An automatic assembly system based on industrial robotic arms

Abstract

The present invention discloses an automatic assembly system based on an industrial robot arm, which relates to the field of robot arm technology and includes: a driving arm, a mounting head provided at one end of the driving arm, an inverted U-shaped mounting groove provided inside the mounting head, a driving mechanism provided inside the inverted U-shaped mounting groove, and an automatic assembly controller and an industrial camera provided outside the mounting head. The present invention provides a deflectable claw splint, which causes the extension plate to tilt upward when clamping an object, and pushes the lifting plate upward through a push-pull rod. The lifting plate squeezes the corresponding first spring and simultaneously drives the connecting block and the inclined head adjustment plate to rise. The inclined head adjustment plate is inserted into the corresponding adjustment groove so that the two plug-in columns squeeze the second spring and move out of the plug-in groove, thereby releasing the connection between the main driving arm and the slave driving arm, and avoiding the phenomenon that the main driving arm continues to drive the slave driving arm and the claw splint to continuously increase the clamping force on the object when excessive clamping force is applied due to failure of certain components of the robot arm, causing damage to the object.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to an automatic assembly system based on an industrial robotic arm. Background Art

[0002] Automatic assembly refers to the process of assembling parts using machines and automated equipment. This method can significantly improve production speed, accuracy and efficiency. Compared with traditional manual assembly, automatic assembly can usually reduce the occurrence of human errors and optimize industrial production processes. Robotic arms play a vital role in automatic assembly and are widely used in many links of this process, such as handling and positioning, assembly operations and quality inspection. Robotic arms are often the core components of automatic assembly lines, and they can perform complex assembly tasks through programming and control.

[0003] The existing document with publication number CN111037601A discloses an industrial robotic arm, comprising a base frame and a clamping mechanism supported on the base frame for clamping a workpiece. The clamping mechanism is rotatably fixed to the base frame via a rotating frame. The rotating frame includes a rotating plate rotatably supported on the base frame and a telescopic rod supported on the rotating plate. The clamping mechanism is disposed at the end of the telescopic rod. The telescopic rod has a sliding hole extending along its length. The sliding hole extends along the rotation axis of the rotating plate. The telescopic rod passes through the sliding hole and slides back and forth along the length of the sliding hole. The length of the sliding hole is perpendicular to the rotation axis of the rotating plate. The robotic arm has a telescopic rod, and the effective length of the telescopic rod can be adjusted as needed, thereby adjusting the range of motion of the robotic arm.

[0004] During the automatic assembly process of the industrial robotic arm disclosed above, if the force sensor installed on the robotic arm fails or is improperly calibrated, the feedback of the clamping force will be inaccurate. If there is a defect in the control algorithm, the robotic arm will not be able to accurately judge the required clamping force during clamping. If the moving parts or drive system of the robotic arm fails, the robotic claw will continue to apply clamping force after completing the clamping, which will directly cause the object to be deformed and damaged due to excessive clamping force. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic assembly system based on an industrial robot arm, which solves the problem that traditional industrial robot arms may cause excessive clamping force to deform and damage objects during the automatic assembly process due to certain reasons.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions, which include:

[0007] A driving arm, one end of which is provided with a mounting head, an inverted U-shaped mounting groove is provided inside the mounting head, a driving mechanism is provided inside the inverted U-shaped mounting groove, and an automatic assembly controller and an industrial camera are provided outside the mounting head;

[0008] Two assembly claw assemblies, both of which are arranged below the mounting head, and the assembly claw assemblies include an anti-clamping part, a dislocation part, an anti-loosening part, and an alignment part. The anti-clamping part is used to prevent the clamped object from being damaged by excessive clamping force of the robotic arm;

[0009] The anti-damage part includes two first arc strips and two second arc strips fixed under the mounting head, and a main driving arm is slidably provided on the outside of the two first arc strips, and a slave driving arm is slidably provided on the outside of the two second arc strips. After the anti-damage part clamps the object, the dislocation part is used to separate the connection between the main driving arm and the slave driving arm, and the anti-loosening part is used to fix the position of the slave driving arm after being separated from the main driving arm, and the alignment part is used to overlap and align the main driving arm and the slave driving arm after the separation, and a claw clamp is rotated between the two slave driving arms, an extension plate is fixed on one side of the claw clamp, and an inner through groove is opened in the interior of the two slave driving arms, and a lifting plate slides between the interiors of the two inner through grooves, and a push-pull rod is rotated below the lifting plate, and one end of the push-pull rod rotates above the extension plate, and a limiting spring part is provided inside the two inner through grooves.

[0010] Preferably, the limiting spring component includes a T-shaped plate sliding inside the inner through groove and two screws threadedly connected to the slave drive arm, two vertical grooves are provided on both sides of the T-shaped plate, connecting plates are sliding on both sides of the T-shaped plate, a first spring is fixed above the two connecting plates, and a positioning hole is provided on the outside of the T-shaped plate.

[0011] Preferably, the inside of the two main driving arms are provided with a plug-in groove, and the dislocating part includes a connecting block fixed above the lifting plate and a hollow connecting plate fixed between the two slave driving arms, two inclined head adjustment plates are fixed above the connecting block, and two plug-in columns are slid below the hollow connecting plate, and adjustment grooves are provided below the two plug-in columns, one end of one of the plug-in columns is provided with a limiting groove, and one end of the other plug-in column slides inside the limiting groove, and two second springs are fixed inside the limiting groove.

[0012] Preferably, the interior of the two second arc-shaped strips is provided with a plurality of internal magnetic slots, the interior of the connecting block is provided with two slot bodies, and the anti-loosening and falling parts include third springs respectively fixed to the inside of the two slot bodies and inclined magnetic clips respectively sliding inside the two slot bodies.

[0013] Preferably, the alignment member includes short shafts respectively fixed to the outside of the two main driving arms and concave alignment plates respectively fixed to one end of the two slave driving arms.

[0014] Preferably, the inverted U-shaped mounting groove is provided with two cylindrical grooves, and the driving mechanism includes an oil cylinder fixed above the mounting head, two cross bars fixed inside the inverted U-shaped mounting groove, two rotating columns rotating inside the inverted U-shaped mounting groove, and sliding rods sliding inside the two cylindrical grooves respectively;

[0015] The outside of the two cross bars are both slidably provided with toothed plates, and the top of the two toothed plates is provided with a rod body that rotates, a mounting plate is fixed between one end of the two sliding bars, and one end of the two rod bodies is rotated below the mounting plate, and one end of the cylinder telescopic rod extends to the inside of the inverted U-shaped mounting groove and is fixed above the mounting plate, and the outside of the two rotating columns are both fixed with gears, and the two gears are respectively engaged with the tooth surfaces of the two toothed plates.

[0016] Preferably, one end of the two main driving arms in the anti-damage component is fixed to the outside of the same rotating column.

[0017] Preferably, a rubber anti-slip layer is provided on the outside of the claw splint.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. By setting a deflectable claw splint, the extension plate is tilted upward when clamping an object, and the lifting plate is pushed upward by the push-pull rod. The lifting plate squeezes the corresponding first spring and drives the connecting block and the inclined head adjustment plate to rise. The inclined head adjustment plate is inserted into the corresponding adjustment slot so that the two plug-in columns squeeze the second spring and move out of the slot, thereby releasing the connection between the main drive arm and the slave drive arm, avoiding the phenomenon that the main drive arm continues to drive the slave drive arm and the claw splint to continuously increase the clamping force on the object due to failure of some parts of the robotic arm when excessive clamping force is applied, causing damage to the object.

[0020] 2. After the inclined adjustment plate adjusts the plug-in column out of the plug-in slot, the inclined magnetic clamp head will correspond to the height of the inner magnetic clamping slot, and under the magnetic attraction of the corresponding inner magnetic clamping slot, the third spring will be stretched and moved into the inner magnetic clamping slot, thereby fixing the position of the slave drive arm on the second arc-shaped bar, so that the claw splint can maintain the clamping force on the object and prevent the claw splint from loosening the clamped object.

[0021] 3. According to the hardness of the clamped object, the clamping force of the claw splint to clamp the object can be changed by selecting the first spring of different stiffness and using it with the lifting plate. The limit on the T-plate can be released by unscrewing the screw out of the positioning hole, and the T-plate is pulled to move the appropriate first spring and the corresponding connecting plate above the lifting plate. The T-plate is limited by the screw in the corresponding positioning hole. The clamping force can be adjusted according to the characteristics of different objects, such as material and weight, to improve the flexibility and adaptability of the operation. During the clamping process, reasonable clamping force can avoid excessive pressure on objects that are more easily damaged, effectively preventing damage to the objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a cross-sectional view of the assembly claw assembly and the drive mechanism of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the assembly claw assembly of the present invention;

[0025] Figure 4 This is a schematic diagram of the disassembly of the assembly claw assembly of the present invention;

[0026] Figure 5 A partial cross-sectional view of the claw splint and the lifting plate of the present invention;

[0027] Figure 6 This is a disassembled cross-sectional view of the hollow connecting plate and the plug-in column in the present invention.

[0028] 1. Driving arm; 2. Mounting head; 3. Inverted U-shaped mounting groove;

[0029] 4. Assembly claw assembly; 41. First arc strip; 42. Second arc strip; 43. Main drive arm; 44. Slave drive arm; 45. Claw clamp; 46. Extension plate; 47. Inner through slot; 48. Lifting plate; 49. Push-pull rod; 410. Limit spring member; 4101. T-plate; 4102. Vertical slot; 4103. Connecting plate; 4104. First spring; 4105. Positioning hole; 4106. Screw; 411. Insert slot; 412. Connecting block; 413. Hollow connecting plate; 414. Bevel head adjustment plate; 415. Insert column; 416. Adjustment slot; 417. Limit slot; 418. Second spring; 419. Inner magnetic slot; 420. Slot body; 421. Third spring; 422. Inclined magnetic clip; 423. Short shaft; 424. Concave alignment plate;

[0030] 5. Driving mechanism; 51. Cylinder; 52. Crossbar; 53. Rotating column; 54. Sliding rod; 55. Tooth plate; 56. Rod body; 57. Mounting plate; 58. Gear;

[0031] 6. Drum trough; 7. Automatic assembly controller; 8. Industrial camera. DETAILED DESCRIPTION

[0032] The above and other technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.

[0033] The present invention provides a technical solution: an automatic assembly system based on an industrial robot arm, such as Figure 1-6 As shown, it includes a driving arm 1 and two assembly claw assemblies 4, one end of the driving arm 1 is provided with a mounting head 2, an inverted U-shaped mounting groove 3 is provided inside the mounting head 2, a driving mechanism 5 is provided inside the inverted U-shaped mounting groove 3, two barrel grooves 6 are provided inside the inverted U-shaped mounting groove 3, and the driving mechanism 5 includes a cylinder 51 fixed above the mounting head 2, two cross bars 52 fixed on both sides of the inner wall of the inverted U-shaped mounting groove 3, two rotating columns 53 rotating inside the inverted U-shaped mounting groove 3 and sliding rods 54 sliding inside the two barrel grooves 6 respectively, and the outer surfaces of the two cross bars 52 are provided with a plurality of cylindrical grooves 6. A toothed plate 55 with a toothed surface facing downwards is slidably provided on each of the two toothed plates 55. A rod 56 is rotated above each of the two toothed plates 55. A mounting plate 57 is fixed between one end of the two sliding rods 54. One end of each of the two rods 56 is rotated below the mounting plate 57. One end of the telescopic rod of the oil cylinder 51 extends to the inside of the inverted U-shaped mounting groove 3 and is fixed above the mounting plate 57. Gears 58 are fixed to the outside of the two rotating columns 53. The two gears 58 are respectively engaged with the toothed surfaces of the two toothed plates 55. An automatic assembly controller 7 and an industrial camera 8 are provided on the outside of the mounting head 2.

[0034] like Figure 1-6As shown, the two assembly claw assemblies 4 are both arranged below the installation head 2, and the assembly claw assembly 4 includes anti-clamping parts, dislocation parts, anti-loosening parts and alignment parts. When the robot arm clamps an object, the clamping force may be too large and the object may be deformed and damaged due to certain reasons, such as the failure or improper calibration of the force sensor assembled in the robot arm resulting in inaccurate feedback of the clamping force, defects in the control algorithm resulting in the robot arm being unable to accurately judge the required clamping force when clamping, failure of the moving parts or drive system of the robot arm, etc. The anti-clamping parts are used to prevent the clamped object from being damaged by excessive clamping force of the robot arm, and the anti-clamping parts include two first arc-shaped bars 41 and two second arc-shaped bars 42 fixed below the installation head 2, the two second arc-shaped bars 42 are arranged between the two first arc-shaped bars 41, and the outside of the two first arc-shaped bars 41 are slid with main drive arms 43 through sliding sleeves, and one end of the two main drive arms 43 in the anti-clamping parts are fixed to the outside of the same rotating column 53, and the two second arc-shaped bars 4 2 are all slidably provided with slave drive arms 44 on the outside. The dislocation parts are used to separate the connection between the main drive arm 43 and the slave drive arm 44 after the anti-clamping parts clamp the object. The anti-loosening parts are used to fix the position of the slave drive arm 44 after it is separated from the main drive arm 43. The positioning parts are used to re-overlap and align the separated main drive arm 43 and the slave drive arm 44. A claw splint 45 is rotated between the two slave drive arms 44. The outside of the claw splint 45 is provided with a rubber anti-slip layer. The rubber anti-slip layer is used to increase the object The friction force of contact with the claw splint 45 ensures the stable clamping between the object and the claw splint 45. An extension plate 46 is fixed on one side of the claw splint 45. Two inner grooves 47 are opened inside the two slave driving arms 44. A lifting plate 48 slides between the insides of the two inner grooves 47. A push-pull rod 49 rotates below the lifting plate 48. One end of the push-pull rod 49 rotates to one side above the extension plate 46. The insides of the two inner grooves 47 are provided with a limit spring component 410 that can change the clamping force.

[0035] like Figure 1-6As shown, the limiting spring member 410 includes a T-shaped plate 4101 sliding inside the inner through groove 47 and two screws 4106 threadedly connected to the slave drive arm 44. A groove can be opened at the top of the inner wall of the inner through groove 47. The top of the T-shaped plate 4101 slides in the groove through a connecting shaft. Two vertical grooves 4102 are opened on both sides of the T-shaped plate 4101. Connecting plates 4103 are slidably provided on both sides of the T-shaped plate 4101. A first spring 4104 is fixed above the two connecting plates 4103. The two second springs 4104 and 4106 are fixed above the two second springs 4104 and 4106. The hardness of a spring 4104 is different. When clamping, according to the need for clamping force, a suitable first spring 4104 can be selected to enable the claw clamp 45 to apply different clamping forces to the object. A positioning hole 4105 is provided on the outside of the T-plate 4101. Since the groove limits the sliding position of the T-plate 4101, when the T-plate 4101 slides to the two ends of the groove, the positioning holes 4105 on the T-plate 4101 will be aligned with the two screws 4106 on the drive arm 44 respectively.

[0036] like Figure 1-6 As shown, the interiors of the two main drive arms 43 are provided with plug-in slots 411, and the dislocation member includes a connecting block 412 fixed above the lifting plate 48 and a hollow connecting plate 413 fixed between the two slave drive arms 44. Two inclined head adjustment plates 414 are fixed above the connecting block 412, and two plug-in columns 415 are slidably mounted below the hollow connecting plate 413. The sizes of the two plug-in columns 415 are adapted to the sizes of the plug-in slots 411, and adjustment slots 416 are provided below the two plug-in columns 415. Figure 6 The inclined surfaces of the adjustment slots 416 shown are opposite to each other, and the two oblique head adjustment plates 414 are respectively located below the two adjustment slots 416. When the plug-in column 415 is inserted into the plug-in slot 411, the two oblique head adjustment plates 414 are respectively located at the openings with the closest distance below the two adjustment slots 416. A limiting slot 417 is provided at one end of one of the plug-in columns 415, and one end of the other plug-in column 415 slides inside the limiting slot 417. Two second springs 418 are fixed inside the limiting slot 417. When the two second springs 418 are at their original length, the two plug-in columns 415 are respectively located inside the two plug-in slots 411.

[0037] like Figure 1-6As shown, the alignment member includes a short shaft 423 fixed to the outside of the two main driving arms 43 and a concave alignment plate 424 fixed to one end of the two slave driving arms 44. When the main driving arm 43, which has been separated from the slave driving arm 44, rotates to overlap with the slave driving arm 44, the short shaft 423 will drive the slave driving arm 44 to deflect together with it through the concave alignment plate 424. The interior of the two second arc strips 42 is provided with a plurality of internal magnetic slots 419, and the interior of the connecting block 412 is provided with two slots 420. The anti-loosening member includes a third spring 421 fixed to the interior of the two slots 420 and a third spring 421 sliding on the two slots 420. 20, the bevel magnetic clamp 422 inside the third spring 421 has a small stiffness, as long as the bevel magnetic clamp 422 can be restricted inside the slot body 420 after the bevel magnetic clamp 422 is separated from the inner magnetic slot 419, it will be fine. When the third spring 421 is at its original length, the bevel magnetic clamp 422 is inside the slot body 420, and the shape of the inner magnetic slot 419 corresponds to the bevel magnetic clamp 422. The magnetism in the inner magnetic slot 419 and the magnetism of the bevel magnetic clamp 422 are opposite. When the two attract each other, the bevel magnetic clamp 422 can be pulled from the slot body 420 to the corresponding inner magnetic slot 419.

[0038] The two ends of the two rods 56 are pulled so that the toothed plates 55 connected thereto can slide on the cross bar 52. The two rods 56 are deflected and the other ends respectively pull the toothed plates 55 connected thereto to slide on the cross bar 52. The meshing teeth drive the gear 58 and the rotating column 53 to rotate. The two rotating columns 53 respectively drive the two main driving arms 43 in the two anti-damage parts to rotate. The main driving arm 43 drives the slave driving arm 44 connected thereto by the plug-in column 415 to rotate, thereby opening the two claw splints 45. The two claw splints 45 are moved to the location of the object to be assembled by the drive arm 1. The telescopic rod of the oil cylinder 51 drives the mounting plate 57 downward, thereby reducing the distance between the two claw splints 45 to clamp the object between them and assemble according to the command of the automatic assembly controller 7.

[0039] When the claw splint 45 clamps the object, under the drive of the driving mechanism 5, the main driving arm 43 and the slave driving arm 44 continue to rotate to change the distance between the two claw splints 45. Under the limitation of the object's own volume, the claw splint 45 will be pushed, so that the claw splint 45 will have a certain deflection at the rotation connection between the claw splint 45 and the slave driving arm 44, so that the extension plate 46 will tilt upward and push the lifting plate 48 upward through the push-pull rod 49. The lifting plate 48 pushes the connecting plate 4103 located above it at this time and squeezes the corresponding first spring 4104. At the same time, the connecting block 412 and the bevel head adjustment plate 414 are driven to rise until the bevel head adjustment plate 414 is inserted into the corresponding adjustment slot 416, so that the two plug-in columns 415 gradually squeeze the second spring 418 and move out of the plug-in slot 411 as the bevel head adjustment plate 414 continues to rise, thereby releasing the connection between the main driving arm 43 and the slave driving arm 44, and avoiding the phenomenon that the main driving arm 43 continues to drive the slave driving arm 44 and the claw clamp 45 to continuously increase the clamping force on the object when some parts of the robot arm malfunction and apply excessive clamping force, thereby causing damage to the object.

[0040] After the inclined head adjustment plate 414 adjusts the plug-in column 415 out of the plug-in slot 411, the inclined magnetic clamping head 422 will correspond to the height of the inner magnetic clamping slot 419, and under the magnetic attraction of the corresponding inner magnetic clamping slot 419, the third spring 421 is stretched to move into the inner magnetic clamping slot 419, thereby fixing the position of the slave driving arm 44 on the second arc strip 42 to prevent the claw clamping plate 45 from loosening the clamped object. Later, the main driving arm 43 separated from the slave driving arm 44 is driven by the driving mechanism 5 to deflect to the short axis 423 and the concave alignment plate 424 to engage, the main driving arm 43 and the slave driving arm 44 are re-overlapped, the plug-in slot 411 and the plug-in column 415 are aligned, and can drive the slave driving arm 44 and the claw clamping plate 45 to open again, The clamped object is released, and while the main driving arm 43 drives the slave driving arm 44 to rotate and open, the inclined magnetic clamping head 422 will be pushed out of the corresponding inner magnetic clamping groove 419, and after sliding out, it will be pushed by the first spring 4104, causing the lifting plate 48 to drive the connecting block 412 to slide down, and the lifting plate 48 pushes the push-pull rod 49, and the push-pull rod 49 pushes the extension plate 46 to its original state for subsequent repeated completion of the clamping assembly work, and after the connecting block 412 slides down, the inclined head adjustment plate 414 releases the limit on the plug-in column 415, and the plug-in column 415 is re-stuck in the plug-in groove 411 under the elastic force of the second spring 418, so that the subsequent main driving arm 43 can again drive the slave driving arm 44 to approach the object and clamp it.

[0041] According to the hardness of the clamped object, the clamping force of the claw clamp 45 to clamp the object can be changed by selecting a first spring 4104 of different stiffness for use with the lifting plate 48. By unscrewing the screw 4106 out of the positioning hole 4105, the limit on the T-plate 4101 is released, and the T-plate 4101 is pulled, the appropriate first spring 4104 and the corresponding connecting plate 4103 are moved above the lifting plate 48, and then the screw 4106 corresponding to the positioning hole 4105 is used to limit the T-plate 4101. The clamping force can be adjusted according to the characteristics of different objects (such as material, weight, etc.), thereby improving the flexibility and adaptability of the operation. During the clamping process, a reasonable clamping force can avoid excessive pressure on objects that are more easily damaged, and effectively prevent damage to the objects.

[0042] The above description is merely a preferred embodiment of the present invention and is intended to be illustrative rather than restrictive of the present invention. Those skilled in the art will appreciate that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope of the claims, all of which fall within the scope of protection of the present invention.

Claims

1. An automatic assembly system based on an industrial robot arm, characterized in that: include: A driving arm (1), wherein one end of the driving arm (1) is provided with a mounting head (2), an inverted U-shaped mounting groove (3) is provided inside the mounting head (2), a driving mechanism (5) is provided inside the inverted U-shaped mounting groove (3), and an automatic assembly controller (7) and an industrial camera (8) are provided outside the mounting head (2); Two assembly claw assemblies (4), both of which are arranged below the mounting head (2), and the assembly claw assemblies (4) include an anti-clamping damage component, a dislocation component, an anti-loosening component, and an alignment component, wherein the anti-clamping damage component is used to prevent the clamped object from being damaged by excessive clamping force of the robot arm; The anti-clamping part comprises two first arc-shaped bars (41) and two second arc-shaped bars (42) fixed below the mounting head (2), the main driving arms (43) are slidably mounted on the outside of the two first arc-shaped bars (41), and the slave driving arms (44) are slidably mounted on the outside of the two second arc-shaped bars (42), and the dislocation part is used to separate the connection between the main driving arm (43) and the slave driving arm (44) after the anti-clamping part clamps the object, the anti-loosening part is used to fix the position of the slave driving arm (44) after it is separated from the main driving arm (43), and the alignment part is used to fix the main driving arm (44) after it is separated from the main driving arm (43). 43) and the slave driving arm (44) are re-overlapped and aligned, a claw clamp (45) is rotated between the two slave driving arms (44), an extension plate (46) is fixed on one side of the claw clamp (45), an inner through groove (47) is provided inside the two slave driving arms (44), a lifting plate (48) is slid between the insides of the two inner through grooves (47), a push-pull rod (49) is rotated below the lifting plate (48), one end of the push-pull rod (49) is rotated above the extension plate (46), and a limiting spring member (410) is provided inside the two inner through grooves (47); The limiting spring member (410) includes a T-shaped plate (4101) sliding inside the inner through groove (47) and two screws (4106) threadedly connected to the slave drive arm (44), two vertical grooves (4102) are provided on both sides of the T-shaped plate (4101), connecting plates (4103) are slidably provided on both sides of the T-shaped plate (4101), and a first spring (4104) is fixed above the two connecting plates (4103), and a positioning hole (4105) is provided on the outside of the T-shaped plate (4101); The two main driving arms (43) are provided with a plug-in slot (411) inside, and the dislocating member includes a connecting block (412) fixed above the lifting plate (48) and a hollow connecting plate (413) fixed between the two slave driving arms (44), two oblique head adjustment plates (414) are fixed above the connecting block (412), two plug-in columns (415) are slidably provided below the hollow connecting plate (413), and adjustment slots (416) are provided below the two plug-in columns (415), one end of one of the plug-in columns (415) is provided with a limiting slot (417), and one end of the other plug-in column (415) slides inside the limiting slot (417), and two second springs (418) are fixed inside the limiting slot (417); The interiors of the two second arc-shaped strips (42) are each provided with a plurality of internal magnetic slots (419), the interior of the connecting block (412) is provided with two slot bodies (420), the anti-loosening and falling parts include third springs (421) respectively fixed inside the two slot bodies (420) and inclined magnetic clamps (422) respectively sliding inside the two slot bodies (420), and the alignment parts include short shafts (423) respectively fixed outside the two main driving arms (43) and concave alignment plates (424) respectively fixed to one end of the two slave driving arms (44).

2. The automatic assembly system based on an industrial robot arm according to claim 1, characterized in that: Two cylindrical grooves (6) are provided inside the inverted U-shaped mounting groove (3), and the driving mechanism (5) comprises an oil cylinder (51) fixed above the mounting head (2), two cross bars (52) fixed inside the inverted U-shaped mounting groove (3), two rotating columns (53) rotating inside the inverted U-shaped mounting groove (3), and sliding rods (54) sliding inside the two cylindrical grooves (6) respectively. The outside of the two cross bars (52) is provided with a toothed plate (55) for sliding, and the top of the two toothed plates (55) is provided with a rod body (56) for rotating. A mounting plate (57) is fixed between one end of the two sliding bars (54), and one end of the two rod bodies (56) is rotated below the mounting plate (57). One end of the telescopic rod of the oil cylinder (51) extends to the inside of the inverted U-shaped mounting groove (3) and is fixed above the mounting plate (57). The outside of the two rotating columns (53) is provided with a gear (58), and the two gears (58) are respectively engaged with the tooth surfaces of the two toothed plates (55).

3. The automatic assembly system based on an industrial robot arm according to claim 2, characterized in that: One end of each of the two main driving arms (43) in the anti-damage component is fixed to the outside of the same rotating column (53).

4. The automatic assembly system based on an industrial robot arm according to claim 1, characterized in that: The outside of the claw splint (45) is provided with a rubber anti-slip layer.

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