Multi-dimensional accurate positioning automatic assembly robot

Abstract

The multi-dimensional precise positioning automatic assembling robot comprises four sliding frames arranged oppositely and a plurality of cross beams, the upper ends of the four sliding frames are connected and fixed through the cross beams, a multi-direction adjusting mechanism is arranged in a frame defined by the cross beams, a mechanical arm is installed on the multi-direction adjusting mechanism, and the mechanical arm is connected with the sliding frames. The multi-direction adjusting mechanism is used for adjusting the industrial manipulator in multiple directions and achieving multi-dimensional movement of the manipulator, and a positioning mechanism is arranged on the side, facing the multi-direction adjusting mechanism, of each sliding frame. The manipulator can be tracked and shot in real time through the positioning mechanisms arranged on the multiple sliding frames, industrial cameras of the multiple positioning mechanisms can deflect in the X-axis direction and the Y-axis direction at the same time through cooperative use of two motors and related parts, the shooting angle of the cameras can be adjusted, the position tracking of the manipulator can be more accurate, and the working efficiency is improved. Therefore, accurate positioning can be achieved when the mechanical arm is used for assembling parts, and the using effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of automated assembly, and in particular to a multi-dimensional precise positioning automated assembly robot. Background Art

[0002] In the production, processing and assembly of mechanical products, a large number of standard parts are needed. Traditional workpiece sorting includes manual sorting and machine sorting. Manual sorting is that workers use their eyes to identify and locate the workpieces, and then carry out sorting work. This method is inefficient and difficult to ensure work quality. Therefore, the automatic identification and classification of standard parts is an inevitable trend of development.

[0003] After searching, it was found that the patent document with publication number CN119458429A provides an assembly robot for manufacturing curved offset printing machines with precise positioning, wherein the movement state of the two extension arms is captured by cameras arranged on one side of the two extension arms. The position of the cameras is fixed, while the extension arms are movable up and down. It is difficult for a single fixed camera to dynamically capture the movement state of the extension arms, and it is difficult to achieve precise positioning of the extension arms and the workpieces they clamp. At the same time, the extension arms can only move up and down, and the range of motion is limited, which is not conducive to assembly and manufacturing use. Summary of the invention

[0004] The object of the present invention is to provide a multi-dimensional precise positioning automatic assembly robot to solve the problems of difficulty in precise positioning of workpieces and limited range of motion of the extension arm raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A multi-dimensional precise positioning automatic assembly robot comprises four relatively arranged slides and a plurality of cross beams, the upper ends of the four slides are connected and fixed by the plurality of cross beams, a multi-directional adjustment mechanism is arranged inside a frame formed by the plurality of cross beams, a manipulator is mounted on the multi-directional adjustment mechanism, the multi-directional adjustment mechanism is used to adjust the industrial manipulator in multiple directions and realize the multi-dimensional movement of the manipulator, a positioning mechanism is arranged on the side of each slide facing the multi-directional adjustment mechanism, an industrial camera is arranged on the positioning mechanism, the plurality of industrial cameras on the plurality of positioning mechanisms are arranged toward one side of the manipulator on the multi-directional adjustment mechanism, and the focusing centers of the plurality of industrial cameras on the plurality of positioning mechanisms are located on one side of the manipulator, and the plurality of positioning mechanisms cooperate with each other to precisely position the parts when the manipulator clamps them for assembly.

[0007] As a further solution of the present invention: the positioning mechanism includes a slide groove, a first motor, a screw rod, a slider and a positioning assembly; the slide groove is opened on the side of the slide facing the multi-directional adjustment mechanism; a screw rod is rotatably connected in the slide groove; a slider is threadedly sleeved on the screw rod; a first buffer structure is arranged inside the slider; the slider is slidably connected in the slide groove; the positioning assembly is fixed on one side of the slider; the positioning assembly is slidably connected to the outside of the slide; a first motor is installed on the top of the slide; one end of the output shaft of the first motor is connected and fixed to one end of the screw rod.

[0008] As a further solution of the present invention: the sliding block includes a right clamping block and a left clamping block, and the right clamping block and the left clamping block are each provided with a semicircular groove on one side opposite to the other, and the two semicircular grooves are connected to form a complete circular groove that runs through from top to bottom, and a threaded barrel is rotatably connected in the circular groove, and the threaded barrel is threadedly sleeved on the screw rod, and the inner walls of the right clamping block and the left clamping block are each provided with a first limiting groove on one side corresponding to the circular groove, and the two first limiting grooves are connected to form a complete limiting groove, and a clamping block is slidably connected in the limiting groove, and a clamping groove is provided on the inner wall of the threaded barrel on one side corresponding to the clamping block, one end of the clamping block extends to one side of the threaded barrel and one end of the clamping block is inserted into the clamping groove, and the interior of the clamping block is provided with a hole that runs through at both ends. The cam is provided with a first spring, and the two ends of the first spring are respectively connected and fixed to the block and the inner wall of the first limiting groove. A clamping column is rotatably connected to one side of the block. A second limiting groove running through the upper and lower parts is provided on the inner wall of the left clamping block corresponding to the side of the block. A convex plate is slidably connected in the second limiting groove. Both ends of the convex plate extend to the outside of the left clamping block. A V-shaped groove is provided on the inner wall of the convex plate corresponding to the side of the clamping column. One end of the clamping column extends into the V-shaped groove and one end of the clamping column is rollingly connected in the V-shaped groove. The threaded cylinder, the block, the limiting rod, the first spring and the convex plate cooperate with each other to form the first buffer structure.

[0009] As a further solution of the present invention: the positioning assembly includes a connecting block, the connecting block is fixedly connected to the slider, the middle position of one side of the connecting block is rotatably connected to a worm via a bracket, the second motor and the third motor are respectively installed at two ends of the connecting block corresponding to one side of the worm, one end of the output shaft of the second motor is fixed with a first rotating shaft, one end of the first rotating shaft is rotatably connected to the bracket on one side of the worm, one end of the output shaft of the third motor is fixed with a second rotating shaft, and one end of the second rotating shaft is connected and fixed to one end of the worm.

[0010] As a further solution of the present invention: a first frame is provided on the outside of the connecting block at a side corresponding to the worm gear, one end of the first frame is connected and fixed to the first rotating shaft via a bracket, and the other end of the first frame is rotatably connected to the second rotating shaft via a bracket, a worm gear is rotatably connected to the inside of the first frame via a third rotating shaft, the third rotating shaft is fixedly connected to the worm gear and the third rotating shaft is rotatably connected to the inner wall of the first frame, the worm gear is meshingly connected to one side of the worm gear, a second frame is rotatably connected to one side of the first frame corresponding to the third rotating shaft, both ends of the third rotating shaft extend to one side of the second frame and are connected and fixed to the inner wall of the second frame, a mounting seat is fixed to one side of the second frame, and the industrial camera is mounted on the mounting seat.

[0011] As a further solution of the present invention: the multi-directional adjustment mechanism includes a mounting frame, which is connected and fixed to the cross beam, and the first screw and the second screw are rotatably connected on both sides of the interior of the mounting frame, the first screw and the second screw have the same specifications and the thread directions of the two are the same, and the fourth motor and the fifth motor are respectively installed on the two ends of the outside of the mounting frame, one end of the fourth motor output shaft is connected and fixed to one end of the first screw, and one end of the fifth motor output shaft is connected and fixed to one end of the second screw.

[0012] As a further solution of the present invention: two relatively arranged sliding rods are fixed by a bracket below the mounting frame, a sliding seat is slidably connected between the two sliding rods, a second buffer structure is arranged inside the sliding seat, a transmission shaft is rotatably connected at the center of the inner wall of the sliding seat, a driving gear and a driven gear are respectively fixed at both ends of the transmission shaft, the driving gear is meshed and connected in the gap between the first screw and the second screw, and the teeth of the driving gear are adapted to the threads on the surfaces of the first screw and the second screw.

[0013] As a further solution of the present invention: the sliding seat includes a connecting plate and guide blocks fixed at both ends of the connecting plate, the guide block includes a lower clamping block and an upper clamping block, the lower clamping block and the upper clamping block have semicircular holes on their inner walls corresponding to the sliding rod, and the two upper and lower corresponding semicircular holes are connected to form a complete circular hole, the sliding rod is slidably connected in this circular hole, a mounting groove is provided at the center of the inner wall of the lower clamping block, a transmission gear is rotatably connected in the mounting groove, a transmission rack is slidably connected to the side of the upper clamping block corresponding to the transmission gear, the transmission rack is meshed and connected above the transmission gear, a hole is provided on the inner wall of the connecting plate corresponding to the side of the transmission rack, and one end of the transmission rack is slidably inserted into the hole, One end of the transmission rack located in the hole is sleeved with a second spring, and two ends of the second spring are respectively connected and fixed to the transmission rack and the inner wall of the hole, and threaded rods are provided on both sides of the transmission gear, and one end of the two threaded rods is respectively connected and fixed to one end of the transmission gear rotating shaft, and the threads on the surfaces of the two threaded rods are in opposite directions, and one end of the two threaded rods is threadedly connected with a slide cylinder, and the two slide cylinders are slidably connected to the lower clamping block, and one end of the two slide cylinders extends to the circular holes on the corresponding side respectively, and one end of the two slide cylinders is sleeved with an anti-slip sleeve, and the transmission rack, the transmission gear, the threaded rod, the slide cylinder and the second spring cooperate with each other to jointly constitute the second buffer structure.

[0014] As a further solution of the present invention: guide rails are fixed on both sides of the bottom of the sliding seat, and guide bars and racks are slidably connected to the two guide rails respectively. The rack is meshed and connected to one side of the driven gear, and the guide bar and the rack are fixedly connected by a bracket and surrounded to form a sliding frame structure.

[0015] As a further solution of the present invention: a base is fixed at the bottom of the sliding frame structure, an electric push rod is installed on the base, the movable end of the electric push rod extends downward and is fixed with a mounting platform, the mounting platform and the base are connected and reinforced by multiple telescopic rods, and a manipulator is installed below the mounting platform.

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

[0017] In the present invention, the manipulator is installed on a multi-directional adjustment mechanism. Through the coordinated use of two screws and gears in the multi-directional adjustment mechanism, the manipulator can be synchronously adjusted in two different directions of the horizontal X-axis and the horizontal Y-axis. The multi-directional adjustment mechanism has a compact structure and can perform long-distance stroke adjustment, which is suitable for use in parts assembly and manufacturing. In the process of the manipulator clamping parts for assembly, the manipulator can be tracked and photographed in real time through the positioning mechanisms arranged on multiple slides. The industrial camera of multiple positioning mechanisms can simultaneously deflect in the X-axis and Y-axis directions through the coordinated use of two motors and related components. The shooting angle of the camera is adjustable, and the position tracking of the manipulator will be more accurate, thereby enabling precise positioning of the manipulator when assembling parts, and achieving better use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the structure of the present invention.

[0020] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0021] Figure 3 It is an expanded view of the connection between the slide and the positioning mechanism in the present invention.

[0022] Figure 4 This is a first-perspective view of the positioning component in the positioning mechanism.

[0023] Figure 5 This is a second viewing angle diagram of the positioning component in the positioning mechanism.

[0024] Figure 6 This is a first viewing angle diagram of the multi-directional adjustment mechanism of the present invention.

[0025] Figure 7 This is a second viewing angle diagram of the multi-directional adjustment mechanism of the present invention.

[0026] Figure 8 This is a third viewing angle diagram of the multi-directional adjustment mechanism of the present invention.

[0027] Fig. 9 It is a schematic diagram of the connection between the rack and the gear in the multi-directional adjustment mechanism.

[0028] Fig.10 It is a structural schematic diagram of the slider in the positioning mechanism.

[0029] Fig.11 This is the exploded view of the slider in the positioning mechanism.

[0030] Fig.12 It is a structural schematic diagram of the sliding seat in the multi-directional adjustment mechanism.

[0031] Fig.13 This is the exploded view of the sliding seat in the multi-directional adjustment mechanism.

[0032] Fig.14 It is a schematic diagram of the internal structure of the lower clamping block in the sliding seat.

[0033] Notes on reference numerals: 1-slide, 2-crossbeam, 3-multi-directional adjustment mechanism, 301-mounting frame, 302-first screw, 303-second screw, 304-fourth motor, 305-fifth motor, 306-driving gear, 307-guide bar, 308-rack, 309-guide rail, 310-base, 311-mounting table, 312-telescopic rod, 313-slide bar, 314-electric push rod, 315-sliding seat, 3151-connecting plate, 3152-guide block, 3153-lower clamping block, 3154-upper clamping block, 3155-semicircular hole, 3156-transmission gear, 3157-threaded rod, 3158-slide cylinder, 3159-anti-slip sleeve, 31510-transmission rack, 31511-second spring, 31512-mounting groove, 316-transmission shaft, 317-driven gear, 4-positioning mechanism, 5-slide groove, 6-first motor, 7-screw, 8-slider, 81-right clamping block, 82-left clamping block, 83-semicircular groove, 84-threaded cylinder, 85-slot, 86-block, 87-clamping column, 88-limiting rod, 89-first spring, 810-convex plate, 811-V-groove, 812-first limiting groove, 813-second limiting groove, 9-positioning assembly, 91-connecting block, 92-second motor, 93-first rotating shaft, 94-worm, 95-second rotating shaft, 96-third motor, 97-first frame, 98-worm wheel, 99-second frame, 910-mounting seat, 911-industrial camera, 912-third rotating shaft. DETAILED DESCRIPTION

[0034] The following embodiments will be described in detail with reference to the accompanying drawings. In the drawings or descriptions, similar or identical parts use the same reference numerals, and in actual applications, the shape, thickness or height of each component may be enlarged or reduced. The embodiments listed in the present invention are only used to illustrate the present invention and are not used to limit the scope of the present invention. Any obvious modifications or changes made to the present invention do not depart from the spirit and scope of the present invention.

[0035] See also Figures 1 to 14In an embodiment of the present invention, a multi-dimensional precise positioning automatic assembly robot comprises four relatively arranged slides 1 and a plurality of beams 2, the upper ends of the four slides 1 are connected and fixed by a plurality of beams 2, a multi-directional adjustment mechanism 3 is arranged inside a frame formed by the plurality of beams 2, a manipulator is installed on the multi-directional adjustment mechanism 3, and the manipulator can adopt an industrial manipulator in the prior art, a positioning mechanism 4 is arranged on the side of each slide 1 facing the multi-directional adjustment mechanism 3, the multi-directional adjustment mechanism 3 is used to adjust the industrial manipulator in multiple directions and realize the multi-dimensional movement of the manipulator, an industrial camera 911 is arranged on the positioning mechanism 4, the plurality of industrial cameras 911 on the plurality of positioning mechanisms 4 are all arranged toward one side of the manipulator on the multi-directional adjustment mechanism 3, and the focusing centers of the plurality of industrial cameras 911 on the plurality of positioning mechanisms 4 are located on one side of the manipulator, the plurality of positioning mechanisms 4 cooperate with each other to precisely position the parts when the manipulator clamps them for assembly, in this embodiment, for the convenience of use, rollers with locking structures can be installed at the bottom ends of the plurality of slides 1 to facilitate the movement of the entire device.

[0036] See also Figures 3 to 5 The positioning mechanism 4 includes a slide groove 5, a first motor 6, a screw rod 7, a slider 8 and a positioning assembly 9. A slide groove 5 is provided on the side of the slide 1 facing the multi-directional adjustment mechanism 3. A screw rod 7 is rotatably connected in the slide groove 5. A slider 8 is threadedly sleeved on the screw rod 7. A first buffer structure is provided inside the slider 8. When the slider 8 moves to the top and bottom ends of the screw rod 7, it collides with the inner wall of the slide 1. The first buffer structure buffers the collision pressure to protect the slider and the positioning assembly 9 on one side of the slider. The slider 8 is slidably connected in the slide groove 5. A positioning assembly 9 is fixed on one side of the slider 8. The positioning assembly 9 is slidably connected to the outside of the slide 1. A first motor 6 is installed on the top of the slide 1. One end of the output shaft of the first motor 6 is connected and fixed to one end of the screw rod 7.

[0037] The positioning assembly 9 includes a connecting block 91, which is fixedly connected to the slider 8. A worm 94 is rotatably connected to the middle position of one side of the connecting block 91 through a bracket. A second motor 92 and a third motor 96 are respectively installed at two ends of the connecting block 91 corresponding to one side of the worm 94. A first rotating shaft 93 is fixed to one end of the output shaft of the second motor 92. One end of the first rotating shaft 93 is rotatably connected to the bracket on one side of the worm 94. A second rotating shaft 95 is fixed to one end of the output shaft of the third motor 96. One end of the second rotating shaft 95 is fixed to one end of the worm 94.

[0038] A first frame 97 is provided on the side of the connecting block 91 corresponding to the worm 94 on the outside, one end of the first frame 97 is connected and fixed to the first rotating shaft 93 through a bracket, and the other end of the first frame 97 is rotatably connected to the second rotating shaft 95 through a bracket, the inside of the first frame 97 is rotatably connected to a worm wheel 98 through a third rotating shaft 912, the third rotating shaft 912 is fixedly connected to the worm wheel 98 and the third rotating shaft 912 is rotatably connected to the inner wall of the first frame 97, the worm wheel 98 is meshedly connected to one side of the worm 94, the outside of the first frame 97 is rotatably connected to a second frame 99 on one side corresponding to the third rotating shaft 912, both ends of the third rotating shaft 912 extend to one side of the second frame 99 and are connected and fixed to the inner wall of the second frame 99, a mounting seat 910 is fixed on one side of the second frame 99, and an industrial camera 911 is installed on the mounting seat 910;

[0039] In this embodiment, the industrial camera 911 can be adjusted in two directions of the X-axis and the Y-axis in steps or synchronously. Specifically, when the second motor 92 is started, the second motor 92 rotates the first shaft 93, and the first shaft 93 drives the first frame 97 to deflect along the Y-axis direction. At this time, the industrial camera 911 located on one side of the first frame 97 deflects up and down synchronously. When the third motor 96 is started, the third motor 96 rotates the second shaft 95, and the second shaft 95 drives the worm 94 to rotate synchronously. At this time, the worm wheel 98 meshing with the worm 94 will rotate, and the worm wheel rotates to drive the third shaft 912 to rotate synchronously. Both ends of 912 are connected and fixed to the second frame 99. At this time, the second frame 99 will rotate around the connection point with the first frame 97. The second frame 99 deflects along the X-axis direction on one side of the first frame 97. The industrial camera 911 located on one side of the second frame 99 deflects left and right synchronously. The second motor 92 and the third motor 96 can also be started at the same time to synchronously adjust the X-axis and Y-axis directions of the industrial camera 911. After the camera is adjusted, its camera angle changes. In practical applications, the focus center of the camera can always move with the manipulator, thereby realizing precise positioning of the manipulator during the clamping and assembly process.

[0040] See also Figures 6 to 9 The multi-directional adjustment mechanism 3 includes a mounting frame 301, which is fixedly connected to the crossbeam 2. The first screw 302 and the second screw 303 are rotatably connected on both sides of the mounting frame 301. The first screw 302 and the second screw 303 have the same specifications and the same thread direction. The fourth motor 304 and the fifth motor 305 are installed on both ends of the outside of the mounting frame 301. One end of the output shaft of the fourth motor 304 is fixedly connected to one end of the first screw 302, and one end of the output shaft of the fifth motor 305 is fixedly connected to one end of the second screw 303.

[0041] Two oppositely arranged sliding bars 313 are fixed to the bottom of the mounting frame 301 through a bracket, and a sliding seat 315 is slidably connected between the two sliding bars 313. A second buffer structure is arranged inside the sliding seat 315. When the sliding seat 315 moves to the two ends of the sliding bar 313, it will collide with the two side walls of the mounting frame 301. The second buffer structure buffers the collision pressure, and at the same time, the sliding seat 315 is locked and fixed on the sliding bar 313, so as to protect the sliding seat and the manipulator and other components below it. A transmission shaft 316 is rotatably connected at the center of the inner wall of the sliding seat 315, and a driving gear 306 and a driven gear 317 are fixed at both ends of the transmission shaft 316. The driving gear 306 is meshed and connected in the gap between the first screw rod 302 and the second screw rod 303, and the teeth of the driving gear 306 are adapted to the threads on the surfaces of the first screw rod 302 and the second screw rod 303.

[0042] Guide rails 309 are fixed on both sides of the bottom of the sliding seat 315, and guide bars 307 and racks 308 are slidably connected to the two guide rails 309 respectively. The rack 308 is meshed and connected to one side of the driven gear 317. The guide bar 307 and the rack 308 are fixedly connected and surrounded by a bracket to form a sliding frame structure. A base 310 is fixed at the bottom of the sliding frame structure, and an electric push rod 314 is installed on the base 310. The movable end of the electric push rod 314 extends downward and is fixed with a mounting platform 311. The mounting platform 311 and the base 310 are connected and reinforced by multiple telescopic rods 312. A manipulator is installed below the mounting platform 311. The manipulator is an existing industrial manipulator and is used using existing technology;

[0043] In this embodiment, the first screw 302 and the second screw 303 can be rotated respectively by the fourth motor 304 and the fifth motor 305. When the first screw 302 and the second screw 303 rotate synchronously in the same direction, the driving gear 306 located between the two screws will move to one side under the limit of the thread groove on the surface of the screw, and drive the sliding frame structure below it to move synchronously, thereby moving the manipulator in the horizontal X-axis direction;

[0044] When the first screw 302 and the second screw 303 rotate synchronously in opposite directions, the driving gear 306 located between the two screws will rotate under the limitation of the screw thread groove on the surface, and the driving gear 306 is connected to the driven gear 317 through the transmission shaft 316. When the driving gear 306 rotates, the driven gear 317 rotates synchronously, and the driven gear 317 is meshed with the rack 308. The rack 308 is slidably connected to the guide rail 309. When the driven gear 317 rotates, the rack 308 moves to one side on the guide rail 309, thereby driving the manipulator located below it to move in the horizontal Y-axis direction. The manipulator can also adjust the height up and down through the electric push rod 314, so as to realize the adjustment of the manipulator in multiple dimensions, which is convenient for assembly and manufacturing.

[0045] See also Figures 10-11 The slider 8 includes a right clamping block 81 and a left clamping block 82, which are fixed by bolts. A semicircular groove 83 is provided on the opposite side of the right clamping block 81 and the left clamping block 82. The two semicircular grooves 83 are connected to form a complete circular groove that runs through the upper and lower parts, and a threaded cylinder 84 is rotatably connected in the circular groove. The threaded cylinder 84 is threadedly sleeved on the screw rod 7. When the screw rod 7 rotates under the drive of the motor, the threaded cylinder 84 threadedly connected with the screw rod 7 will rotate synchronously. The threaded cylinder 84 is rotatably connected with the left and right clamping blocks. Under the limit of the two clamping blocks, the threaded cylinder 84 will change its own motion state and drive the two clamping blocks to slide along the axial direction of the screw rod 7.

[0046] A first limiting groove 812 is provided on one side of the inner wall of the right clamping block 81 and the left clamping block 82 corresponding to the circular groove. The two first limiting grooves 812 are connected to form a complete limiting groove, and a clamping block 86 is slidably connected in the limiting groove. A clamping groove 85 is provided on one side of the inner wall of the threaded barrel 84 corresponding to the clamping block 86. One end of the clamping block 86 extends to one side of the threaded barrel 84 and one end of the clamping block 86 is inserted into the clamping groove 85. The threaded barrel 84 is locked in the two clamping blocks by the coordinated use of the clamping block 86 and the clamping groove 85. When locked, the threaded barrel and the two clamping blocks are a whole, and the threaded barrel will not rotate.

[0047] The block 86 is provided with holes at both ends passing through the inside thereof, and a limiting rod 88 is slidably connected in the hole. One end of the limiting rod 88 extends into the first limiting groove 812 and is connected and fixed to the inner wall of the first limiting groove 812. One end of the limiting rod 88 is sleeved with a first spring 812. The two ends of the first spring 812 are respectively connected and fixed to the block 86 and the inner wall of the first limiting groove 812. A clamping column 87 is rotatably connected to one side of the block 86. A second limiting groove 87 passing through the left clamping block 82 is provided on the inner wall corresponding to the block 86. 13. A convex plate 810 is slidably connected in the second limiting groove 813. Both ends of the convex plate 810 extend to the outside of the left clamping block 82. A V-shaped groove 811 is provided on the inner wall of the convex plate 810 corresponding to one side of the clamping column 87. One end of the clamping column 87 extends into the V-shaped groove 811 and one end of the clamping column 87 is rollingly connected in the V-shaped groove 811. The clamping column 87 is rollingly connected with the V-shaped groove 811, which changes the original sliding friction into rolling friction, reduces the friction force, and makes the clamping column move more smoothly in the V-shaped groove to avoid being stuck.

[0048] In this embodiment, when the slider 8 moves to the top and bottom ends of the screw rod 7, the convex plate 810 will first contact the inner walls on both sides of the slide 1. After being squeezed by the inner wall of the slide 1, the convex plate 810 will slide up and down in the second limiting groove 813. When the convex plate 810 slides up and down, the V-shaped groove 811 and the clamping column 87 are used together to drive the clamping block 86 to slide outward in the first limiting groove 812. At this time, one end of the clamping block 86 is disengaged from the clamping groove 85, and the threaded barrel 84 is no longer locked. As the screw rod 7 continues to rotate, the threaded barrel 84 will only rotate synchronously with the screw rod and will no longer The slider 8 is driven to move to prevent the slider 8 from continuously squeezing the inner wall of the slide 1, and the slider 8 and the slide 1 are protected at the same time. The block 86 is slidably connected to the limit rod 88, and the limit rod 88 is sleeved with a first spring 89. When the block 86 slides outward in the first limit groove 812, the first spring 89 will be squeezed, and the first spring 89 will store energy and buffer the pressure, thereby buffering the collision pressure of the convex plate 810. At this time, the slider 8 is buffered and protected, and the positioning component 9 on one side of the slider 8 can also be protected accordingly to prevent the industrial camera from being damaged by collision.

[0049] See also Figures 12-14 The sliding seat 315 includes a connecting plate 3151 and a guide block 3152 fixed at both ends of the connecting plate 3151, and the guide block 3152 includes a lower clamping block 3153 and an upper clamping block 3154, and the lower clamping block 3153 and the upper clamping block 3154 are fixed by bolts, and a semicircular hole 3155 is opened on the inner wall of the lower clamping block 3153 and the upper clamping block 3154 on the side corresponding to the sliding rod 313, and the two upper and lower corresponding semicircular holes 3155 are connected to form a complete circular hole, and the sliding rod 313 is slidably connected in this circular hole, and a mounting groove 31512 is opened at the center of the inner wall of the lower clamping block 3153, and a transmission gear 3156 is rotatably connected in the mounting groove 31512, and a transmission rack 31510 is slidably connected on the side corresponding to the transmission gear 3156 in the upper clamping block 3154, and the transmission rack 31510 is meshed and connected above the transmission gear 3156;

[0050] Both ends of the transmission rack 31510 extend to the outside of the upper clamping block 3154, and a hole is opened on the inner wall of the connecting plate 3151 corresponding to one side of the transmission rack 31510, and one end of the transmission rack 31510 is slidably inserted into the hole, and the end of the transmission rack 31510 located in the hole is sleeved with a second spring 31511, and the two ends of the second spring 31511 are respectively connected and fixed to the transmission rack 31510 and the inner wall of the hole. When the sliding seat 315 moves to the two ends of the sliding rod 313, the sliding seat 315 will collide with the side wall of the mounting frame 301. At this time, the transmission rack 31510 will move inward under the pressure of the side wall of the mounting frame 301, and the second spring 31511 will be compressed. The second spring 31511 buffers the collision pressure and protects the sliding seat 315.

[0051] Threaded rods 3157 are provided on both sides of the transmission gear 3156, one end of the two threaded rods 3157 is respectively connected and fixed to one end of the rotating shaft of the transmission gear 3156, the two threaded rods 3157 are both rotatably connected in the lower clamping block 3153, the threads on the surfaces of the two threaded rods 3157 are in opposite directions, and one end of the two threaded rods 3157 is threadedly connected with a slide cylinder 3158, the two slide cylinders 3158 are both slidably connected in the lower clamping block 3153, one end of the two slide cylinders 3158 extends to the circular hole on the corresponding side, and one end of the two slide cylinders 3158 is sleeved with an anti-slip sleeve 3159;

[0052] In this embodiment, when the transmission rack 31510 is squeezed by the side wall of the mounting frame 301 and slides inward, the transmission gear 3156 meshing with the transmission rack 31510 will rotate. When the transmission gear 3156 rotates, it will drive the threaded rods 3157 on both sides to rotate synchronously. The slide cylinder 3158 is threadedly connected to the threaded rod 3157 and the slide cylinder 3158 is slidably connected to the inner wall of the lower clamping block 3153. When the threaded rod 3157 rotates, the slide cylinder 3158 will move to one side of the semicircular hole 3155 until the slide cylinder 3158 is in contact with the semicircular hole 3155. One end of the cylinder 3158 is inserted into the round hole, and one end of the sliding cylinder 3158 is sleeved with an anti-slip sleeve 3159. The sliding cylinder 3158 will press against the sliding rod 313 through the anti-slip sleeve 3159 at one end, thereby locking the sliding seat 315 and the sliding rod 313, and the sliding seat 315 will no longer slide, so that the sliding seat 315 can be fixed while buffering the pressure, protecting the sliding seat and the robot and other components below it, and when the sliding seat is fixed, the position of the robot below it will also be fixed, which is convenient for assembly and processing.

[0053] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0054] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A multi-dimensional precise positioning automatic assembly robot, comprising four relatively arranged slides (1) and a plurality of beams (2), wherein the upper ends of the four slides (1) are connected and fixed by the plurality of beams (2), characterized in that: A multi-directional adjustment mechanism (3) is arranged inside a frame formed by the plurality of cross beams (2), a manipulator is mounted on the multi-directional adjustment mechanism (3), and the multi-directional adjustment mechanism (3) is used to adjust the industrial manipulator in multiple directions and realize the multi-dimensional movement of the manipulator. A positioning mechanism (4) is arranged on the side of each slide (1) facing the multi-directional adjustment mechanism (3), and an industrial camera (911) is arranged on the positioning mechanism (4). The plurality of industrial cameras (911) on the plurality of positioning mechanisms (4) are arranged toward one side of the manipulator on the multi-directional adjustment mechanism (3), and the focusing centers of the plurality of industrial cameras (911) on the plurality of positioning mechanisms (4) are located on one side of the manipulator. The plurality of positioning mechanisms (4) cooperate with each other to accurately position the parts when the manipulator clamps them for assembly.

2. The multi-dimensional precise positioning automatic assembly robot according to claim 1, characterized in that: The positioning mechanism (4) comprises a slide groove (5), a first motor (6), a screw rod (7), a slider (8) and a positioning assembly (9); the slide groove (5) is provided on the side of the slide (1) facing the multi-directional adjustment mechanism (3); a screw rod (7) is rotatably connected in the slide groove (5); a slider (8) is threadedly sleeved on the screw rod (7); a first buffer structure is arranged inside the slider (8); the slider (8) is slidably connected in the slide groove (5); the positioning assembly (9) is fixed on one side of the slider (8); the positioning assembly (9) is slidably connected to the outer side of the slide (1); a first motor (6) is installed at the top end of the slide (1); one end of the output shaft of the first motor (6) is connected and fixed to one end of the screw rod (7).

3. The multi-dimensional precise positioning automatic assembly robot according to claim 2, characterized in that: The slider (8) comprises a right clamping block (81) and a left clamping block (82), and a semicircular groove (83) is provided on one side opposite to the right clamping block (81) and the left clamping block (82). The two semicircular grooves (83) are connected to form a complete circular groove that penetrates from top to bottom, and a threaded cylinder (84) is rotatably connected in the circular groove, and the threaded cylinder (84) is threadedly sleeved on the screw rod (7). The inner wall of the right clamping block (81) and the left clamping block (82) is provided with a first limiting groove (81) on one side corresponding to the circular groove. 2), the two first limiting grooves (812) are connected to form a complete limiting groove, and a block (86) is slidably connected in the limiting groove, a groove (85) is provided on the inner wall of the threaded tube (84) corresponding to the side of the block (86), one end of the block (86) extends to the side of the threaded tube (84) and one end of the block (86) is inserted into the groove (85), a hole with two ends passing through is provided inside the block (86) and a limiting rod (88) is slidably connected in the hole, One end of the limiting rod (88) is sleeved with a first spring (812), and the two ends of the first spring (812) are respectively connected and fixed to the clamping block (86) and the inner wall of the first limiting groove (812), and one side of the clamping block (86) is rotatably connected with a clamping column (87), and a second limiting groove (813) penetrating from top to bottom is opened on the inner wall of the left clamping block (82) corresponding to the side of the clamping block (86), and a convex plate (810) is slidably connected in the second limiting groove (813), and both ends of the convex plate (810) are The protruding plate (810) extends to the outside of the left clamping block (82), and a V-shaped groove (811) is provided on the inner wall of the protruding plate (810) corresponding to one side of the clamping column (87). One end of the clamping column (87) extends into the V-shaped groove (811) and one end of the clamping column (87) is rollingly connected in the V-shaped groove (811). The threaded tube (84), the clamping block (86), the limiting rod (88), the first spring (812) and the protruding plate (810) cooperate with each other to form the first buffer structure.

4. The multi-dimensional precise positioning automatic assembly robot according to claim 2, characterized in that: The positioning assembly (9) comprises a connecting block (91), wherein the connecting block (91) is connected and fixed to the slider (8), and a worm (94) is rotatably connected to the middle position of one side of the connecting block (91) through a bracket, and a second motor (92) and a third motor (96) are respectively installed at two ends of the connecting block (91) corresponding to one side of the worm (94), and a first rotating shaft (93) is fixed to one end of the output shaft of the second motor (92), and one end of the first rotating shaft (93) is rotatably connected to the bracket on one side of the worm (94), and a second rotating shaft (95) is fixed to one end of the output shaft of the third motor (96), and one end of the second rotating shaft (95) is connected and fixed to one end of the worm (94).

5. The multi-dimensional precise positioning automatic assembly robot according to claim 4, characterized in that: A first frame (97) is provided on the outside of the connecting block (91) at a side corresponding to the worm gear (94); one end of the first frame (97) is connected and fixed to the first rotating shaft (93) via a bracket, and the other end of the first frame (97) is rotatably connected to the second rotating shaft (95) via a bracket; the inside of the first frame (97) is rotatably connected to a worm wheel (98) via a third rotating shaft (912); the third rotating shaft (912) is fixedly connected to the worm wheel (98) and the third rotating shaft (912) is rotatably connected to the second rotating shaft (95). A frame (97) is rotatably connected to the inner wall, the worm wheel (98) is meshingly connected to one side of the worm (94), and a second frame (99) is rotatably connected to the outside of the first frame (97) on one side corresponding to the third rotating shaft (912), both ends of the third rotating shaft (912) extend to one side of the second frame (99) and are connected and fixed to the inner wall of the second frame (99), a mounting seat (910) is fixed to one side of the second frame (99), and the industrial camera (911) is installed on the mounting seat (910).

6. The multi-dimensional precise positioning automatic assembly robot according to claim 1, characterized in that: The multi-directional adjustment mechanism (3) comprises a mounting frame (301), the mounting frame (301) is connected and fixed to the crossbeam (2), the first screw rod (302) and the second screw rod (303) are rotatably connected on both sides of the mounting frame (301), the first screw rod (302) and the second screw rod (303) have the same specifications and the same thread direction, and the fourth motor (304) and the fifth motor (305) are respectively installed on the two ends of the outside of the mounting frame (301), one end of the output shaft of the fourth motor (304) is connected and fixed to one end of the first screw rod (302), and one end of the output shaft of the fifth motor (305) is connected and fixed to one end of the second screw rod (303).

7. The multi-dimensional precise positioning automatic assembly robot according to claim 6, characterized in that: Two sliding rods (313) arranged opposite to each other are fixed by a bracket below the mounting frame (301); a sliding seat (315) is slidably connected between the two sliding rods (313); a second buffer structure is arranged inside the sliding seat (315); a transmission shaft (316) is rotatably connected at the center of the inner wall of the sliding seat (315); a driving gear (306) and a driven gear (317) are respectively fixed at both ends of the transmission shaft (316); the driving gear (306) is meshedly connected in the gap between the first screw rod (302) and the second screw rod (303); the teeth of the driving gear (306) are adapted to the threads on the surfaces of the first screw rod (302) and the second screw rod (303).

8. The multi-dimensional precise positioning automatic assembly robot according to claim 7, characterized in that: The sliding seat (315) includes a connecting plate (3151) and guide blocks (3152) fixed at both ends of the connecting plate (3151), and the guide blocks (3152) include a lower clamping block (3153) and an upper clamping block (3154). The inner walls of the lower clamping block (3153) and the upper clamping block (3154) are provided with semicircular holes (3155) on one side corresponding to the sliding rod (313). The two upper and lower corresponding semicircular holes (3155) are connected to form a complete circular hole. The sliding rod (313) is slidably connected in the circular hole. The lower clamping block (3153) and the upper clamping block (3154) are provided with semicircular holes (3155) on one side corresponding to the sliding rod (313). A mounting groove (31512) is provided at the center of the inner wall of the connecting plate (3151), a transmission gear (3156) is rotatably connected in the mounting groove (31512), a transmission rack (31510) is slidably connected to a side of the upper clamping block (3154) corresponding to the transmission gear (3156), the transmission rack (31510) is meshingly connected to the top of the transmission gear (3156), a hole is provided on a side of the inner wall of the connecting plate (3151) corresponding to the transmission rack (31510), one end of the transmission rack (31510) is slidably inserted into the upper clamping block (3154), and the transmission rack (31510) is meshingly connected to the top of the transmission gear (3156). The transmission rack (31510) is in the hole, and one end of the transmission rack (31510) located in the hole is sleeved with a second spring (31511), and the two ends of the second spring (31511) are respectively connected and fixed to the transmission rack (31510) and the inner wall of the hole, and threaded rods (3157) are arranged on both sides of the transmission gear (3156), and one end of the two threaded rods (3157) is respectively connected and fixed to one end of the rotating shaft of the transmission gear (3156), and the threads on the surfaces of the two threaded rods (3157) are in opposite directions, and the two threaded rods (3157) are connected to the inner wall of the hole. 7) are threadedly connected to a slide cylinder (3158) at one end, and the two slide cylinders (3158) are slidably connected to the lower clamping block (3153), one end of the two slide cylinders (3158) respectively extends to the circular hole on the corresponding side, and one end of the two slide cylinders (3158) are sleeved with an anti-slip sleeve (3159), the transmission rack (31510), the transmission gear (3156), the threaded rod (3157), the slide cylinder (3158) and the second spring (31511) cooperate with each other to jointly constitute the second buffer structure.

9. The multi-dimensional precise positioning automatic assembly robot according to claim 8, characterized in that: Guide rails (309) are fixed on both sides of the bottom of the sliding seat (315), and guide bars (307) and racks (308) are slidably connected to the two guide rails (309), respectively. The racks (308) are meshedly connected to one side of the driven gear (317), and the guide bars (307) and the racks (308) are fixedly connected by a bracket and surrounded to form a sliding frame structure.

10. The multi-dimensional precise positioning automatic assembly robot according to claim 9, characterized in that: A base (310) is fixed at the bottom of the sliding frame structure, an electric push rod (314) is installed on the base (310), a movable end of the electric push rod (314) extends downward and is fixed with a mounting platform (311), the mounting platform (311) and the base (310) are connected and reinforced by a plurality of telescopic rods (312), and a manipulator is installed below the mounting platform (311).

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