Assembly equipment for robot arm

Abstract

The invention discloses robot arm assembling equipment and relates to the technical field of robots, the robot arm assembling equipment comprises a conveying line, a first feeding device, a second feeding device and a locking device, the locking device comprises a machine base, a transferring assembly, a tightening assembly and an overturning assembly, and the overturning assembly is provided with a first locking position and a second locking position; the overturning assembly comprises a base plate, a containing plate and a pressing mechanism. The containing plate is provided with a first locking position and a second locking position. When the overturning assembly is switched to the first locking position, the placing plate slides to the first locking position, and the tightening assembly can tighten a screw on the first end face of the robot arm; and when the overturning assembly is switched to the second locking position, the placing plate slides to the second locking position and is fixed, and the tightening assembly can tighten a screw on the second end face of the robot arm. According to the technical scheme, the technical problems of low assembly efficiency and high cost of the robot arm can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly equipment, and in particular to an assembly equipment for a robot arm. Background Art

[0002] The robotic arm is the core actuator of a robot, mimicking the functions of the human arm to complete various operational tasks. It is one of the most critical components in industrial automation and service robotics. However, the assembly of robotic arms presents technical challenges such as low assembly efficiency and high costs.

[0003] Therefore, it is necessary to provide a new assembly equipment for a robot arm to solve the above technical problems. Summary of the Invention

[0004] The main purpose of the present invention is to provide an assembly device for a robot arm, aiming to solve the technical problems of low assembly efficiency and high cost of the robot arm.

[0005] To achieve the above-mentioned objectives, the present invention proposes an assembly device for a robot arm, comprising a conveyor line, a first loading device, at least one second loading device, and at least one locking device. The conveyor line comprises a conveying mechanism and a pallet jig, the pallet jig being disposed on the conveying mechanism, and the first loading device being disposed on one side of the conveying mechanism; the second loading device and the locking device being alternately disposed in sequence on one side of the first loading device along the conveying direction of the conveying mechanism; The locking device includes a base, a transfer assembly, a tightening assembly and a flip assembly, the flip assembly is rotatably arranged on the base, and the flip assembly has a first locking position and a second locking position, the flip assembly includes a base plate, a placement plate and a clamping mechanism arranged on the base plate, the placement plate is slidably arranged on the base plate, and the placement plate has a first locking position located on one side of the clamping mechanism and a second locking position arranged corresponding to the clamping mechanism; the transfer assembly is used to transfer the pallet jig between the conveying mechanism and the placement plate, the tightening assembly is used to tighten the screws of the robot arm, and the clamping mechanism is used to clamp the pallet jig; When the flip assembly switches to the first locking position, the placement plate slides to the first locking position, and the tightening assembly can tighten the screws on the first end face of the robot arm; when the flip assembly switches to the second locking position, the placement plate slides to the second locking position, the clamping mechanism presses the pallet jig, and the tightening assembly can pass through the base plate, the placement plate and the pallet jig in sequence and tighten the screws on the second end face of the robot arm.

[0006] In one embodiment, the base plate is provided with a mounting surface, and the placement plate is slidably provided on the mounting surface; When the flip assembly switches to the first locking position, the mounting surface is set away from the machine base, and the placement plate slides to the first locking position; when the flip assembly switches to the second locking position, the mounting surface is set toward the machine base, the placement plate slides to the second locking position, and the clamping mechanism presses the tray jig.

[0007] In one embodiment, the flip assembly further includes a support plate, a first driving member, and a second driving member, wherein the support plate is rotatably disposed on the machine base, and the base plate is disposed on the support plate; the first driving member is used to drive the support plate to rotate so that the flip assembly switches between the first locked position and the second locked position; the second driving member is disposed on the base plate and connected to the placement plate, and the second driving member is used to drive the placement plate to slide; The pressing mechanism includes a mounting plate, a third driving member, and a pressing plate, wherein the mounting plate is arranged on the base plate, the third driving member is arranged on the mounting plate, the pressing plate is arranged at the output end of the third driving member and is arranged toward the mounting surface, and the third driving member is used to drive the pressing plate to move toward or away from the mounting surface; When the flip assembly switches to the first locking position, the mounting surface is set away from the machine base, and the second driving member drives the placement plate to slide to the first locking position; when the flip assembly switches to the second locking position, the mounting surface is set toward the machine base, the second driving member drives the placement plate to slide to the second locking position, and the third driving member drives the clamping plate to move toward the mounting surface so that the clamping plate presses the pallet jig.

[0008] In one embodiment, the tightening assembly includes a first manipulator arranged on the machine base, a tightening gun arranged on the first manipulator, a screw bit arranged on the tightening gun, and a positioning camera arranged on one side of the tightening gun, the tightening gun is used to drive the screw bit to rotate to tighten the screw of the robot arm, the positioning camera is electrically connected to the first manipulator, and the positioning camera is used to obtain position information of the screw of the robot arm.

[0009] In one embodiment, the transfer assembly includes a mounting frame, a slide, a fixed block, a first drive unit, a second drive unit, a third drive unit, a fourth drive unit and two clamps, the mounting frame is slidably arranged on the machine base along a first direction of the machine base, the slide is slidably arranged on the mounting frame along a second direction of the machine base, and the fixed block is slidably arranged on the slide along a third direction of the machine base; the two clamps are both slidably arranged on the fixed block and can move toward or away from each other, the first drive unit is used to drive the mounting frame to slide, the second drive unit is used to drive the slide to slide, the third drive unit is used to drive the fixed block to slide, and the fourth drive unit is used to drive the two clamps to move toward or away from each other.

[0010] In one embodiment, the base plate is provided with a mounting surface, and the placement plate is slidably provided on the mounting surface; When the flip assembly switches to the first locking position, the mounting surface is set away from the machine base, and the placement plate slides to the first locking position; when the flip assembly switches to the second locking position, the mounting surface is set away from the conveying mechanism, the placement plate slides to the second locking position, and the clamping mechanism presses the pallet jig.

[0011] In one embodiment, the first loading device and the second loading device each include a mounting base provided on one side of the conveying mechanism, a second manipulator provided on the mounting base, a storage rack provided on the mounting base, and a clamping mechanism provided on the second manipulator, wherein the storage rack is used to store parts of the robot arm, and the second manipulator is used to transfer the parts of the robot arm stored on the storage rack to the pallet jig; The clamping mechanism includes a driving cylinder and two clamping blocks arranged on the driving cylinder; the driving cylinder is arranged on the second manipulator and can drive the two clamping blocks to move towards or away from each other.

[0012] In one embodiment, the assembly equipment of the robot arm also includes a continuity test device, an air tightness test device and a transfer robot, and the first loading device, the continuity test device and the air tightness test device are arranged in sequence along the conveying direction of the conveying mechanism; the second loading device and the locking device are alternately arranged between the first loading device and the continuity test device along the conveying direction of the conveying mechanism; the continuity test device is used to detect the electrical circuit of the robot arm, the air tightness test device is used to detect the air tightness of the robot arm, and the transfer robot is used to transfer the pallet jig on which the assembled robot arm is placed to the air tightness test device.

[0013] In one embodiment, the air tightness testing device includes a base, a bracket arranged on the base, a detection block slidably arranged on the bracket along the height direction of the base, a placement plate slidably arranged on the base and a driving body arranged on the bracket, the robot arm is provided with a docking joint, and the detection block is provided with a detection joint; when the placement plate on which the pallet jig is placed slides to directly below the bracket, the driving body can drive the detection block to slide so that the detection joint is connected to the docking joint.

[0014] In one embodiment, the placement plate is provided with a plurality of placement positions, and the detection block is provided with the detection connector at a position corresponding to each of the placement positions.

[0015] The technical solution of the present invention is to complete the loading, flipping, screw tightening and other assembly work of the robot arm by setting a first loading device, a second loading device, and a locking device including a flipping assembly, a tightening assembly and a transfer assembly, thereby improving assembly efficiency and reducing production costs. In this embodiment, the first loading device is used to transfer one of the components of the robot arm to the pallet jig, the second loading device is used to transfer the other components of the robot arm to the pallet jig, and the locking device is used to flip the robot arm and tighten the screws on the two oppositely arranged end faces of the robot arm. Among them, the locking device includes a machine base, a transfer assembly for transferring the pallet jig between the conveying mechanism and the placement plate, a tightening assembly for tightening the screws and a flipping assembly for flipping the pallet jig. The flipping assembly includes a base plate, a placement plate for placing the pallet jig and a clamping mechanism for fixing the position of the pallet jig. By flipping the pallet jig by the flipping assembly, the screws on the first end face and the second end face of the robot arm that are oppositely arranged can be exposed, so that the tightening assembly can tighten the screws. Specifically, when tightening the screws on the first end face of the robot arm, the placement plate slides to the first locking position, the transfer assembly transfers the pallet jig on the conveying mechanism to the placement plate, and the flip assembly switches to the first locking position to expose the screws on the first end face of the robot arm. At this time, the tightening assembly can tighten the screws on the first end face of the robot arm; when tightening the screws on the second end face of the robot arm, the placement plate slides to the second locking position, the pressing mechanism presses the pallet jig to fix the pallet jig in the second locking position, and the flip assembly switches to the second locking position to expose the screws on the second end face of the robot arm. At this time, the tightening assembly can tighten the screws on the second end face of the robot arm. The assembly equipment of the robot arm is equipped with a first loading device, a second loading device, and a locking device including a flip assembly, a tightening assembly, and a transfer assembly. It can replace manual labor to complete the assembly work of the robot arm such as loading, flipping, and screw tightening, thereby improving the assembly efficiency of the robot arm and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0017] Figure 1 A schematic structural diagram of an assembly device for a robot arm according to an embodiment of the present invention; Figure 2 A schematic structural diagram of a locking device in one embodiment of the present invention; Figure 3 for Figure 2 Schematic diagram from another perspective; Figure 4 for Figure 3 A magnified view of point A in the figure; Figure 5 A schematic structural diagram of a flip assembly in an embodiment of the present invention; Figure 6 A schematic structural diagram of a first loading device in one embodiment of the present invention; Figure 7 A schematic structural diagram of a power-on test device according to an embodiment of the present invention; Figure 8 A schematic structural diagram of an airtightness testing device according to an embodiment of the present invention; Figure 9 for Figure 8 Schematic diagram from another perspective.

[0018] Description of Figure Numbers: 100, conveyor line; 110, conveying mechanism; 120, pallet fixture; 130, lifting device; 200, first loading device; 210, mounting base; 220, second manipulator; 230, storage rack; 240, clamping mechanism; 300, second loading device; 400, locking device; 410, machine base; 420, transfer assembly; 421, mounting bracket; 422, slide plate; 423, fixing block; 424, first drive unit; 425, second drive unit; 426, third drive unit; 427, clamping claw; 430, tightening assembly; 431, first manipulator; 432, tightening gun; 433 , batch head; 434, positioning camera; 440, flip assembly; 441, substrate; 4411, mounting surface; 442, placement plate; 443, clamping mechanism; 4431, mounting plate; 4432, third drive member; 444, support plate; 445, first drive member; 500, on-off test device; 510, conveyor belt; 520, test module; 600, airtightness test device; 610, base; 620, bracket; 630, detection block; 631, detection connector; 640, placement plate; 650, drive body; 700, transfer manipulator; 800, robot arm; 810, docking joint.

[0019] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that meet both A and B.

[0023] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] The robotic arm is the core actuator of a robot, capable of mimicking the functions of a human arm to complete various operational tasks. It is one of the most critical components in industrial automation and service robotics. During actual production and R&D, researchers found that traditional robotic arm assembly is typically performed manually, but manual labor is limited by worker proficiency and physical strength, which slows down assembly speed and reduces efficiency. Furthermore, manual assembly requires a large number of skilled workers, which increases production costs. Furthermore, due to the need to tighten screws on opposing ends of the robotic arm, workers must repeatedly flip the arm during assembly, significantly slowing down assembly speed and reducing efficiency.

[0025] The present invention provides an assembly device for a robot arm, aiming to solve the technical problems of low assembly efficiency and high cost of the robot arm.

[0026] See also Figures 1 to 3In one embodiment of the present invention, the assembly equipment of the robot arm 800 includes a conveyor line 100, a first loading device 200, at least one second loading device 300 and at least one locking device 400. The conveyor line 100 includes a conveying mechanism 110 and a pallet fixture 120. The pallet fixture 120 is arranged on the conveying mechanism 110, and the first loading device 200 is arranged on one side of the conveying mechanism 110; the second loading device 300 and the locking device 400 are alternately arranged on one side of the first loading device 200 along the conveying direction of the conveying mechanism 110; the locking device 400 includes a machine base 410, a transfer component 420, a tightening component 430 and a flip component 440. The flip component 440 is rotatably arranged on the machine base 410, and the flip component 440 has a first locking position and a second locking position. The flip component 440 includes a base plate 441, a placement plate 442 and a pressing machine arranged on the base plate 441. Structure 443, the placement plate 442 is slidably arranged on the base plate 441, and the placement plate 442 has a first locking position located on one side of the clamping mechanism 443 and a second locking position corresponding to the clamping mechanism 443; the transfer component 420 is used to transfer the pallet fixture 120 between the conveying mechanism 110 and the placement plate 442, the tightening component 430 is used to tighten the screws of the robot arm 800, and the clamping mechanism 443 is used to clamp the pallet fixture 120; when the flip component 440 switches to the first locking position, the placement plate 442 slides to the first locking position, and the tightening component 430 can tighten the screws on the first end face of the robot arm 800; when the flip component 440 switches to the second locking position, the placement plate 442 slides to the second locking position, and the clamping mechanism 443 clamps the pallet fixture 120, and the tightening component 430 can pass through the base plate 441, the placement plate 442 and the pallet fixture 120 in sequence and tighten the screws on the second end face of the robot arm 800. The conveying direction of the conveying mechanism 110 is Figure 1 The direction indicated by the M in .

[0027] The technical solution of the present invention, by providing a first loading device 200, a second loading device 300, and a locking device 400 comprising a flipping assembly 440, a tightening assembly 430, and a transfer assembly 420, can complete the loading, flipping, screw tightening, and other assembly tasks of the robot arm 800, thereby improving assembly efficiency and reducing production costs. In this embodiment, the first loading device 200 is used to transfer one component of the robot arm 800 to the pallet jig 120, the second loading device 300 is used to transfer other components of the robot arm 800 to the pallet jig 120, and the locking device 400 is used to flip the robot arm and tighten the screws on the two opposite end surfaces of the robot arm 800. Among them, the locking device 400 includes a base 410, a transfer component 420 for transferring the pallet jig 120 between the conveying mechanism 110 and the placement plate 442, a tightening component 430 for tightening the screws and a flipping component 440 for flipping the pallet jig 120. The flipping component 440 includes a base plate 441, a placement plate 442 for placing the pallet jig 120 and a clamping mechanism 443 for fixing the position of the pallet jig 120. By flipping the pallet jig 120 by the flipping component 440, the screws on the first end face and the second end face relatively set by the robot arm 800 can be exposed, so that the tightening component 430 can tighten the screws. Specifically, when tightening the screws on the first end face of the robot arm 800, the placement plate 442 slides to the first locking position, the transfer component 420 transfers the pallet jig 120 on the conveying mechanism 110 to the placement plate 442, and the flipping component 440 switches to the first locking position to expose the screws on the first end face of the robot arm 800. At this time, the tightening component 430 can tighten the screws on the first end face of the robot arm 800; when tightening the screws on the second end face of the robot arm 800, the placement plate 442 slides to the second locking position, the clamping mechanism 443 presses the pallet jig to fix the pallet jig 120 in the second locking position, and the flipping component 440 switches to the second locking position to expose the screws on the second end face of the robot arm 800. At this time, the tightening component 430 can tighten the screws on the second end face of the robot arm 800. The assembly equipment of the robot arm 800 is equipped with a first loading device 200, a second loading device 300, and a locking device 400 including a flipping component 440, a tightening component 430 and a transfer component 420. It can replace manual labor to complete the loading, flipping, screw tightening and other assembly tasks of the robot arm 800, thereby improving the assembly efficiency of the robot arm 800 and reducing production costs.

[0028] In this embodiment, the tray jig 120 is provided with a first through-hole at the screw position corresponding to the second end face of the robot arm 800, the placement plate 442 is provided with a second through-hole at the position corresponding to the first through-hole, and the base plate 441 is provided with a third through-hole corresponding to the second locking position of the placement plate 442. When the flip assembly 440 is switched to the second locking position and the tray jig 120 slides to the second locking position, the tightening assembly 430 can sequentially pass through the third through-hole, the second through-hole, and the first through-hole to tighten the screw on the second end face of the robot arm 800.

[0029] See also Figure 3 and Figure 5 In one embodiment of the present invention, the base plate 441 is provided with a mounting surface 4411, and the placement plate 442 is slidably provided on the mounting surface 4411; when the flip assembly 440 switches to the first locking position, the mounting surface 4411 is provided away from the machine base 410, and the placement plate 442 slides to the first locking position; when the flip assembly 440 switches to the second locking position, the mounting surface 4411 is provided toward the machine base 410, the placement plate 442 slides to the second locking position, and the clamping mechanism 443 clamps the tray fixture 120. In this embodiment, the flip assembly 440 drives the base plate 441 to flip over, thereby driving the tray fixture 120 to flip over, so that the screws on the first end face or the second end face of the robot arm 800 are exposed; this enables the tightening assembly 430 to maintain a consistent feed direction when tightening the screws on the first end face and the second end face of the robot arm 800, thereby reducing the position adjustment of the tightening assembly 430 and thereby reducing the complexity of the operation.

[0030] In addition, the flip assembly 440 can also expose the screws on the first and second end faces of the robot arm 800 by flipping the base plate 441 into a horizontal or vertical state. Specifically, in another embodiment of the present invention, the base plate 441 is provided with a mounting surface 4411, and the placement plate 442 is slidably provided on the mounting surface 4411; when the flip assembly 440 switches to the first locking position, the mounting surface 4411 is disposed away from the machine base 410 and is in a horizontal state, and the placement plate 442 slides to the first locking position; when the flip assembly 440 switches to the second locking position, the mounting surface 4411 is disposed away from the conveying mechanism 110 and is in a vertical state, the placement plate 442 slides to the second locking position, and the clamping mechanism 443 clamps the tray fixture 120. It should be noted that when the above method is used to flip the pallet fixture 120, the first manipulator 431 of the tightening assembly 430 described below should be configured as a multi-degree-of-freedom manipulator so that the first manipulator 431 can tighten the screws on the first end face and the second end face of the manipulator in two directions perpendicular to each other.

[0031] See also Figure 5In one embodiment of the present invention, the flip assembly 440 further includes a support plate 444, a first driver 445, and a second driver. The support plate 444 is rotatably mounted on the base 410, and the base plate 441 is mounted on the support plate 444. The first driver 445 is configured to rotate the support plate 444 to switch the flip assembly 440 between a first locked position and a second locked position. The second driver is mounted on the base plate 441 and connected to the placement plate 442, and is configured to slide the placement plate 442. In this embodiment, the first driver 445 rotates the support plate 444 to flip the base plate 441, thereby flipping the tray jig 120. The second driver is configured to slide the placement plate 442 to switch the placement plate 442 between the first locked position and the second locked position. In a specific embodiment, the placement plate 442 is slidably mounted on the base plate 441 via a slide rail and a slider. Both the first driver 445 and the second driver may be drive motors.

[0032] See also Figure 5 In one embodiment of the present invention, the clamping mechanism 443 includes a mounting plate 4431, a third driving member 4432, and a clamping plate. The mounting plate 4431 is disposed on the base plate 441, and the third driving member 4432 is disposed on the mounting plate 4431. The clamping plate is disposed at the output end of the third driving member 4432 and is disposed toward the mounting surface 4411. The third driving member 4432 is configured to drive the clamping plate toward or away from the mounting surface 4411. When the flip assembly 440 is switched to the first locking position, the mounting surface 4411 is disposed away from the base 410, and the second driving member drives the placement plate 442 to slide to the first locking position. When the flip assembly 440 is switched to the second locking position, the mounting surface 4411 is disposed toward the base 410, the second driving member drives the placement plate 442 to slide to the second locking position, and the third driving member 4432 drives the clamping plate toward the mounting surface 4411, thereby pressing the tray jig 120. In this embodiment, the third drive member 4432 drives the clamping plate to move toward or away from the mounting surface 4411 so that the clamping plate can compress or loosen the pallet jig 120. This has the characteristics of a simple structure, which can simplify the structure of the flip assembly 440, thereby simplifying the structure of the assembly equipment of the robot arm 800 and reducing the manufacturing difficulty. At the same time, when the third drive member 4432 drives the clamping plate toward or away from the mounting surface 4411 to compress the pallet jig 120, it can directly apply the clamping force perpendicular to the mounting surface 4411 to the pallet jig 120, reducing the lateral force component, thereby reducing the risk of vibration or position of the pallet jig 120 when the tightening assembly 430 tightens the screws. In a specific embodiment, the third drive member 4432 can be a drive motor.

[0033] See also Figure 2In one embodiment of the present invention, the tightening assembly 430 includes a first manipulator 431 mounted on a base 410, a tightening gun 432 mounted on the first manipulator 431, a screwdriver bit 433 mounted on the tightening gun 432, and a positioning camera 434 mounted on one side of the tightening gun 432. The tightening gun 432 is used to rotate the screwdriver bit 433 to tighten the screw of the robot arm 800. The positioning camera 434 is electrically connected to the first manipulator 431 and is used to obtain position information of the screw of the robot arm 800. In this embodiment, the tightening gun 432 is used to rotate the screwdriver bit 433 to tighten the screw of the robot arm 800. The positioning camera 434 can capture and obtain the position information of the screw of the robot arm 800 in real time. Based on the position information of the screw of the robot arm 800, an external controller can control the operation of the first manipulator 431, move the tightening gun 432 to the screw of the robot arm 800, and align the screwdriver bit 433 with the screw of the robot arm 800. In one specific embodiment, to accommodate the height change caused by the flip assembly 440 when flipping the pallet jig 120, a tightening gun 432 is slidably mounted on the first manipulator 431 along the height direction of the base 410. The first manipulator 431 is provided with a fourth drive member for driving the tightening gun 432 to slide; the fourth drive member may be a drive motor. In this embodiment, the first manipulator 431 includes a base, a first manipulator arm, and a second manipulator arm. The base is mounted on the base 410, the first manipulator arm is rotatably mounted on the base, and the second manipulator arm is rotatably mounted at an end of the first manipulator arm away from the base, with the rotation axis of the first manipulator arm and the rotation axis of the second manipulator arm being parallel.

[0034] See also Figure 3 and Figure 4 In one embodiment of the present invention, the transfer assembly 420 includes a mounting frame 421, a slide 422, a fixed block 423, a first drive unit 424, a second drive unit 425, a third drive unit 426, a fourth drive unit and two clamps 427. The mounting frame 421 is slidably disposed on the machine base 410 along a first direction of the machine base 410, the slide 422 is slidably disposed on the mounting frame 421 along a second direction of the machine base 410, and the fixed block 423 is slidably disposed on the slide 422 along a third direction of the machine base 410; the two clamps 427 are both slidably disposed on the fixed block 423 and can move in directions approaching or moving away from each other. The first drive unit 424 is used to drive the mounting frame 421 to slide, the second drive unit 425 is used to drive the slide 422 to slide, the third drive unit 426 is used to drive the fixed block 423 to slide, and the fourth drive unit is used to drive the two clamps 427 to move in directions approaching or moving away from each other. The first direction refers to Figure 2 The direction indicated by X in the second direction is Figure 2 The direction indicated by Y in the third direction is Figure 2 In the present embodiment, two clamping jaws 427 are used to clamp the pallet jig 120. By slidably setting the mounting frame 421 on the base 410 along a first direction of the base 410, slidably setting the slide 422 on the mounting frame 421 along a second direction of the base 410, and slidably setting the fixed block 423 on the slide 422 along a third direction of the base 410, the two clamping jaws 427 can be used to transfer the pallet jig 120 on the conveying mechanism 110 to the placement plate 442, or transfer the pallet jig 120 on the placement plate 442 to the conveying mechanism 110. In a specific embodiment, the first drive unit 424, the second drive unit 425, the third drive unit 426, and the fourth drive unit can all be drive motors.

[0035] In this embodiment, the conveying mechanism 110 conveys the pallet jig 120 via two rows of conveying rollers spaced apart. To ensure that the two clamping jaws 427 can accurately clamp the pallet jig 120 on the conveying mechanism 110 or place the pallet jig 120 on the conveying mechanism 110, the conveying mechanism 110 is provided with a lifting device 130 corresponding to each locking device 400. The lifting device 130 includes a lifting cylinder and a lifting rod. The lifting rod is provided on the lifting cylinder. The lifting cylinder is used to drive the lifting rod to move to lift the pallet jig 120 and separate the pallet jig 120 from the conveying mechanism 110. In a specific embodiment, to improve conveying efficiency, a conveying plate can be provided on the conveying mechanism 110, and multiple pallet jigs 120 can be placed on the conveying plate for conveying to improve conveying efficiency.

[0036] The process of the locking device 400 locking the screws of the robot arm is as follows: 1. The pallet jig 120 to be loaded moves to the locking device 400, and the lifting cylinder drives the lifting rod to move to lift the pallet jig 120; the transfer assembly 420 clamps the pallet jig 120 and transfers the pallet jig 120 to the placement plate 442 in the first locking position; 2. The controller controls the first manipulator 431 to operate according to the position information of the screw of the robot arm 800 obtained by the positioning camera 434, and moves the bit 433 to the robot arm 800, the fourth driving member drives the tightening gun 432 to slide along the height direction of the machine base 410 until the screw bit 433 is docked with the screw, and then the tightening gun 432 drives the screw bit 433 to rotate to tighten the screw; 3. Repeat step 2 until all the screws on the first end face of the robot arm 800 are tightened, the first manipulator 431 returns to its position, the second driving member drives the placement plate 442 to slide to the second locking position, the third driving member 4432 drives the pressing plate to move to press the tray fixture 120, and the first driving member 431 returns to its position, and the second driving member drives the placement plate 442 to slide to the second locking position. Component 445 drives the support plate 444 to rotate so that the flip assembly 440 switches to the second locking position; 4. The controller controls the first manipulator 431 to operate according to the position information of the screw of the robot arm 800 obtained by the positioning camera 434, and moves the screw bit 433 to the top of the screw on the first end face of the robot arm 800. The fourth driving component drives the tightening gun 432 to slide along the height direction of the machine base 410 until the screw bit 433 docks with the screw, and then the tightening gun 432 drives the screw bit 433 to rotate to tighten the screw; 5. Repeat Step 4, until all the screws on the second end face of the robot arm 800 are tightened, the first driving member 445 drives the support plate 444 to rotate so that the flip assembly 440 switches to the first locking position, the third driving member 4432 drives the clamping plate to move to loosen the pallet jig 120, the second driving member drives the placement plate 442 to slide to the first locking position, and the transfer assembly 420 then transfers the pallet jig 120 to the jacking device 130, and then the jacking cylinder drives the jacking rod to move, so that the pallet jig 120 is placed back on the conveying mechanism 110.

[0037] See also Figure 6In one embodiment of the present invention, the first loading device 200 and the second loading device 300 each include a mounting base 210 disposed on one side of the conveying mechanism 110, a second manipulator 220 disposed on the mounting base 210, a storage rack 230 disposed on the mounting base 210, and a clamping mechanism 240 disposed on the second manipulator 220. The storage rack 230 is used to store parts of the robotic arm 800, and the second manipulator 220 is used to transfer the parts of the robotic arm 800 stored in the storage rack 230 to the pallet fixture 120. The clamping mechanism 240 includes a drive cylinder and two clamping blocks disposed on the drive cylinder. The drive cylinder is disposed on the second manipulator 220 and is capable of driving the two clamping blocks toward or away from each other. In this embodiment, the drive cylinder drives the two clamping blocks toward or away from each other to clamp or release parts of the robotic arm 800. This simple structure can simplify the structure of the assembly equipment for the robotic arm 800 and reduce manufacturing difficulty. In a specific embodiment, the drive cylinder can be a bidirectional drive cylinder. In this embodiment, the second manipulator 220 has the same structure as the first manipulator 431 and will not be further described here. To ensure that the gripping mechanism 240 can grip components of the robotic arm 800 at different heights, the gripping mechanism 240 is movably mounted on the second manipulator 220 via a screw. In one specific embodiment, the storage racks 230 can be transported using a transfer cart; that is, the assembly equipment for the robotic arm 800 can use the transfer cart to transfer storage racks 230 containing components for the robotic arm 800 to the loading device, or to remove empty storage racks 230 from the loading device.

[0038] See also Figure 7In one embodiment of the present invention, the assembly equipment of the robot arm 800 also includes a continuity test device 500, an airtightness test device 600 and a transfer robot 700. The first loading device 200, the continuity test device 500 and the airtightness test device 600 are arranged in sequence along the conveying direction of the conveying mechanism 110; the second loading device 300 and the locking device 400 are alternately arranged between the first loading device 200 and the continuity test device 500 along the conveying direction of the conveying mechanism 110; the continuity test device 500 is used to detect the electrical circuit of the robot arm 800, the airtightness test device 600 is used to detect the airtightness of the robot arm 800, and the transfer robot 700 is used to transfer the tray fixture 120 on which the assembled robot arm 800 is placed to the airtightness test device 600. In this embodiment, the continuity test device 500 is used to test the electrical circuits of the robot arm 800, and the airtightness test device 600 is used to test the airtightness of the robot arm 800. By testing the electrical circuits and airtightness of the robot arm 800, it is possible to confirm whether the production quality of the assembled robot arm 800 meets the requirements. In a specific embodiment, the continuity test device 500 includes a conveyor belt 510 and a test module 520 disposed on one side of the conveyor belt 510. When testing the electrical circuits of the robot arm 800, a worker transfers the pallet jig 120 to the conveyor belt 510 and inserts the terminal blocks of the robot arm 800 into the test module 520. The robot arm 800 is then powered on to test whether the voltage and internal resistance across the motor of the robot arm 800 are within a normal range.

[0039] See also Figure 8 and Figure 9In one embodiment of the present invention, an airtightness testing device 600 includes a base 610, a bracket 620 disposed on the base 610, a detection block 630 slidably disposed on the bracket 620 along the height direction of the base 610, a placement plate 640 slidably disposed on the base 610, and a driving body 650 disposed on the bracket 620. The robot arm 800 is provided with a docking joint 810, and the detection block 630 is provided with a detection joint 631. When the placement plate 640, on which the tray jig 120 is placed, slides directly below the bracket 620, the driving body 650 can drive the detection block 630 to slide, thereby connecting the detection joint 631 with the docking joint 810. In this embodiment, when the placement plate 640 slides directly below the bracket 620, the driving body 650 can drive the detection block 630 to slide, thereby connecting the detection joint 631 with the docking joint 810. Subsequently, the airtightness of the robot arm 800 can be tested by the airtightness testing instrument to ensure the production quality of the robot arm 800. In one specific embodiment, the placement plate 640 is provided with multiple placement positions, and the detection block 630 is provided with a detection connector 631 at a position corresponding to each placement position. By providing multiple placement positions on the placement plate 640 and multiple detection connectors 631 on the detection block 630, the airtightness device can simultaneously test the airtightness of multiple robot arms 800, thereby improving work efficiency.

[0040] It should be noted that during the manufacturing process of the assembly equipment for the robotic arm 800, multiple second loading devices 300 and locking devices 400 can be provided based on actual needs to meet the manufacturing requirements of a multi-jointed robotic arm 800. For example, in this embodiment, the number of second loading devices 300 and locking devices 400 is three, and the three second loading devices 300 and the three locking devices 400 are alternately arranged between the first loading device 200 and the continuity test device 500 along the conveying direction of the conveying mechanism 110.

[0041] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformation made by using the contents of the present invention description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the scope of protection of the present invention.

Claims

1. A robot arm assembly device, characterized in that: The conveyor comprises a conveyor line, a first loading device, at least one second loading device and at least one locking device. The conveyor line comprises a conveying mechanism and a pallet jig. The pallet jig is arranged on the conveying mechanism, and the first loading device is arranged on one side of the conveying mechanism. The second loading device and the locking device are alternately arranged on one side of the first loading device along the conveying direction of the conveying mechanism. The locking device includes a base, a transfer assembly, a tightening assembly and a flip assembly, the flip assembly is rotatably arranged on the base, and the flip assembly has a first locking position and a second locking position, the flip assembly includes a base plate, a placement plate and a clamping mechanism arranged on the base plate, the placement plate is slidably arranged on the base plate, and the placement plate has a first locking position located on one side of the clamping mechanism and a second locking position arranged corresponding to the clamping mechanism; the transfer assembly is used to transfer the pallet jig between the conveying mechanism and the placement plate, the tightening assembly is used to tighten the screws of the robot arm, and the clamping mechanism is used to clamp the pallet jig; When the flip assembly switches to the first locking position, the placement plate slides to the first locking position, and the tightening assembly can tighten the screws on the first end face of the robot arm; when the flip assembly switches to the second locking position, the placement plate slides to the second locking position, the clamping mechanism presses the pallet jig, and the tightening assembly can pass through the base plate, the placement plate and the pallet jig in sequence and tighten the screws on the second end face of the robot arm.

2. The assembly equipment for the robot arm according to claim 1, characterized in that: The base plate is provided with a mounting surface, and the placement plate is slidably arranged on the mounting surface; When the flip assembly is switched to the first locking position, the mounting surface is arranged away from the machine base, and the placement plate slides to the first locking position; When the flip assembly is switched to the second locking position, the mounting surface is arranged toward the machine base, the placement plate slides to the second locking position, and the pressing mechanism presses the tray fixture.

3. The assembly equipment for the robot arm according to claim 2, characterized in that: The flip assembly further includes a support plate, a first driving member, and a second driving member, wherein the support plate is rotatably disposed on the machine base, and the base plate is disposed on the support plate; the first driving member is used to drive the support plate to rotate so as to switch the flip assembly between the first locking position and the second locking position; the second driving member is disposed on the base plate and connected to the placement plate, and the second driving member is used to drive the placement plate to slide; The pressing mechanism includes a mounting plate, a third driving member, and a pressing plate, wherein the mounting plate is arranged on the base plate, the third driving member is arranged on the mounting plate, the pressing plate is arranged at the output end of the third driving member and is arranged toward the mounting surface, and the third driving member is used to drive the pressing plate to move toward or away from the mounting surface; When the flip assembly is switched to the first locking position, the mounting surface is arranged away from the machine base, and the second driving member drives the placement plate to slide to the first locking position; When the flip assembly switches to the second locking position, the mounting surface is set toward the machine base, the second driving member drives the placement plate to slide to the second locking position, and the third driving member drives the clamping plate to move toward the mounting surface so that the clamping plate presses the pallet jig.

4. The assembly equipment for a robot arm according to claim 1, wherein: The tightening assembly includes a first manipulator arranged on the machine base, a tightening gun arranged on the first manipulator, a screw bit arranged on the tightening gun, and a positioning camera arranged on one side of the tightening gun. The tightening gun is used to drive the screw bit to rotate to tighten the screw of the robot arm. The positioning camera is electrically connected to the first manipulator, and the positioning camera is used to obtain the position information of the screw of the robot arm.

5. The assembly equipment for the robot arm according to claim 1, wherein: The transfer assembly includes a mounting frame, a slide, a fixed block, a first drive unit, a second drive unit, a third drive unit, a fourth drive unit and two clamps, the mounting frame is slidably arranged on the machine base along a first direction of the machine base, the slide is slidably arranged on the mounting frame along a second direction of the machine base, and the fixed block is slidably arranged on the slide along a third direction of the machine base; the two clamps are both slidably arranged on the fixed block and can move toward or away from each other, the first drive unit is used to drive the mounting frame to slide, the second drive unit is used to drive the slide to slide, the third drive unit is used to drive the fixed block to slide, and the fourth drive unit is used to drive the two clamps to move toward or away from each other.

6. The assembly equipment for a robot arm according to claim 1, wherein: The base plate is provided with a mounting surface, and the placement plate is slidably arranged on the mounting surface; When the flip assembly switches to the first locking position, the mounting surface is arranged away from the machine base, and the placement plate slides to the first locking position; When the flip assembly switches to the second locking position, the mounting surface is arranged away from the conveying mechanism, the placement plate slides to the second locking position, and the pressing mechanism presses the tray fixture.

7. The assembly equipment for a robot arm according to claim 1, wherein: The first loading device and the second loading device each include a mounting base provided on one side of the conveying mechanism, a second manipulator provided on the mounting base, a storage rack provided on the mounting base, and a clamping mechanism provided on the second manipulator, wherein the storage rack is used to store parts of the robot arm, and the second manipulator is used to transfer the parts of the robot arm stored on the storage rack to the pallet jig; The clamping mechanism includes a driving cylinder and two clamping blocks arranged on the driving cylinder; the driving cylinder is arranged on the second manipulator and can drive the two clamping blocks to move towards or away from each other.

8. The robot arm assembly device according to any one of claims 1 to 7, characterized in that: The assembly equipment of the robot arm also includes a continuity test device, an air tightness test device and a transfer robot. The first loading device, the continuity test device and the air tightness test device are arranged in sequence along the conveying direction of the conveying mechanism; the second loading device and the locking device are alternately arranged between the first loading device and the continuity test device along the conveying direction of the conveying mechanism; the continuity test device is used to detect the electrical circuit of the robot arm, the air tightness test device is used to detect the air tightness of the robot arm, and the transfer robot is used to transfer the pallet jig on which the assembled robot arm is placed to the air tightness test device.

9. The robot arm assembly device according to claim 8, characterized in that: The air tightness testing device includes a base, a bracket arranged on the base, a detection block slidably arranged on the bracket along the height direction of the base, a placement plate slidably arranged on the base and a driving body arranged on the bracket. The robot arm is provided with a docking joint, and the detection block is provided with a detection joint; when the placement plate on which the pallet jig is placed slides to directly below the bracket, the driving body can drive the detection block to slide so that the detection joint is connected to the docking joint.

10. The robot arm assembly device according to claim 9, characterized in that: The placement plate is provided with a plurality of placement positions, and the detection block is provided with the detection connector at a position corresponding to each of the placement positions.

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