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

Abstract

The present invention relates to the technical field of machine tool robotic arms, and specifically to a humanoid robot assembly and installation device for the production of automotive core components. It includes a humanoid robot body for the production of automotive core components. The humanoid robot body includes a driving base, a mechanical seat fixedly installed on the upper surface of the driving base, and a robotic arm fixedly installed on the upper surface of the mechanical seat for material feeding. A support structure is provided below the driving base; a cleaning part for cleaning the connection between the driving base and the mechanical seat is slidably installed on the annular guide seat. The cleaning part is composed of an installation structure, a traveling mechanism, a housing, a cleaning mechanism, a dust suction device, and a scraping structure. By designing a traveling mechanism that can move circumferentially around the driving base, both the dust suction and lubrication functions are linked to the rotation of the traveling mechanism. That is, when the traveling mechanism rotates, the dust suction and lubrication operations are carried out by using inertia and the rotating shaft, realizing the cleaning of the outer surface of the rotating part of the robotic arm base.

Description

Technical Field

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

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

[0003] Robotic arms are divided into mobile and fixed types, and the difference between them depends on their installation structure, that is, the specific placement method of the robotic arm base, which is relatively common in the production process of intelligent devices. However, the existing robotic arm bases for intelligent device production still have the following disadvantages in actual use: The most common movement mode of the robotic arm is rotation. After long-term rotation between the robotic arm and the base, there will be varying degrees of wear, and it will also affect the smoothness of rotation. Therefore, it is necessary to manually add lubricating fluid regularly. After adding lubricating fluid, there will also be a phenomenon of oil residue at the rotation position. Traditional robotic arm bases lack cleaning structures, and manual lubricating oil addition is inefficient.

[0004] Therefore, it is urgent to improve the robotic arm to solve the above existing 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 automotive core components, which has the function of automatically adding lubricating oil, eliminating the need for manual regular lubricating fluid addition to the robotic arm base, thereby reducing the number of shutdowns, effectively improving work efficiency, and extending the service life of the equipment.

[0006] To achieve the above purpose, the main technical solutions adopted by the present invention include: A humanoid robot assembly equipment for the production of automotive core components, including a humanoid robot body for the production of automotive core components. The humanoid robot body includes a driving base, a mechanical seat fixedly installed on the upper surface of the driving base, and a robotic arm fixedly installed on the upper surface of the mechanical seat for material transportation. A support structure is provided below the driving base;

[0007] The support structure includes an annular guide seat and a gear ring, and a spacer block is welded between the annular guide seat and the gear ring. The driving base is fixedly installed on the upper surface of the gear ring.

[0008] A cleaning part for cleaning the connection between the driving base and the mechanical seat is slidably installed on the annular guide seat. The cleaning part is composed of an installation structure, a traveling mechanism, a housing, a cleaning mechanism, a dust suction device, and a scraping structure.

[0009] The installation structure includes a mounting plate and a bottom plate connected by welding. The housing includes a material storage shell and a water tank fixedly installed outside the mounting plate.

[0010] The cleaning mechanism includes a concave frame detachably installed on the side of the water tank away from the material storage shell, a cleaning roller rotatably installed between the inner walls of the opposite sides of the concave frame, a feeding pump fixedly installed on the outer wall of the material storage shell, and a synchronization structure installed on the feeding pump and the cleaning roller.

[0011] The scraping structure includes an elastic telescopic rod installed on the side of the mounting plate close to the driving base, and a cleaning plate detachably installed at the other end of the elastic telescopic rod and abutted against the outer surface of the driving base.

[0012] Preferably, an annular rolling groove matched with the roller is arranged in the annular guide seat.

[0013] The roller is in rolling cooperation with the inner wall of the annular rolling groove to realize circumferential movement around the driving base. The traveling mechanism includes a driving motor fixedly installed outside the housing, a rotating shaft rotatably arranged in the housing, a worm fixedly installed on the output shaft of the driving motor, a worm gear fixedly installed outside the rotating shaft and meshed with the worm, a traveling gear fixedly installed at the end of the rotating shaft away from the housing and meshed with the gear ring, and a roller fixedly installed on the side of the bottom plate away from the mounting plate and in rolling connection with the annular guide seat.

[0014] Preferably, the dust suction device includes a dust suction fan installed on the side of the material storage shell close to the traveling 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 communicated between the suction pipe and the material storage shell.

[0015] The feeding pump includes a pump shell, a peristaltic hose detachably installed in the pump shell, a rotating arm rotatably arranged in the pump shell, and a pressing wheel rotatably installed at the opposite ends of the rotating arm and rollingly connected with the outer surface of the peristaltic hose for extrusion.

[0016] Preferably, a lubricating sleeve for lubricating the connection between the driving base and the mechanical seat in cooperation with the feeding pump is sleeved on the outer surface of the cleaning roller.

[0017] A pump chamber is provided inside the pump housing. Two through holes communicating with the pump chamber are provided inside the pump housing. Two water pipes communicating with both ends of the peristaltic hose are installed in the two through holes. One end of one water pipe communicates with a water tank, and the other end of the other water pipe is fixedly communicated with a spray head, and the output end of the spray head is aligned with the lubricating sleeve.

[0018] Preferably, the synchronization structure consists of two synchronization shafts and a synchronization wheel fixedly installed at the same end of the two synchronization shafts. 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 drivingly connected between the two synchronization wheels.

[0019] Preferably, the inside of the material storage housing is hollow, and two concave slide rails are installed between the inner walls on the opposite sides thereof. The partition plate is installed between the two concave slide rails.

[0020] Preferably, a pull-out port is provided on the upper surface of the material storage housing for the disassembly and assembly of the partition plate, and a sealing rubber strip for sealing the pull-out port is installed on the outer surface of the top end of the partition plate.

[0021] Preferably, the elastic telescopic rod includes a sleeve and a rod which are telescopically connected and a return spring fixedly installed on the inner wall of the sleeve and connected to one end of the rod.

[0022] Preferably, the end of the rod away from the return spring is fixedly connected to the outer surface of the cleaning plate through a bolt. The inside of the sleeve is hollow. With the deformation of the return spring, the cleaning plate fits the connection between the driving base and the machine base to realize the cleaning of residues.

[0023] Another technical problem to be solved by the present invention is to provide a humanoid robot assembly and assembly process for the production of automotive core components, including the following assembly processes:

[0024] Including the following assembly processes: The processes for the production of automotive core components mainly include inspection, handling, sorting for loading and unloading, wire harness insertion, assembly and assembly, gluing, tightening, welding, multi-machine collaboration, data collection and analysis;

[0025] 1) Inspection process: The humanoid robot can be equipped with inspection equipment to inspect the dimensions, shapes, and internal defects of components. In the inspection of the engine crankshaft, the humanoid robot can measure the diameter, roundness, and cylindricity of the journal; using a vision inspection system, it can quickly distinguish the appearance defects and label clarity of components to ensure that the products meet the quality standards;

[0026] 2) Handling process: With flexible movements, the humanoid robot can safely and efficiently handle components; in the handling of the 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 a complex production environment to avoid collisions and interferences;

[0027] 3) Sorting loading and unloading process:

[0028] The humanoid robot uses vision recognition and grasping technology to quickly sort parts of different specifications and models; in the parts bin, the humanoid robot can sort out the parts according to the order requirements and send them to the corresponding production equipment; during the loading and unloading process, it can cooperate with the production equipment to improve production efficiency;

[0029] 4) Wiring harness insertion process:

[0030] With its fine motion control ability, the humanoid robot can accurately insert the wiring harness into the interfaces of the parts; in the production of automotive instrument panels, the robot can accurately complete the wiring harness insertion work; equipped with a pressure sensor to ensure that the insertion force is appropriate and avoid damage to the wiring harness and interfaces;

[0031] 5) Assembly and fitting process:

[0032] During the engine assembly process, the humanoid robot can accurately install piston and connecting rod components to ensure the assembly quality; for complex assembly tasks, the humanoid robot can work in cooperation with workers to improve the assembly efficiency;

[0033] 6) Gluing process:

[0034] It can accurately control the gluing trajectory, speed and glue volume to ensure uniform gluing and no bubbles; in the installation of the electric drive housing, the robot can evenly apply glue along the edge to improve the sealing performance; it can adjust the gluing parameters according to different parts and glue characteristics to meet the diverse production needs;

[0035] 7) Tightening process:

[0036] 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, ensure that the tightening force of each screw is consistent to ensure driving safety; real-time monitor the torque change during the tightening process, and once an abnormality is found, it can alarm and stop the operation in time;

[0037] 8) Welding process:

[0038] Carry out the welding work of the motor to ensure the strength and aesthetics of the weld; in the welding of the drive motor, the robot can achieve continuous and stable welding to improve the welding quality; adopt advanced welding technology to meet the welding requirements of different materials and thicknesses of parts.

[0039] 9) Multi-robot collaborative process:

[0040] Multiple humanoid robots can work collaboratively to complete complex production tasks; on a lithium battery production line, one robot is responsible for transporting the battery pack rear case, and another robot is responsible for installing screws, improving production efficiency and collaboration; through network communication and coordination control algorithms, task allocation, motion synchronization, and information sharing among multiple robots are achieved;

[0041] 10) Data acquisition and analysis process:

[0042] During the operation of the humanoid robot, it can collect production data in real time and record the processing time and precision data of each component; through the analysis of these data, enterprises can optimize production processes, predict equipment failures, conduct quality traceability, and improve production management levels and decision-making scientificity.

[0043] The present invention has at least the following beneficial effects:

[0044] 1. The humanoid robot assembly and installation equipment for the production of automotive core components has an automatic lubricating oil adding function, eliminating the need for manual periodic lubricant addition to the base of the robotic arm, thereby reducing the number of downtimes, effectively improving work efficiency, and extending the equipment life;

[0045] By designing a walking mechanism that can move circumferentially around the drive base, both the dust suction and lubrication functions are linked to the rotation of the walking mechanism. That is, when the walking mechanism rotates, the dust suction and lubrication work is carried out using inertia and the rotating shaft, realizing the cleaning of the outer surface of the rotating part of the robotic arm base.

[0046] 2. The humanoid robot assembly and installation equipment for the production of automotive core components has a lubricating sleeve with a hollow structure, 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 lubricating sleeve is closely attached to the outer surface of the cleaning roller. The lubricating oil is evenly applied to the surface of the drive base through friction. The power of the material feeding pump can be derived from the rotation of the cleaning roller, and power transmission is achieved through a synchronous structure, enabling operation in two different ways: either by the drive method of the drive base or by the drive method of the walking mechanism, thus realizing efficient and automatic cleaning and lubrication operations outside the robotic arm base, improving the operating efficiency and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0048] Figure 1 is a three-dimensional view of the overall structure of the present invention;

[0049] Figure 2 is a schematic structural view after the robotic arm of the present invention is detached;

[0050] Figure 3 Isometric view of the support structure of the present invention;

[0051] Figure 4 Isometric view of another perspective structure of the drive base of the present invention;

[0052] Figure 5 Isometric view of the installation structure of the present invention;

[0053] Figure 6 Isometric view of the cleaning mechanism of the present invention;

[0054] Figure 7 Isometric view of the lubricating sleeve of the present invention;

[0055] Figure 8 Schematic diagram of the internal structure of the pump housing of the present invention;

[0056] Figure 9 Schematic diagram of the internal structure of the material storage housing of the present invention;

[0057] Figure 10 For the present invention Figure 4 Enlarged schematic diagram of A shown;

[0058] Figure 11 Isometric view of the elastic telescopic rod structure of the present invention.

[0059] In the figure, 1, humanoid robot body; 2, drive base; 3, mechanical seat; 4, robotic arm; 5, support structure; 6, annular guide seat; 7, spacer block; 8, gear ring; 9, installation structure; 901, mounting plate; 902, bottom plate; 10, traveling mechanism; 1001, drive motor; 1002, rotating shaft; 1003, worm; 1004, worm gear; 1005, traveling gear; 1006, roller; 11, housing; 1101, material storage housing; 1102, water tank; 12, cleaning mechanism; 1201, concave frame; 1202, cleaning roller; 1203, lubricating sleeve; 1204, pump housing; 1205, pump chamber; 1206, peristaltic hose; 1207, rotating arm; 1208, pressing wheel; 1209, synchronization structure; 12091, synchronization shaft; 12902, synchronization wheel; 12093, synchronization belt; 1230, spray head; 13, dust collection device; 1301, dust collection fan; 1302, partition plate; 1303, suction pipe; 1304, connecting pipe; 14, scraping structure; 1401, cleaning plate; 1402, elastic telescopic rod; 14021, sleeve; 14022, sleeve rod; 14023, return spring. Detailed implementation mode

[0060] The following will describe the implementation manners of the present application in detail in conjunction with the drawings and embodiments, so as to fully understand how the present application uses technical means to solve technical problems and achieve the implementation process of technical effects and implement accordingly.

[0061] As Figure 1 - Figure 5 shown, the humanoid robot assembly and installation equipment for the production of automotive core components provided in this embodiment includes a humanoid robot body 1 for the production of automotive core components. The humanoid robot body 1 includes a driving base 2, a mechanical base 3 fixedly installed on the upper surface of the driving base 2, and a robotic arm 4 fixedly installed on the upper surface of the mechanical base 3 for feeding. A support structure 5 is provided below the driving base 2; the support structure 5 includes an annular guide seat 6 and a gear ring 8, and a spacer 7 is welded between the annular guide seat 6 and the gear ring 8. The driving base 2 is fixedly installed on the upper surface of the gear ring 8 to realize the support of the humanoid robot body 1.

[0062] In this embodiment, as Figure 2 - Figure 11 shown, a cleaning part for cleaning the connection between the driving base 2 and the mechanical base 3 is slidably installed on the annular guide seat 6. The cleaning part is composed of an installation structure 9, a traveling mechanism 10, a housing 11, a cleaning mechanism 12, a dust suction device 13, and a scraping structure 14; the installation structure 9 includes a mounting plate 901 and a bottom plate 902 connected by welding. The housing 11 includes a storage shell 1101 and a water tank 1102 fixedly installed outside the mounting plate 901.

[0063] As Figure 2 and Figure 4 shown, the traveling mechanism 10 includes a driving motor 1001 fixedly installed outside the housing 11, a rotating shaft 1002 rotatably arranged inside the housing 11, a worm 1003 fixedly installed on the output shaft of the driving motor 1001, a worm gear 1004 fixedly installed outside the rotating shaft 1002 and meshing with the worm 1003, a traveling gear 1005 fixedly installed at one end of the rotating shaft 1002 away from the housing 11 and meshing with the gear ring 8, and a roller 1006 fixedly installed on the side of the bottom plate 902 away from the mounting plate 901 and rollingly connected with the annular guide seat 6; wherein, an annular rolling groove matching with the roller 1006 is arranged in the annular guide seat 6, and the roller 1006 is in rolling cooperation with the inner wall of the annular rolling groove to realize circular motion around the driving base 2. The number of rollers 1006 is two to ensure traveling stability. A limit seat for limiting and supporting the rotating shaft 1002 is installed on the bottom plate 902. The rotating shaft 1002 is connected to the limit seat by bearings.

[0064] As Figure 6 - Figure 8As 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.

[0065] 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.

[0066] Specifically, the synchronization structure 1209 consists of two synchronization shafts 12091 and a synchronization wheel 12902 fixedly installed on the same end of the two synchronization shafts 12091, and the other same ends of the two synchronization shafts 12091 are respectively connected to the cleaning roller 1202 and the rotating arm 1207, and the two synchronization wheels 12902 are connected by a synchronization belt 12093. The power of the feed pump can come from the rotation of the cleaning roller 1202, and the power transmission is realized through the synchronization 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, thereby realizing two groups of different working modes, realizing efficient and automatic cleaning and lubrication operations outside the driving base 2, and improving the operating efficiency and service life of the equipment.

[0067] It should be noted that the humanoid robot body 1 can be set with a turning mode according to requirements. In some application scenarios, such as when the robotic arm 4 needs to perform repeated or continuous rotational movements in a specific direction, a one-way rotating robotic arm 4 can be designed. The one-way rotating robotic arm 4 is suitable for scenarios that require one-way rotational movements, such as material rotation on a production line and component rotation on an assembly line. By precisely controlling the rotation angle and speed, efficient automated production can be achieved. When the robotic arm 4 needs to rotate back and forth bidirectionally, the concave frame 1201 can be set to be telescopic, which can facilitate the operator to remotely operate and make the cleaning roller 1202 abut against the drive base 2, improving the flexibility of the cleaning mechanism 12.

[0068] As Figure 9 and Figure 10 shown, the dust suction device 13 includes a dust suction fan 1301 installed on the side of the storage shell 1101 close to the traveling mechanism 10, a partition 1302 slidably installed in the storage shell 1101, a suction pipe 1303 fixedly installed on the side of the water tank 1102 close to the drive base 2, and a connecting pipe 1304 fixedly communicating between the suction pipe 1303 and the storage shell 1101; the inside of the storage shell 1101 is hollow, and two concave slide rails are installed between the inner walls on the opposite sides thereof. The partition 1302 is installed between the two concave slide rails. When the traveling mechanism 10 is driven, the dust suction device 13 is driven to perform dust suction work through the rotating shaft 1002.

[0069] Among them, a pull-out opening is provided on the upper surface of the storage shell 1101 for the disassembly and assembly of the partition 1302, and a sealing strip for sealing the pull-out opening is installed on the outer surface of the top end of the partition 1302.

[0070] As Figure 11 shown, the scraping structure 14 includes an elastic telescopic rod 1402 installed on the side of the mounting plate 901 close to the drive base 2 and a cleaning plate 1401 detachably installed at the other end of the elastic telescopic rod 1402 and abutting against the outer surface of the drive base 2. The elastic telescopic rod 1402 includes a sleeve 14021 and a rod 14022 that are telescopically connected and a return spring 14023 fixedly installed on the inner wall of the sleeve 14021 and connected to one end of the rod 14022.

[0071] Among them, the end of the rod 14022 away from the return spring 14023 is fixedly connected to the outer surface of the cleaning plate 1401 through a bolt. The inside of the sleeve 14021 is hollow. With the deformation of the return spring 14023, the cleaning plate 1401 fits the connection between the drive base 2 and the machine seat 3 to achieve the cleaning of residues.

[0072] Another technical problem to be solved by the present invention is to provide a humanoid robot assembly process for the production of automotive core components, including the following assembly processes:

[0073] It includes the following assembly processes: The processes for the production of core automotive components mainly include inspection, handling, sorting for loading and unloading, wire harness insertion, assembly, gluing, tightening, welding, multi-machine collaboration, data collection and analysis;

[0074] 1) Inspection process: The humanoid robot can be equipped with inspection equipment to detect the dimensions, shapes, and internal defects of components. In the inspection of engine crankshafts, the humanoid robot can measure the diameter, roundness, and cylindricity of the journal. Using a vision inspection system, it can quickly identify the appearance defects and label clarity of components to ensure that the products meet the quality standards;

[0075] 2) Handling process: With flexible movements, the humanoid robot can safely and efficiently handle components. In the handling of transmission assemblies, the robot can easily move them 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;

[0076] 3) Sorting for loading and unloading process:

[0077] The humanoid robot can quickly sort components of different specifications and models through vision recognition and grasping technology. In the component bins, the humanoid robot can sort out the parts according to order requirements and send them to the corresponding production equipment. During the loading and unloading processes, it can cooperate with the production equipment to improve production efficiency;

[0078] 4) Wire harness insertion process:

[0079] Using its fine motion control ability, the humanoid robot can accurately insert the wire harness into the interfaces of components. In the production of automotive instrument panels, the robot can precisely complete the wire harness insertion work. Equipped with a pressure sensor, it ensures that the insertion force is appropriate to avoid damage to the wire harness and interfaces;

[0080] 5) Assembly process:

[0081] During the engine assembly process, the humanoid robot can accurately install piston and connecting rod components to ensure the assembly quality. For complex assembly tasks, the humanoid robot can work in collaboration with workers to improve assembly efficiency;

[0082] 6) Gluing process:

[0083] It can precisely control the gluing trajectory, speed, and glue volume to ensure uniform gluing without bubbles. In the installation of the electric drive housing, the robot can evenly apply glue along the edge to improve the sealing performance. It can adjust the gluing parameters according to different components and glue characteristics to meet diverse production requirements;

[0084] 7) Tightening process:

[0085] Equipped with a high-precision torque wrench, the humanoid robot can tighten screws according to the set torque value; during the wheel installation process, ensure that the tightening force of each screw is consistent to guarantee driving safety; monitor the torque changes in real time during the tightening process, and once an abnormality is found, it can alarm in time and stop the operation;

[0086] 8) Welding process:

[0087] Carry out the welding work of the motor to ensure the strength and aesthetics of the weld; in the welding of the drive motor, the robot can achieve continuous and stable welding, improving the welding quality; adopt advanced welding technology to meet the welding requirements of different materials and thicknesses of parts.

[0088] 9) Multi-robot collaborative process:

[0089] Multiple humanoid robots can work together to complete complex production tasks; on the lithium battery production line, one robot is responsible for transporting the battery pack rear shell, and another robot is responsible for installing screws, improving production efficiency and coordination; through network communication and coordinated control algorithms, realize task allocation, motion synchronization and information sharing among multiple robots;

[0090] 10) Data acquisition and analysis process:

[0091] The humanoid robot can collect production data in real time during the working process, record the processing time and precision data of each part; through the analysis of these data, the enterprise can optimize the production process, predict equipment failures, conduct quality traceability, and improve the production management level and decision-making scientificity.

[0092] It should be noted that the equipment of the humanoid robot body 1 in the production of core automotive parts, such as:

[0093] Flexible fixture: For parts with different shapes and sizes, design fixtures that can be quickly replaced and adjusted to ensure the stability of the robot's grasping and operation. For parts with irregular shapes, adopt adaptive fixtures that can automatically adjust the clamping position and force according to the part's shape.

[0094] Among them, the fixture is made of high-strength materials and has good wear resistance and durability.

[0095] High-precision sensors: Install a variety of high-precision sensors such as position sensors, force sensors, and vision sensors to achieve precise perception of the robot's actions and the environment. The force sensor can monitor the contact force between the robot and the parts in real time to avoid damage caused by excessive force. The sensor data is transmitted to the control system through a high-speed communication interface to provide a basis for the precise control of the robot.

[0096] Intelligent control system: Adopting advanced control algorithms and software to achieve complex motion control and task scheduling for humanoid robots. Based on the model predictive control algorithm, it can plan the motion trajectory of the robot in advance, improving the smoothness and accuracy of motion. It supports offline programming and online debugging functions, facilitating operators to program and optimize the robot.

[0097] As Figure 1 - Figure 11 shown, the principle of the humanoid robot assembly and installation equipment for the production of automotive core components provided in this embodiment is as follows:

[0098] During use, install the support structure 5 on the lower surface of the drive base 2, and then drive the rotation of the rotating shaft 1002 through the transmission cooperation of the drive motor 1001, the worm 1003 and the worm gear 1004. The rotation of the rotating shaft 1002 drives the traveling gear 1005 to perform a circular motion around the toothed ring 8, thereby driving the cleaning part to move. At this time, the cleaning roller 1202 rotates as it moves around the drive base 2 through the traveling mechanism 10, and drives the rotating arm 1207 to rotate by using the synchronization structure 1209, so that the peristaltic hose 1206 extracts the lubricating fluid in the water tank 1102 and sprays it out through the nozzle 1230, and transports the lubricating fluid to the lubricating sleeve 1203. Through the circular motion of the cleaning roller 1202, uniform lubrication of the connection between the drive base 2 and the mechanical seat 3 is achieved;

[0099] In addition, the scraping structure 14 is located in front of the lubricating sleeve 1203. When the traveling mechanism 10 is driven, the scraping structure 14 can scrape off the stains remaining at the connection between the drive base 2 and the mechanical seat 3, and then drive the suction fan 1301 to rotate by using the rotating shaft 1002, so that a negative pressure is formed in the storage shell 1101, and the suction pipe 1303 sucks in the cleaned stains, better cooperating with the lubricating sleeve 1203 for maintenance.

[0100] As used in the specification and claims, certain terms are used 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. The specification and claims do not use the difference in names as a way to distinguish components, but use the difference in functions of components as the criterion for distinction. As mentioned throughout the specification and claims, "comprising" is an open-ended term and should be interpreted as "including but not limited to". "Substantially" means within an acceptable error range. Those skilled in the art can solve technical problems within a certain error range and basically achieve the technical effect.

[0101] It should be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or system comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such commodity or system. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the commodity or system comprising the element.

[0102] The above description shows and describes several preferred embodiments of the present invention. However, as previously mentioned, it should be understood that the present invention is not limited to the forms disclosed herein, should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be changed within the scope of the inventive concept described herein through the above teachings or the technology or knowledge in the relevant field. Any changes and variations made by those skilled in the art without departing from the spirit and scope of the present invention shall fall within the protection scope of the appended claims of 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); 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), and 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); 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; 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 in communication with the pump chamber (1205) are provided in the pump housing (1204), and two water pipes in communication with two ends of the peristaltic hose (1206) are installed in the two through-holes, and one end of one of the water pipes is in communication with 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 lubricating sleeve (1203); 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 (12093) is connected between the two synchronous wheels (12902).

2. The humanoid robot assembly equipment for the production of automotive core parts according to claim 1 is characterized in that: 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.

3. The humanoid robot assembly equipment for the production of automotive core parts according to claim 2 is characterized in that: 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.

4. The humanoid robot assembly equipment for the production of automotive core parts according to claim 1 is characterized in that: 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).

5. The humanoid robot assembly equipment for the production of automotive core parts according to claim 4 is 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.

6. 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 described in any one of claims 1 to 5, 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 its flexible movements, the humanoid robot can safely and efficiently carry parts. In the case of a transmission assembly, the robot easily moves 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 accurately completes 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 works in collaboration with workers to improve assembly efficiency; 6) Gluing process: Precisely control the trajectory, speed and amount of glue coating to ensure uniform glue coating without bubbles. During the installation of the 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 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, improving production efficiency and coordination. Through network communication and coordinated control algorithms, task allocation, action synchronization and information sharing among multiple machines are achieved. 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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