equipment production still has the following shortcomings in actual use: the most common movement mode of the robot arm is rotation, and the robot arm and the base will show different degrees of wear after long-term rotation, and it will affect the smoothness of rotation. Therefore, manual lubrication is required regularly. After the lubrication is added, oil residue will appear at the rotating position. The traditional robot arm base lacks a cleaning structure, and manual lubrication is inefficient.

[0004] Therefore, there is an urgent need to improve the robotic arm to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide a humanoid robot assembly process and equipment for the production of core automotive parts, which has the function of automatically adding lubricating oil and does not require manual work to regularly add lubricating fluid to the robot arm base, thereby reducing the number of shutdowns, effectively improving work efficiency and extending equipment life.

[0006] In order to achieve the above-mentioned purpose, the main technical scheme adopted by the present invention includes: a humanoid robot assembly and assembly equipment for the production of core automobile parts, including a humanoid robot body for the production of core automobile parts, the humanoid robot body includes a driving base, a mechanical base fixedly mounted on the upper surface of the driving base, and a mechanical arm fixedly mounted on the upper surface of the mechanical base for feeding materials, and a supporting structure is arranged below the driving base; The support structure includes an annular guide seat and a gear ring, and a pad is welded between the annular guide seat and the gear ring, and the driving base is fixedly installed on the upper surface of the gear ring; A cleaning part for cleaning the connection between the driving base and the mechanical base is slidably mounted on the annular guide seat, and the cleaning part is composed of a mounting structure, a walking mechanism, a shell, a cleaning mechanism, a dust collecting device, and a scraping structure; The mounting structure comprises a mounting plate and a bottom plate connected by welding, and the housing comprises a storage shell and a water tank fixedly mounted on the outside of the mounting plate; The cleaning mechanism comprises a concave frame detachably mounted on the side of the water tank away from the material storage shell, a cleaning roller rotatably mounted between the inner walls of the opposite side of the concave frame, a feed pump fixedly mounted on the outer wall of the material storage shell, and a synchronization structure mounted on the feed pump and the cleaning roller; The scraper structure comprises an elastic telescopic rod installed on one side of the mounting plate close to the driving base and a cleaning plate detachably installed on the other end of the elastic telescopic rod and abutting against the outer surface of the driving base.

[0007] Preferably, an annular rolling groove matching with the roller is provided in the annular guide seat; The roller rolls with the inner wall of the annular rolling groove to achieve circular motion around the driving base. The walking mechanism includes a driving motor fixedly mounted on the outside of the shell, a rotating shaft rotatably arranged in the shell, a worm fixedly mounted on the output shaft of the driving motor, a worm wheel fixedly mounted on the outside of the rotating shaft and meshing with the worm, a walking gear fixedly mounted on one end of the rotating shaft away from the shell and meshing with the gear ring, and a roller fixedly mounted on a side of the base plate away from the mounting plate and rollingly connected to the annular guide seat.

[0008] Preferably, the dust suction device comprises a dust suction fan installed on the side of the material storage shell close to the walking mechanism, a partition slidably installed in the material storage shell, a suction pipe fixedly installed on the side of the water tank close to the driving base, and a connecting pipe fixedly connected between the suction pipe and the material storage shell; The feed pump comprises a pump housing, a peristaltic hose detachably mounted in the pump housing, a rotating arm rotatably arranged in the pump housing, and an extrusion wheel rotatably mounted at one end of the rotating arm and rollingly connected to the outer surface of the peristaltic hose for extrusion.

[0009] Preferably, the outer surface of the cleaning roller is sleeved with a lubricating sleeve for lubricating the connection between the driving base and the mechanical base in cooperation with the feed pump; A pump cavity is provided in the pump casing, and two through holes connected to the pump cavity are provided in the pump casing, and two water pipes connected to the two ends of the peristaltic hose are installed in the two through holes, and one end of one of the water pipes is connected to the water tank, and the other end of the other water pipe is fixedly connected to a nozzle, and the output end of the nozzle is aligned with the lubrication sleeve.

[0010] Preferably, the synchronization structure consists of two synchronization shafts and a synchronization wheel fixedly mounted on the same end of the two synchronization shafts, and the other same ends of the two synchronization shafts are respectively connected to the cleaning roller and the rotating arm, and a synchronization belt is transmission-connected between the two synchronization wheels.

[0011] Preferably, the interior of the material storage shell is hollow, and two concave slide rails are installed between the inner walls on opposite sides thereof, and the partition is installed between the two concave slide rails.

[0012] Preferably, a draw-out opening is provided on the upper surface of the material storage shell for disassembling and assembling the partition, and a sealing strip for sealing the draw-out opening is installed on the outer surface of the top end of the partition.

[0013] Preferably, the elastic telescopic rod comprises a sleeve and a sleeve rod which are telescopically connected, and a return spring which is fixedly mounted on the inner wall of the sleeve and connected to one end of the sleeve rod.

[0014] Preferably, one end of the sleeve rod away from the reset spring is connected and fixed to the outer surface of the cleaning plate by a bolt, and the interior of the sleeve is hollow. In conjunction with the deformation of the reset spring, the cleaning plate fits the connection between the driving base and the mechanical base to achieve residue cleaning.

[0015] Another technical problem to be solved by the present invention is to provide a humanoid robot assembly process for the production of automotive core parts, including the following assembly processes: The following assembly processes are included: The processes for the production of core automotive parts mainly include testing, handling, sorting and loading and unloading, wiring harness insertion, assembly and assembly, gluing, tightening, welding, multi-machine coordination, data collection and analysis; 1) Inspection process: The humanoid robot can be equipped with inspection equipment to inspect the size, shape, and internal defects of parts. In the inspection of engine crankshafts, the humanoid robot can measure the diameter, roundness, and cylindricity of the journal; the visual inspection system can be used to quickly identify the appearance defects and identification clarity of parts to ensure that the products meet quality standards; 2) Handling process: With flexible movements, humanoid robots can safely and efficiently carry parts. In the case of a transmission assembly, the robot can easily move it from one station to another. Combined with an intelligent navigation system, it can autonomously plan paths in complex production environments to avoid collisions and interference. 3) Sorting and loading and unloading process: The humanoid robot uses visual recognition and grasping technology to quickly sort parts of different specifications and models. In the parts box, the humanoid robot can sort out the parts according to the order requirements and send them to the corresponding production equipment. In the process of loading and unloading, it can cooperate with the production equipment to improve production efficiency. 4) Wire harness assembly process: With its fine motion control ability, the humanoid robot can accurately insert the wire harness into the interface of the component; in the production of automobile dashboards, the robot can accurately complete the insertion of the wire harness; equipped with a pressure sensor to ensure that the insertion force is moderate to avoid damage to the wire harness and interface; 5) Assembly process: During the engine assembly process, the humanoid robot can accurately install pistons and connecting rod components to ensure assembly quality; for complex assembly tasks, the humanoid robot can work in collaboration with workers to improve assembly efficiency; 6) Gluing process: The robot can precisely control the trajectory, speed and amount of glue coating to ensure uniform glue coating without bubbles. In the installation of electric drive housing, the robot can evenly coat the glue along the edge to improve the sealing performance. The robot can adjust the glue coating parameters according to different parts and glue characteristics to meet diverse production needs. 7) Tightening process: Equipped with a high-precision torque wrench, the humanoid robot can tighten the screws according to the set torque value; during the wheel installation process, it ensures that the tightening force of each screw is consistent to ensure driving safety; it monitors the torque changes during the tightening process in real time, and can promptly alarm and stop the operation if an abnormality is found; 8) Welding process: Carry out welding work on motors to ensure the strength and aesthetics of welds; in the welding of drive motors, the robot can achieve continuous and stable welding and improve welding quality; use advanced welding technology to meet the welding needs of parts with different materials and thicknesses; 9) Multi-machine collaborative process: Multiple humanoid robots can work together to complete complex production tasks. On the lithium battery production line, one robot is responsible for carrying the battery pack back shell, and another robot is responsible for installing screws, which improves production efficiency and coordination. Through network communication and coordinated control algorithms, task allocation, action synchronization and information sharing among multiple machines are realized. 10) Data collection and analysis process: Humanoid robots can collect production data in real time during the working process and record the processing time and precision data of each component. By analyzing these data, enterprises can optimize production processes, predict equipment failures, conduct quality traceability, and improve production management levels and scientific decision-making.

[0016] The present invention has at least the following beneficial effects: 1. This humanoid robot assembly equipment used for the production of core automotive parts has the function of automatically adding lubricating oil, eliminating the need for manual work to regularly add lubricating fluid to the base of the robotic arm, thereby reducing downtime, effectively improving work efficiency and extending equipment life; By designing a walking mechanism that can move in a circle around the driving base, the dust collection and lubrication functions are linked with the rotation of the walking mechanism. That is, when the walking mechanism rotates, inertia and the rotating shaft are used to perform dust collection and lubrication work, thereby cleaning the outer surface of the rotating part of the robot arm base.

[0017] 2. The humanoid robot assembly equipment used for the production of core automotive parts has a hollow lubrication sleeve, which is sleeved on the outer surface of the cleaning roller. The material should have good sealing and oil resistance to ensure that the lubricating oil does not leak, and the inner surface of the lubrication sleeve is tightly fitted with the outer surface of the cleaning roller, and the lubricating oil is evenly applied to the surface of the driving base through friction. The power of the feed pump can come from the rotation of the cleaning roller, and the power transmission is achieved through the synchronous structure, so that it can be operated by the driving mode of the driving base or by the driving mode of the walking mechanism, thereby realizing two groups of different working modes, realizing efficient and automatic cleaning and lubrication operations on the outside of the robot arm base, and improving the operating efficiency and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 It is a three-dimensional diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the robot arm of the present invention after being detached; Figure 3 A three-dimensional diagram of the support structure of the present invention; Figure 4 It is a structural stereogram of the driving base of the present invention from another viewing angle; Figure 5 It is a three-dimensional diagram of the installation structure of the present invention; Figure 6 A three-dimensional diagram of the cleaning mechanism of the present invention; Figure 7 A three-dimensional diagram of the lubricating sleeve of the present invention; Figure 8 It is a schematic diagram of the internal structure of the pump casing of the present invention; Fig. 9 It is a schematic diagram of the internal structure of the material storage shell of the present invention; Fig.10 For the present invention Figure 4 A is a schematic diagram of the enlarged structure shown; Fig.11 It is a three-dimensional diagram of the elastic telescopic rod structure of the present invention.

[0019] In the figure, 1, humanoid robot body; 2, driving base; 3, mechanical base; 4, mechanical arm; 5, supporting structure; 6, annular guide seat; 7, cushion block; 8, gear ring; 9, mounting structure; 901, mounting plate; 902, bottom plate; 10, walking mechanism; 1001, driving motor; 1002, rotating shaft; 1003, worm; 1004, worm wheel; 1005, walking gear; 1006, roller; 11, shell; 1101, storage shell; 1102, water tank; 12, cleaning mechanism; 1201, concave frame; 1202, cleaning roller; 1203, lubricating Sliding sleeve; 1204, pump housing; 1205, pump chamber; 1206, peristaltic hose; 1207, rotating arm; 1208, extrusion wheel; 1209, synchronous structure; 12091, synchronous shaft; 12902, synchronous wheel; 12904, synchronous belt; 1230, nozzle; 13, dust collection equipment; 1301, dust collection fan; 1302, partition; 1303, suction pipe; 1304, connecting pipe; 14, scraper structure; 1401, cleaning plate; 1402, elastic telescopic rod; 14021, sleeve; 14022, sleeve rod; 14023, reset spring. DETAILED DESCRIPTION

[0020] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0021] like Figure 1 - Figure 5 As shown, the humanoid robot assembly equipment for the production of core automotive parts provided in this embodiment includes a humanoid robot body 1 for the production of core automotive parts, the humanoid robot body 1 includes a driving base 2, a mechanical base 3 fixedly mounted on the upper surface of the driving base 2, and a mechanical arm 4 fixedly mounted on the upper surface of the mechanical base 3 for feeding materials, and a supporting structure 5 is arranged below the driving base 2; the supporting structure 5 includes an annular guide seat 6 and a gear ring 8, and a pad 7 is welded between the annular guide seat 6 and the gear ring 8, and the driving base 2 is fixedly mounted on the upper surface of the gear ring 8 to support the humanoid robot body 1.

[0022] In this embodiment, if Figure 2 - Fig.11 As shown, a cleaning part for cleaning the connection between the driving base 2 and the mechanical base 3 is slidably mounted on the annular guide seat 6, and the cleaning part is composed of a mounting structure 9, a walking mechanism 10, a shell 11, a cleaning mechanism 12, a dust collecting device 13, and a scraping structure 14; the mounting structure 9 includes a mounting plate 901 and a bottom plate 902 connected by welding. The shell 11 includes a storage shell 1101 and a water tank 1102 fixedly mounted on the outside of the mounting plate 901.

[0023] like Figure 2and Figure 4 As shown, the walking mechanism 10 includes a driving motor 1001 fixedly mounted on the outside of the housing 11, a rotating shaft 1002 rotatably arranged in the housing 11, a worm 1003 fixedly mounted on the output shaft of the driving motor 1001, a worm wheel 1004 fixedly mounted on the outside of the rotating shaft 1002 and meshing with the worm 1003, a walking gear 1005 fixedly mounted on the end of the rotating shaft 1002 away from the housing 11 and meshing with the gear ring 8, and a roller 1006 fixedly mounted on the side of the bottom plate 902 away from the mounting plate 901 and rollingly connected to the annular guide seat 6; wherein, an annular rolling groove matching the roller 1006 is arranged in the annular guide seat 6, and the roller 1006 rolls with the inner wall of the annular rolling groove to achieve circular motion around the driving base 2. There are two rollers 1006 to ensure walking stability. A limit seat for limiting the support of the rotating shaft 1002 is installed on the bottom plate 902. The rotating shaft 1002 is connected to the limit seat bearing.

[0024] like Figure 6 - Figure 8 As shown, the cleaning mechanism 12 includes a concave frame 1201 detachably mounted on a side of the water tank 1102 away from the material storage shell 1101, a cleaning roller 1202 rotatably mounted between the inner walls of the opposite side of the concave frame 1201, a feed pump fixedly mounted on the outer wall of the material storage shell 1101, and a synchronous structure 1209 installed on the feed pump and the cleaning roller 1202. The outer surface of the cleaning roller 1202 is sleeved with a lubricating sleeve 1203 for cooperating with the feed pump to lubricate the connection between the driving base 2 and the mechanical base 3; the feed pump includes a pump housing 1204, a peristaltic hose 1206 detachably mounted in the pump housing 1204, a rotating arm 1207 rotatably arranged in the pump housing 1204, and an extrusion wheel 1208 rotatably mounted on one end of the rotating arm 1207 and rollingly connected to the outer surface of the peristaltic hose 1206 for extrusion. A pump chamber 1205 is opened in the pump housing 1204, and two through holes connected to the pump chamber 1205 are opened in the pump housing 1204, and two water pipes connected to the two ends of the peristaltic hose 1206 are installed in the two through holes, and one end of one of the water pipes is connected to the water tank 1102, and the other end of the other water pipe is fixedly connected to the nozzle 1230, and the output end of the nozzle 1230 is aligned with the lubrication sleeve 1203.

[0025] It is understandable that the lubricating sleeve 1203 is a hollow structure, which is sleeved on the outer surface of the cleaning roller 1202. The material should have good sealing and oil resistance to ensure that the lubricating oil does not leak, and the inner surface of the lubricating sleeve 1203 is tightly fitted with the outer surface of the cleaning roller 1202, and the lubricating oil is evenly applied to the surface of the driving base 2 through friction. The lubricating sleeve 1203 can be made of nitrile rubber, fluororubber, polyurethane rubber, etc. Different materials require corresponding compatible lubricating oil. At the same time, it is equipped with necessary sensors such as speed sensors or pressure sensors and controllers to realize automatic control and monitoring of the lubrication equipment.

[0026] Specifically, the synchronous structure 1209 consists of two synchronous shafts 12091 and synchronous wheels 12902 fixedly mounted on the same end of the two synchronous shafts 12091, and the other same ends of the two synchronous shafts 12091 are respectively connected to the cleaning roller 1202 and the rotating arm 1207, and a synchronous belt 12904 is connected between the two synchronous wheels 12902. The power of the feed pump can come from the rotation of the cleaning roller 1202, and the power transmission is realized through the synchronous structure 1209, so that it can be operated by the driving mode of the driving base 2 or by the driving mode of the walking mechanism 10, so as to realize two sets of different working modes, realize efficient and automatic cleaning and lubrication operations outside the driving base 2, and improve the operation efficiency and service life of the equipment.

[0027] It should be noted that the humanoid robot body 1 can be set to a steering mode according to demand. In some application scenarios, if the robot arm 4 is required to perform repeated or continuous rotation in a specific direction, a unidirectional rotating robot arm 4 can be designed. The unidirectional rotating robot arm 4 is suitable for scenarios that require unidirectional rotation, such as material rotation on a production line and component rotation on an assembly line. By accurately controlling the rotation angle and speed, efficient automated production can be achieved. When the robot arm 4 is required to rotate back and forth in both directions, the concave frame 1201 can be set to a telescopic shape, which can facilitate the staff to remotely operate the cleaning roller 1202 and the driving base 2 to improve the flexibility of the cleaning mechanism 12.

[0028] like Fig. 9 and Fig.10 As shown, the dust collecting device 13 includes a dust collecting fan 1301 installed on the side of the material storage shell 1101 close to the walking mechanism 10, a partition 1302 slidably installed in the material storage shell 1101, a suction pipe 1303 fixedly installed on the side of the water tank 1102 close to the driving base 2, and a connecting pipe 1304 fixedly connected between the suction pipe 1303 and the material storage shell 1101; the material storage shell 1101 is hollow inside, and two concave slide rails are installed between the inner walls on the opposite side, and the partition 1302 is installed between the two concave slide rails. When the walking mechanism 10 is driven, the dust collecting device 13 is driven by the rotating shaft 1002 to perform dust collection.

[0029] Among them, a pull-out opening is opened on the upper surface of the storage shell 1101 for disassembling and assembling the partition 1302, and a sealing strip is installed on the outer surface of the top end of the partition 1302 to seal the pull-out opening.

[0030] like Fig.11As shown, the scraper structure 14 includes an elastic telescopic rod 1402 mounted on the side of the mounting plate 901 close to the driving base 2 and a cleaning plate 1401 detachably mounted on the other end of the elastic telescopic rod 1402 and abutting against the outer surface of the driving base 2. The elastic telescopic rod 1402 includes a sleeve 14021 and a sleeve rod 14022 that are telescopically connected, and a return spring 14023 fixedly mounted on the inner wall of the sleeve 14021 and connected to one end of the sleeve rod 14022.

[0031] Among them, one end of the sleeve rod 14022 away from the reset spring 14023 is connected and fixed to the outer surface of the cleaning plate 1401 by bolts. The interior of the sleeve 14021 is hollow. Cooperating with the deformation of the reset spring 14023, the cleaning plate 1401 fits the connection between the driving base 2 and the mechanical base 3 to achieve residue cleaning.

[0032] Another technical problem to be solved by the present invention is to provide a humanoid robot assembly process for the production of automotive core parts, including the following assembly processes: The following assembly processes are included: The processes for the production of core automotive parts mainly include testing, handling, sorting and loading and unloading, wiring harness insertion, assembly and assembly, gluing, tightening, welding, multi-machine coordination, data collection and analysis; 1) Inspection process: The humanoid robot can be equipped with inspection equipment to inspect the size, shape, and internal defects of parts. In the inspection of engine crankshafts, the humanoid robot can measure the diameter, roundness, and cylindricity of the journal; the visual inspection system can be used to quickly identify the appearance defects and identification clarity of parts to ensure that the products meet quality standards; 2) Handling process: With flexible movements, humanoid robots can safely and efficiently carry parts. In the case of a transmission assembly, the robot can easily move it from one station to another. Combined with an intelligent navigation system, it can autonomously plan paths in complex production environments to avoid collisions and interference. 3) Sorting and loading and unloading process: The humanoid robot uses visual recognition and grasping technology to quickly sort parts of different specifications and models. In the parts box, the humanoid robot can sort out the parts according to the order requirements and send them to the corresponding production equipment. In the process of loading and unloading, it can cooperate with the production equipment to improve production efficiency. 4) Wire harness assembly process: With its fine motion control ability, the humanoid robot can accurately insert the wire harness into the interface of the component; in the production of automobile dashboards, the robot can accurately complete the insertion of the wire harness; equipped with a pressure sensor to ensure that the insertion force is moderate to avoid damage to the wire harness and interface; 5) Assembly process: During the engine assembly process, the humanoid robot can accurately install pistons and connecting rod components to ensure assembly quality; for complex assembly tasks, the humanoid robot can work in collaboration with workers to improve assembly efficiency; 6) Gluing process: The robot can precisely control the trajectory, speed and amount of glue coating to ensure uniform glue coating without bubbles. In the installation of electric drive housing, the robot can evenly coat the glue along the edge to improve the sealing performance. The robot can adjust the glue coating parameters according to different parts and glue characteristics to meet diverse production needs. 7) Tightening process: Equipped with a high-precision torque wrench, the humanoid robot can tighten the screws according to the set torque value; during the wheel installation process, it ensures that the tightening force of each screw is consistent to ensure driving safety; it monitors the torque changes during the tightening process in real time, and can promptly alarm and stop the operation if an abnormality is found; 8) Welding process: Carry out welding work on motors to ensure the strength and aesthetics of welds; in the welding of drive motors, the robot can achieve continuous and stable welding and improve welding quality; use advanced welding technology to meet the welding needs of parts with different materials and thicknesses; 9) Multi-machine collaborative process: Multiple humanoid robots can work together to complete complex production tasks. On the lithium battery production line, one robot is responsible for carrying the battery pack back shell, and another robot is responsible for installing screws, which improves production efficiency and coordination. Through network communication and coordinated control algorithms, task allocation, action synchronization and information sharing among multiple machines are realized. 10) Data collection and analysis process: Humanoid robots can collect production data in real time during the working process and record the processing time and precision data of each component. By analyzing these data, enterprises can optimize production processes, predict equipment failures, conduct quality traceability, and improve production management levels and scientific decision-making.

[0033] It should be noted that the humanoid robot body 1 is used in the production of core automotive parts, such as: Flexible fixture: For parts of different shapes and sizes, we design fixtures that can be quickly replaced and adjusted to ensure the stability of robot grasping and operation. For parts of irregular shapes, we use adaptive fixtures that can automatically adjust the clamping position and strength according to the shape of the part.

[0034] Among them, the clamp is made of high-strength material and has good wear resistance and durability.

[0035] High-precision sensors: Install position sensors, force sensors, vision sensors and other high-precision sensors to achieve accurate perception of the robot's movements and environment. Force sensors can monitor the contact force between the robot and parts in real time to avoid damage caused by excessive force. Sensor data is transmitted to the control system through a high-speed communication interface, providing a basis for precise control of the robot.

[0036] Intelligent control system: It uses advanced control algorithms and software to achieve complex motion control and task scheduling of humanoid robots. The algorithm based on model predictive control can plan the robot's motion trajectory in advance and improve the smoothness and accuracy of the motion. It supports offline programming and online debugging functions, which is convenient for operators to program and optimize the robot.

[0037] like Figure 1 - Fig.11 As shown, the principle of the humanoid robot assembly equipment for the production of automotive core parts provided in this embodiment is as follows: When in use, the support structure 5 is installed on the lower surface of the driving base 2, and then the driving motor 1001, the worm 1003 and the worm wheel 1004 are used to drive the rotating shaft 1002 to rotate. The rotation of the rotating shaft 1002 drives the traveling gear 1005 to perform a circular motion around the gear ring 8, thereby driving the cleaning part to move. At this time, the cleaning roller 1202 rotates around the driving base 2 through the traveling mechanism 10, and the synchronous structure 1209 is used to drive the rotating arm 1207 to rotate, so that the peristaltic hose 1206 extracts the lubricating liquid in the water tank 1102 and sprays it out through the nozzle 1230, and the lubricating liquid is delivered to the lubricating sleeve 1203. Through the circular motion of the cleaning roller 1202, uniform lubrication of the connection between the driving base 2 and the mechanical base 3 is achieved; In addition, the scraper structure 14 is located in front of the lubricating sleeve 1203. When the walking mechanism 10 is driven, the scraper structure 14 can scrape off the stains remaining at the connection between the driving base 2 and the mechanical base 3, and then use the rotating shaft 1002 to drive the dust suction fan 1301 to rotate, so that negative pressure is formed in the storage shell 1101, and the suction pipe 1303 sucks in the cleaned stains to better cooperate with the lubricating sleeve 1203 for maintenance.

[0038] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve technical problems within a certain error range and basically achieve technical effects.

[0039] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0040] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. Changes and variations made by those skilled in the art shall not depart from the spirit and scope of the present invention, and shall be within the scope of protection of the claims attached to the present invention.

Claims

1. A humanoid robot assembly equipment for the production of core automotive parts, comprising a humanoid robot body (1) for the production of core automotive parts, characterized in that: The humanoid robot body (1) comprises a driving base (2), a mechanical base (3) fixedly mounted on the upper surface of the driving base (2), and a mechanical arm (4) fixedly mounted on the upper surface of the mechanical base (3) for feeding materials, and a supporting structure (5) is provided below the driving base (2); The support structure (5) comprises an annular guide seat (6) and a gear ring (8), and a cushion block (7) is welded between the annular guide seat (6) and the gear ring (8), and the driving base (2) is fixedly mounted on the upper surface of the gear ring (8); A cleaning part for cleaning the connection between the driving base (2) and the mechanical base (3) is slidably mounted on the annular guide seat (6), and the cleaning part is composed of a mounting structure (9), a walking mechanism (10), a shell (11), a cleaning mechanism (12), a dust collecting device (13), and a scraping structure (14); The mounting structure (9) comprises a mounting plate (901) and a bottom plate (902) connected by welding, and the housing (11) comprises a material storage shell (1101) and a water tank (1102) fixedly mounted on the outside of the mounting plate (901); The cleaning mechanism (12) comprises a concave frame (1201) detachably mounted on a side of the water tank (1102) away from the material storage shell (1101), a cleaning roller (1202) rotatably mounted between inner walls on the opposite side of the concave frame (1201), a feed pump fixedly mounted on the outer wall of the material storage shell (1101), and a synchronization structure (1209) mounted on the feed pump and the cleaning roller (1202); The scraper structure (14) comprises an elastic telescopic rod (1402) mounted on a side of the mounting plate (901) close to the driving base (2), and a cleaning plate (1401) detachably mounted on the other end of the elastic telescopic rod (1402) and abutting against the outer surface of the driving base (2).

2. The humanoid robot assembly equipment for the production of automotive core parts according to claim 1 is characterized in that: An annular rolling groove matching the roller (1006) is provided in the annular guide seat (6); The roller (1006) rolls with the inner wall of the annular rolling groove to achieve circular motion around the driving base (2). The walking mechanism (10) comprises a driving motor (1001) fixedly mounted on the outside of the housing (11), a rotating shaft (1002) rotatably arranged in the housing (11), a worm (1003) fixedly mounted on the output shaft of the driving motor (1001), a worm wheel (1004) fixedly mounted on the outside of the rotating shaft (1002) and meshing with the worm (1003), a walking gear (1005) fixedly mounted on an end of the rotating shaft (1002) away from the housing (11) and meshing with the gear ring (8), and a roller (1006) fixedly mounted on a side of the bottom plate (902) away from the mounting plate (901) and rollingly connected to the annular guide seat (6).

3. The humanoid robot assembly equipment for the production of automotive core parts according to claim 1 is characterized in that: The dust collection device (13) comprises a dust collection fan (1301) installed on a side of the material storage shell (1101) close to the walking mechanism (10), a partition (1302) slidably installed in the material storage shell (1101), a suction pipe (1303) fixedly installed on a side of the water tank (1102) close to the driving base (2), and a connecting pipe (1304) fixedly connected between the suction pipe (1303) and the material storage shell (1101); The feed pump comprises a pump housing (1204), a peristaltic hose (1206) detachably mounted in the pump housing (1204), a rotating arm (1207) rotatably mounted in the pump housing (1204), and an extrusion wheel (1208) rotatably mounted at one end of the rotating arm (1207) and rollingly connected to the outer surface of the peristaltic hose (1206) for extrusion.

4. The humanoid robot assembly equipment for the production of automotive core parts according to claim 3 is characterized by: The outer surface of the cleaning roller (1202) is sleeved with a lubricating sleeve (1203) for use with a feed pump to lubricate the connection between the driving base (2) and the mechanical base (3); A pump chamber (1205) is provided in the pump housing (1204), and two through-holes connected to the pump chamber (1205) are provided in the pump housing (1204), and two water pipes connected to the two ends of the peristaltic hose (1206) are installed in the two through-holes, and one end of one of the water pipes is connected to the water tank (1102), and the other end of the other water pipe is fixedly connected to a nozzle (1230), and the output end of the nozzle (1230) is aligned with the lubrication sleeve (1203).

5. The humanoid robot assembly equipment for the production of automotive core parts according to claim 4 is characterized in that: The synchronous structure (1209) comprises two synchronous shafts (12091) and a synchronous wheel (12902) fixedly mounted on the same end of the two synchronous shafts (12091), and the other same ends of the two synchronous shafts (12091) are respectively connected to the cleaning roller (1202) and the rotating arm (1207), and a synchronous belt (12904) is connected between the two synchronous wheels (12902) for transmission.

6. The humanoid robot assembly equipment for the production of automotive core parts according to claim 3 is characterized by: The interior of the material storage shell (1101) is hollow, and two concave slide rails are installed between the inner walls on opposite sides thereof, and the partition plate (1302) is installed between the two concave slide rails.

7. The humanoid robot assembly equipment for the production of automotive core parts according to claim 6 is characterized by: The upper surface of the material storage shell (1101) is provided with a draw-out opening for disassembling and assembling the partition (1302), and the outer surface of the top end of the partition (1302) is provided with a sealing strip for sealing the draw-out opening.

8. The humanoid robot assembly equipment for the production of automotive core parts according to claim 1 is characterized by: The elastic telescopic rod (1402) comprises a sleeve (14021) and a sleeve rod (14022) that are telescopically connected, and a return spring (14023) that is fixedly mounted on the inner wall of the sleeve (14021) and connected to one end of the sleeve rod (14022).

9. The humanoid robot assembly equipment for the production of automotive core parts according to claim 8, characterized in that: One end of the sleeve rod (14022) away from the return spring (14023) is connected and fixed to the outer surface of the cleaning plate (1401) by means of bolts; the interior of the sleeve (14021) is hollow, and the cleaning plate (1401) fits the connection between the driving base (2) and the mechanical base (3) in coordination with the deformation of the return spring (14023), thereby achieving cleaning of residues.

10. A humanoid robot assembly process for the production of automotive core parts, using a humanoid robot assembly device for the production of automotive core parts as claimed in any one of claims 1 to 9, It is characterized in that The following assembly processes are included: The processes for the production of core automotive parts mainly include testing, handling, sorting and loading and unloading, wiring harness insertion, assembly and assembly, gluing, tightening, welding, multi-machine coordination, data collection and analysis; 1) Inspection process: The humanoid robot can be equipped with inspection equipment to inspect the size, shape, and internal defects of parts. In the inspection of engine crankshafts, the humanoid robot can measure the diameter, roundness, and cylindricity of the journal; the visual inspection system can be used to quickly identify the appearance defects and identification clarity of parts to ensure that the products meet quality standards; 2) Handling process: With flexible movements, humanoid robots can safely and efficiently carry parts. In the case of a transmission assembly, the robot can easily move it from one station to another. Combined with an intelligent navigation system, it can autonomously plan paths in complex production environments to avoid collisions and interference. 3) Sorting and loading and unloading process: The humanoid robot uses visual recognition and grasping technology to quickly sort parts of different specifications and models. In the parts box, the humanoid robot can sort out the parts according to the order requirements and send them to the corresponding production equipment. In the process of loading and unloading, it can cooperate with the production equipment to improve production efficiency. 4) Wire harness assembly process: With its fine motion control ability, the humanoid robot can accurately insert the wire harness into the interface of the component; in the production of automobile dashboards, the robot can accurately complete the insertion of the wire harness; equipped with a pressure sensor to ensure that the insertion force is moderate to avoid damage to the wire harness and interface; 5) Assembly process: During the engine assembly process, the humanoid robot can accurately install pistons and connecting rod components to ensure assembly quality; for complex assembly tasks, the humanoid robot can work in collaboration with workers to improve assembly efficiency; 6) Gluing process: The robot can precisely control the trajectory, speed and amount of glue coating to ensure uniform glue coating without bubbles. In the installation of electric drive housing, the robot can evenly coat the glue along the edge to improve the sealing performance. The robot can adjust the glue coating parameters according to different parts and glue characteristics to meet diverse production needs. 7) Tightening process: Equipped with a high-precision torque wrench, the humanoid robot can tighten the screws according to the set torque value; during the wheel installation process, it ensures that the tightening force of each screw is consistent to ensure driving safety; it monitors the torque changes during the tightening process in real time, and can promptly alarm and stop the operation if an abnormality is found; 8) Welding process: Carry out welding work on motors to ensure the strength and aesthetics of welds; in the welding of drive motors, the robot can achieve continuous and stable welding and improve welding quality; use advanced welding technology to meet the welding needs of parts with different materials and thicknesses; 9) Multi-machine collaborative process: Multiple humanoid robots can work together to complete complex production tasks. On the lithium battery production line, one robot is responsible for carrying the battery pack back shell, and another robot is responsible for installing screws, which improves production efficiency and coordination. Through network communication and coordinated control algorithms, task allocation, action synchronization and information sharing among multiple machines are realized. 10) Data collection and analysis process: Humanoid robots can collect production data in real time during the working process and record the processing time and precision data of each component. By analyzing these data, enterprises can optimize production processes, predict equipment failures, conduct quality traceability, and improve production management levels and scientific decision-making.

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