Frame butt joint assembly robot

Abstract

The present application is suitable for the field of mechanical arm, and provides a frame butt joint assembly mechanical arm, which comprises a supporting base body, two position adjustment tables are arranged on the supporting base body and are driven to approach or move away from each other by an adjusting unit. A rotating table is arranged on each position adjustment table to drive a first arm rod to rotate, the first arm rod is connected with a second arm rod and an assembly carrying plate through a hinged structure, and the angle is controlled by first and second push-pull cylinders. An adjustable rotating clamping unit is arranged on the assembly carrying plate, which comprises a third push-pull cylinder and a second motor, the motor drives a sleeve to rotate, thereby driving a guide plate and a grabbing arm rod to rotate. The grabbing arm rod is connected with a clamping jaw through a quick release assembly, and the shaft sleeve of the third push-pull cylinder is connected with the grabbing arm rod through a transmission connecting arm. The present application has the advantages of flexible adjustment, strong adaptability, stable clamping, and convenience for quick adjustment and rotary welding.

Description

Technical Field

[0001] This invention belongs to the field of robotic arms, and particularly relates to a robotic arm for vehicle frame docking and assembly. Background Technology

[0002] In modern automotive manufacturing, the assembly and welding of the chassis are crucial steps in ensuring the structural strength and safety performance of the entire vehicle. Traditionally, chassis assembly has relied heavily on manual operation or simple automated equipment. This method suffers from insufficient positioning accuracy, complex adjustments, and limited adaptability, making it difficult to meet the increasingly complex chassis design requirements and high standards of welding quality. Especially when dealing with the mating of chassis parts of different models and sizes, traditional methods typically require a significant amount of time and manpower for adjustment and calibration, which is not only inefficient but also prone to errors.

[0003] To address the aforementioned issues, the industry is continuously exploring more intelligent and automated solutions, aiming to improve the flexibility, accuracy, and production efficiency of the chassis assembly and welding process. This invention proposes a chassis docking and assembly robotic arm based on this background. By integrating an adjustment unit, an adjustable rotation clamping unit, and a flexible position and angle adjustment mechanism, it achieves precise positioning, stable clamping, and multi-directional adjustment of chassis parts. This significantly improves the automation level and work efficiency of chassis assembly and welding, adapting to diverse production needs and overcoming the shortcomings of current practical applications. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm for vehicle frame docking and assembly, which aims to solve the problems mentioned in the background art.

[0005] This invention is implemented as follows: a robotic arm for vehicle frame docking and assembly includes:

[0006] The supporting base has several anchoring holes on its outer side; it also includes:

[0007] Two position adjustment platforms are installed on the support base, and the support base is provided with an adjustment unit that drives the two position adjustment platforms to move closer or further apart from each other; a rotary table is installed on each position adjustment platform, a first arm is fixed on the rotary table, a second arm is hinged to the end of the first arm away from the rotary table, and a component support plate is hinged to the end of the second arm away from the first arm; a first push-pull cylinder and a second push-pull cylinder are respectively installed between the first arm and the second arm, and between the second arm and the component support plate.

[0008] An adjustable rotary clamping unit is mounted on the component support plate and includes a third push-pull cylinder and a second motor fixed to the component support plate. A sleeve is rotatably mounted on the cylinder body of the third push-pull cylinder. The second motor is drivenly connected to the sleeve. A guide plate is fixed to the end of the sleeve away from the component support plate. Gripping arms are circumferentially distributed and slidably mounted on the guide plate. A gripper is detachably connected to the end of the gripping arm away from the guide plate via a quick-release assembly. A bushing is rotatably mounted on the end of the telescopic spindle of the third push-pull cylinder. The gripping arm is connected to the bushing via a transmission connecting arm.

[0009] In a further technical solution, the adjustment unit includes terminal connecting seats fixed at both ends of the support base, a double-rotating screw is rotatably installed between the two terminal connecting seats, a guide rail is provided on each side of the double-rotating screw, the guide rail is fixedly connected to the support base and the terminal connecting seats, the position adjustment platform is threadedly connected to the double-rotating screw and slidably connected to the guide rail, and a first motor is fixed on the terminal connecting seat and drivenly connected to the double-rotating screw.

[0010] In a further technical solution, the two ends of the first push-pull cylinder are respectively hinged to the first arm and the second arm, and the two ends of the second push-pull cylinder are respectively hinged to the second arm and the component support plate.

[0011] In a further technical solution, the output shaft of the second motor is arranged parallel to the third push-pull cylinder, and a drive wheel is fixed at the output end of the second motor. The drive wheel is connected to the driven wheel fixed on the sleeve through a transmission component, which is a chain or a V-belt.

[0012] In a further technical solution, the guide plate is provided with multiple guide openings evenly distributed around the circumference, and guide ribs are fixed on both sides of the guide openings. The gripping arm is set parallel to the third push-pull cylinder and passes through the guide plate, and is slidably connected to the guide ribs.

[0013] In a further technical solution, the two ends of the transmission connecting arm are respectively hinged to the gripping arm and the bushing, and an anti-slip pad is fixed on the inner side of the gripper, with the side of the anti-slip pad away from the gripper having a central arc-shaped concave structure.

[0014] A further technical solution is that the quick-release component includes:

[0015] An active cavity is provided at one end of the gripping arm near the gripper. A plug-in post is fixed at the end of the gripper. A pressing post is slidably arranged in the active cavity. One end of the pressing post extends out of the surface of the gripping arm. A spring is provided in the active cavity for elastically supporting the pressing post.

[0016] A side block is fixed in the movable cavity on one side of the pressing column, and a locking head is fixed on the side of the side block near the insertion column. A fixing groove is provided on the insertion column to engage with the locking head.

[0017] As the plug is inserted into the gripping arm and the gripper abuts against the gripping arm, the locking head engages with the fixing groove under the elastic force of the spring, thus locking the plug.

[0018] In a further technical solution, the end of the gripping arm is provided with a slot communicating with the movable cavity, the end of the insertion post away from the gripper is a tapered structure, the top of the movable cavity is fixed with a limit block on the pressing post, and the side of the limit block near the insertion post is parallel to the tapered surface of the end of the insertion post.

[0019] In a further technical solution, after the plug is inserted into the slot, under the elastic force of the spring, the limiting block abuts against the top of the movable cavity, and the side of the limiting block near the plug is spaced apart from the tapered surface at the end of the plug; when the pressing post is pressed, the locking head first separates from the fixing groove, and the pressing continues to push the limiting block out of the slot until the pressing post abuts against the bottom of the movable cavity and stops.

[0020] In a further technical solution, the locking head is a hemispherical structure, and the inner end of the pressing column is provided with a receiving groove for accommodating the spring.

[0021] The present invention provides a robotic arm for vehicle frame docking and assembly, which has the following beneficial effects:

[0022] The adjustment unit allows the two position adjustment platforms and the components mounted on them to be moved closer or further apart, facilitating the docking of the frame parts held by the two sets of grippers and making subsequent welding operations easier.

[0023] The rotary table, first boom, second boom, component support plate, first push-pull cylinder and second push-pull cylinder are set up to rotate and move the frame parts to meet the requirements of displacement welding and adapt to the flexible assembly and welding of the frame.

[0024] Based on the shape of the frame parts, the number of grippers can be selected as needed, and the appropriate number can be quickly selected and disassembled using quick-release components, which is convenient and fast. By controlling the retraction of the third push-pull cylinder, the gripping arm can be retracted through the transmission connecting arm, thereby allowing the grippers to clamp and fix the frame parts. The guide plate not only serves as a guide but also acts as a carrier for the second motor drive. After the second motor drives the sleeve, the guide plate drives the gripping arm to rotate, and the bushing is rotatably connected to the telescopic spindle of the third push-pull cylinder. This allows multiple grippers to rotate stably with the guide plate, achieving the purpose of rotating and adjusting the clamped frame parts. It can be adapted to welding displacement and rotation welding, making it flexible and reliable.

[0025] In summary, the present invention has the advantages of flexible adjustment, strong adaptability, stable clamping, and easy quick adjustment and rotary welding. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the vehicle frame docking and assembly robotic arm provided in an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A magnified structural diagram of part A in the middle;

[0028] Figure 3 This is an enlarged structural schematic diagram of the adjustable rotating clamping unit in the vehicle frame docking and assembly robotic arm provided in an embodiment of the present invention;

[0029] Figure 4 for Figure 3 Another perspective structural diagram;

[0030] Figure 5 An isometric view of the corresponding part of the quick-release component in the vehicle frame docking and assembly robotic arm provided in an embodiment of the present invention;

[0031] Figure 6 for Figure 5 A structural diagram during disassembly.

[0032] In the diagram: 1-Support base, 2-Anchoring hole, 3-Guide rail, 4-Double-rotating screw, 5-Terminal connector, 6-First motor, 7-Position adjustment platform, 8-Rotary table, 9-First arm, 10-Second arm, 11-First push-pull cylinder, 12-Second push-pull cylinder, 13-Component support plate, 14-Adjustable rotating clamping unit, 15-Third push-pull cylinder, 16-Driven wheel, 17-Transmission component, 18-Drive wheel, 19-Second motor, 20-Sleeve, 21-Grabbing arm, 22-Quick release component, 23-Gripper, 24-Anti-slip pad, 25-Transmission connecting arm, 26-Shaft sleeve, 27-Guide plate, 28-Guide opening, 29-Guide ridge, 30-Pressing column, 31-Spring, 32-Side block, 33-Locking head, 34-Fixing groove, 35-Insertion column, 36-Limiting block, 37-Moving cavity. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0034] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0035] like Figure 1-4As shown, a vehicle frame docking and assembly robotic arm according to an embodiment of the present invention includes a support base 1, wherein a plurality of anchoring holes 2 are provided on the outer side of the support base 1 to facilitate fixing the support base 1 in a suitable position in the workshop; and further includes:

[0036] The support base 1 has two position adjustment platforms 7, and the support base 1 also has an adjustment unit for driving the two position adjustment platforms 7 to move closer or further apart. Each position adjustment platform 7 is equipped with a rotary table 8, and a first arm 9 is fixed on the rotary table 8. The end of the first arm 9 away from the rotary table 8 is sequentially hinged to a second arm 10 and a component support plate 13. A first push-pull cylinder 11 and a second push-pull cylinder 12 are respectively installed between the first arm 9 and the second arm 10, and between the second arm 10 and the component support plate 13.

[0037] An adjustable rotary clamping unit 14 is mounted on a component support plate 13. The adjustable rotary clamping unit 14 includes a third push-pull cylinder 15 and a second motor 19 fixed on the component support plate 13. A sleeve 20 is rotatably mounted on the cylinder body of the third push-pull cylinder 15, and the second motor 19 is connected to the sleeve 20 in a transmission connection. A guide plate 27 is fixed to one end of the sleeve 20 away from the component support plate 13. A gripping arm 21 is circumferentially distributed and slidably mounted on the guide plate 27. A gripper 23 is detachably connected to one end of the gripping arm 21 away from the guide plate 27 through a quick-release assembly 22. A bushing 26 is also rotatably mounted on the end of the telescopic spindle of the third push-pull cylinder 15. The gripping arm 21 is also connected to the bushing 26 through a transmission connecting arm 25.

[0038] In this embodiment of the invention, the adjustment unit can adjust the two position adjustment platforms 7 and the components mounted on them to move closer or further apart, facilitating the docking of the frame parts held by the two sets of grippers 23, which is convenient for subsequent welding operations. The arrangement of the rotary table 8, the first arm 9, the second arm 10, the component support plate 13, the first push-pull cylinder 11, and the second push-pull cylinder 12 allows for the rotation and movement of the frame parts, meeting the requirements of displacement welding and adapting to the flexible assembly and welding of the frame. Depending on the shape of the frame parts, the number of grippers 23 can be selected as needed, and the appropriate number can be quickly selected by quick-release assembly 22, which is convenient and fast. By controlling the retraction of the third push-pull cylinder 15, the gripping arm 21 can be pulled by the transmission connecting arm 25 to retract, so that the grippers 23 can clamp and fix the frame parts. The guide plate 27 not only plays a guiding role, but also serves as a carrier for the transmission of the second motor 19. That is, after the second motor 19 drives the sleeve 20, the guide plate 27 drives the gripping arm 21 to rotate, and the bushing 26 is rotatably connected to the telescopic spindle of the third push-pull cylinder 15, so that multiple grippers 23 can rotate stably with the guide plate 27, achieving the purpose of rotating and adjusting the clamped frame parts. It can be adapted to welding displacement and rotation welding, and is flexible and reliable.

[0039] In summary, the present invention has the advantages of flexible adjustment, strong adaptability, stable clamping, and easy quick adjustment and rotary welding.

[0040] like Figure 3-6 As shown, in a preferred embodiment of the present invention, the output shaft of the second motor 19 is arranged parallel to the third push-pull cylinder 15. The output end of the second motor 19 is fixed with a drive wheel 18, which is connected to the driven wheel 16 fixed on the sleeve 20 via a transmission component 17. The driven wheel 16 and the drive wheel 18 can be sprockets or pulleys, and the transmission component 17 can be a chain or a V-belt.

[0041] The guide plate 27 has multiple guide openings 28 evenly distributed around the circumference. Guide ribs 29 are fixed on both sides of the guide openings 28. The gripping arm 21 is set parallel to the third push-pull cylinder 15 and passes through the guide plate 27. The gripping arm 21 is slidably connected to the guide ribs 29 fixed on both sides of the guide openings 28, which ensures the stability of the movement of the gripping arm 21.

[0042] The two ends of the transmission connecting arm 25 are hinged to the gripping arm 21 and the bushing 26 respectively, so that the transmission connecting arm 25 can reliably transmit power to the gripping arm 21. The inner side of the gripper 23 is also fixed with an anti-slip pad 24. The side of the anti-slip pad 24 away from the gripper 23 has a central arc-shaped concave structure, which can reliably clamp and fix the frame parts.

[0043] Regarding the structure of quick-release component 22, such as Figure 5-6 As shown, the gripping arm 21 has a movable cavity 37 at one end near the gripper 23. A plug-in post 35, which can be inserted into the gripping arm 21, is fixed to the end of the gripper 23. A pressing post 30 is slidably disposed within the movable cavity 37, with one end of the pressing post 30 extending from the surface of the gripping arm 21. A spring 31 is also provided within the movable cavity 37 to elastically support the pressing post 30. A side block 32 is fixed to one side of the pressing post 30 within the movable cavity 37. A locking head 33 is fixed to the side of the side block 32 near the plug-in post 35. A fixing groove 34 is provided on the plug-in post 35 for engaging the locking head 33. When the plug-in post 35 is inserted into the gripping arm 21 and the gripper 23 abuts against the gripping arm 21, the locking head 33 engages with the fixing groove 34 under the elastic force of the spring 31, locking the plug-in post 35.

[0044] Preferably, the end of the gripping arm 21 is provided with a slot for inserting the plug 35 and communicating with the movable cavity 37; the end of the plug 35 away from the gripper 23 is tapered, which facilitates the insertion and fixing of the plug 35.

[0045] The top of the active cavity 37 is also fixed with a limiting block 36 for pushing the insertion post 35 on the pressing post 30. The side of the limiting block 36 near the insertion post 35 is parallel to the tapered surface at the end of the insertion post 35.

[0046] After the plug 35 is inserted into the slot, under the elastic force of the spring 31, the limiting block 36 also abuts against the top of the movable cavity 37, and the side of the limiting block 36 near the plug 35 is spaced a certain distance from the tapered surface at the end of the plug 35.

[0047] When the pressing post 30 is pressed, the locking head 33 first completely separates from the fixing groove 34. Then, if the pressing post 30 is pressed further, the limiting block 36 abuts against the end of the insertion post 35, pushing the insertion post 35 out of the slot until the pressing post 30 abuts against the bottom of the movable cavity 37, thus separating the insertion post 35 from the slot and facilitating quick disassembly of the insertion post 35. After disassembly, releasing the pressing post 30 allows it to return to its original position under the elastic force of the spring 31, facilitating subsequent re-insertion and installation.

[0048] Preferably, the locking head 33 has a hemispherical structure, which facilitates the positioning and locking of the locking head 33 and the fixing groove 34. The inner end of the pressing post 30 is provided with a receiving groove for accommodating the spring 31, which prevents the spring 31 from being pressed beyond its limit and improves reliability.

[0049] like Figure 1-2 As shown, in a preferred embodiment of the present invention, the adjustment unit includes terminal connecting seats 5 fixed to both ends of the support base 1. A double-rotating screw 4 is rotatably installed between the two terminal connecting seats 5. A guide rail 3 is provided on both sides of the double-rotating screw 4. The guide rail 3 is fixedly connected to the support base 1, and both ends of the guide rail 3 are fixedly connected to the terminal connecting seats 5. The position adjustment platform 7 is threadedly connected to the double-rotating screw 4 and slidably connected to the guide rail 3. A first motor 6 is fixed on the terminal connecting seat 5 and is drivenly connected to the double-rotating screw 4. When the first motor 6 drives the double-rotating screw 4 to rotate, the two position adjustment platforms 7 move closer or further away synchronously.

[0050] Furthermore, the rotary table 8 only needs to rotate stably, and the power source can be electric drive or similar. The two ends of the first push-pull cylinder 11 are hinged to the first arm 9 and the second arm 10, respectively, and the two ends of the second push-pull cylinder 12 are hinged to the second arm 10 and the component support plate 13, respectively. Through the arrangement of the two push-pull cylinders, not only the relative position of the two component support plates 13 can be adjusted, but also the angle of the component support plates 13 can be adjusted to meet the welding requirements, which is flexible and reliable.

[0051] The above embodiments of the present invention provide a vehicle frame docking assembly robotic arm. By fixing the support base 1 in a suitable position, the first motor 6 in the adjustment unit drives the double-rotating screw 4 to rotate. Under the guidance of the guide rail 3, the two position adjustment platforms 7 move closer or further away synchronously, thereby adjusting the distance between the two sets of grippers 23 that hold the vehicle frame parts, and achieving precise docking.

[0052] The rotary table 8 can drive the first arm 9 to rotate. The first push-pull cylinder 11 and the second push-pull cylinder 12 are respectively hinged between the first arm 9, the second arm 10 and the component support plate 13. The position and angle of the component support plate 13 can be adjusted by pushing and pulling to meet the welding displacement requirements.

[0053] In the adjustable rotary clamping unit 14, the third push-pull cylinder 15 drives the gripping arm 21 to move through the transmission connecting arm 25, so that the gripper 23 clamps the frame parts; at the same time, the second motor 19 drives the sleeve 20 to rotate through the drive wheel 18 and the driven wheel 16, and the guide plate 27 rotates accordingly. The gripping arm 21 slides in the guide opening 28 through the guide rib 29 to ensure stable movement, thereby driving the gripper 23 and the frame parts to rotate synchronously, adapting to the multi-angle requirements in the welding process.

[0054] The number of grippers 23 can be flexibly adjusted according to the shape of the frame. Quick replacement can be achieved through quick-release assembly 22. Pressing the pressing post 30 can release the locking head 33 and the plug post 35, and the limit block 36 pushes out the plug post 35 to complete the disassembly. The operation is convenient and reliable.

[0055] In summary, the overall structure of this invention enables flexible positioning, stable clamping, and multi-directional adjustment of chassis parts, making it suitable for efficient welding operations under complex working conditions.

[0056] The control of each component can be achieved using a PLC controller disclosed in the existing technology. There are no specific limitations on the model and circuit connection of each component, and they can be flexibly set in actual applications.

[0057] Furthermore, the supporting base 1, the first arm 9, and the second arm 10 are made of aerospace-grade aluminum alloy (such as 7075-T6), with a density ≤2.8g / cm³ and a tensile strength ≥500MPa, to ensure structural rigidity while maintaining lightweight design. The anti-slip pad 24 of the gripper 23 is made of polyurethane-rubber composite material with a Shore hardness of 70±5A and a coefficient of friction ≥0.8, suitable for working environments from -20℃ to 120℃.

[0058] To improve adaptability, the adjustable rotary clamping unit 14 can be equipped with a force sensor (not shown) to monitor the clamping force in real time and feed it back to the PLC controller. When the clamping force deviates from the set value (e.g., 50-200N), the stroke of the third push-pull cylinder 15 is automatically adjusted to avoid deformation of the parts.

[0059] The first motor 6 and the second motor 19 are preferably stepper motors, etc.; the first push-pull cylinder 11, the second push-pull cylinder 12, and the third push-pull cylinder 15 are preferably hydraulic cylinders, etc.

[0060] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this invention does not involve any improvement to the software and methods.

[0061] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0062] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A frame butt-joining assembly robot, comprising a support base (1), the outer side of the support base (1) being provided with a plurality of anchoring holes (2), characterized in that, Also include: Two position adjustment platform (7) is installed on the support base (1), and the support base (1) is provided with an adjusting unit for driving two position adjustment platforms (7) to move close to or away from each other; each position adjustment platform (7) is provided with a rotating platform (8), the rotating platform (8) is fixed with a first arm rod (9), the first arm rod (9) is hinged with a second arm rod (10) at one end away from the rotating platform (8), the second arm rod (10) is hinged with an assembly carrying plate (13) at one end away from the first arm rod (9), and the first arm rod (9) and the second arm rod (10) are respectively provided with a first push-pull cylinder (11) and a second push-pull cylinder (12) between them and between the second arm rod (10) and the assembly carrying plate (13); An adjustable rotating clamping unit (14) is installed on the assembly carrying plate (13) and includes a third push-pull cylinder (15) and a second motor (19) fixed to the assembly carrying plate (13), a sleeve (20) is rotatably installed on the cylinder body of the third push-pull cylinder (15), the second motor (19) is in transmission connection with the sleeve (20), a guide plate (27) is fixed to one end of the sleeve (20) away from the assembly carrying plate (13), a plurality of grabbing arm rods (21) are slidingly arranged on the guide plate (27) in a circumferential direction, a clamping jaw (23) is detachably connected to one end of the grabbing arm rod (21) away from the guide plate (27) through a quick release assembly (22), and an axle sleeve (26) is rotatably installed on the end of the telescopic shaft of the third push-pull cylinder (15), the grabbing arm rod (21) is connected with the axle sleeve (26) through a transmission connecting arm (25).

2. The frame docking assembly robot of claim 1, wherein, The adjusting unit includes terminal connecting seats (5) fixed to both ends of the support base (1), and a double-rotation-direction screw rod (4) is rotatably installed between the two terminal connecting seats (5); The double-rotation-direction screw rod (4) is provided with a guide groove rail (3) on each side, and the guide groove rail (3) is fixedly connected with the support base (1) and the terminal connecting seat (5); The position adjustment platform (7) is in threaded connection with the double-rotation-direction screw rod (4) and in sliding connection with the guide groove rail (3), and the terminal connecting seat (5) is fixedly provided with a first motor (6) in transmission connection with the double-rotation-direction screw rod (4).

3. The frame docking assembly robot of claim 1, wherein, The two ends of the first push-pull cylinder (11) are hingedly connected with the first arm rod (9) and the second arm rod (10), respectively. The two ends of the second push-pull cylinder (12) are hingedly connected with the second arm rod (10) and the assembly carrying plate (13), respectively.

4. The frame docking assembly robot of claim 1, wherein, The output shaft of the second motor (19) is parallel to the third push-pull cylinder (15), the output end of the second motor (19) is fixedly provided with a driving wheel (18), the driving wheel (18) is in transmission connection with a driven wheel (16) fixed on the sleeve (20) through a transmission member (17), and the transmission member (17) is a chain or a V-belt.

5. The frame docking assembly robot of claim 4, wherein, A plurality of guide openings (28) are evenly distributed on the guide plate (27) in a circumferential direction, guide edges (29) are fixed on both sides of the guide opening (28), the grabbing arm rod (21) is parallel to the third push-pull cylinder (15) and passes through the guide plate (27), and is in sliding connection with the guide edges (29).

6. The frame docking assembly robot of claim 1, wherein, Two ends of the transmission connecting arm (25) are respectively hinged with the grabbing arm rod (21) and the shaft sleeve (26); The inner side of the clamping jaw (23) is fixed with an antiskid pad (24), and the side, away from the clamping jaw (23), of the antiskid pad (24) is an arc-shaped concave structure.

7. The frame docking assembly robot of any of claims 1-6, wherein, The quick release assembly (22) comprises: An activity cavity (37) is formed in the end of the grabbing arm rod (21) close to the clamping jaw (23), the end of the clamping jaw (23) is fixed with an inserting column (35), a pressing column (30) is slidably arranged in the activity cavity (37), one end of the pressing column (30) extends out of the surface of the grabbing arm rod (21), and a spring (31) is arranged in the activity cavity (37) for elastically supporting the pressing column (30); One side of the pressing column (30) is fixed with a side block (32) in the activity cavity (37), the side, close to the inserting column (35), of the side block (32) is fixed with a locking head (33), and the inserting column (35) is provided with a fixed groove (34) for clamping the locking head (33). When the inserting column (35) is inserted into the grabbing arm rod (21) and the clamping jaw (23) abuts against the grabbing arm rod (21), under the elastic force of the spring (31), the locking head (33) is clamped into the fixed groove (34) to lock the inserting column (35).

8. The frame docking assembly robot of claim 7, wherein, The end of the grabbing arm rod (21) is provided with an inserting slot (38) in communication with the activity cavity (37); The end, away from the clamping jaw (23), of the inserting column (35) is a tapered structure; The top of the activity cavity (37) is fixed with a limiting block (36) on the pressing column (30), and the side, close to the inserting column (35), of the limiting block (36) is parallel to the tapered surface of the end of the inserting column (35).

9. The frame docking assembly robot of claim 8, wherein, After the inserting column (35) is inserted into the inserting slot (38), under the elastic force of the spring (31), the limiting block (36) abuts against the top of the activity cavity (37), and the side, close to the inserting column (35), of the limiting block (36) is spaced apart from the tapered surface of the end of the inserting column (35); When the pressing column (30) is pressed, the locking head (33) is separated from the fixed groove (34) first, and the limiting block (36) pushes the inserting column (35) out of the inserting slot (38) by continuous pressing until the pressing column (30) abuts against the bottom of the activity cavity (37) and stops.

10. The frame docking assembly robot of claim 9, wherein, The locking head (33) is a hemispherical structure, and the inner end of the pressing column (30) is provided with an accommodating groove (39) for accommodating the spring (31).

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