Intelligent factory rocket processing automation assembly robot

Abstract

The application belongs to the technical field of rocket sensor cable installation, and discloses an automatic assembly robot for rocket processing in a smart factory, which comprises a mechanical arm and a clamping mechanism, the clamping mechanism is connected to the movable end of the mechanical arm, and is used for clamping a male terminal.The first clamping assembly and the locking mechanism are used for clamping and fixing the male terminal, the male terminal and a female terminal are preliminarily aligned through the mechanical arm, then the first clamping assembly is moved to the direction of the second clamping plate through the connecting mechanism, the male terminal is close to the female terminal, the alignment and butt joint of the male terminal and the female terminal are realized through the friction force of the butt joint mechanism, the locking mechanism is moved through the torsion adjusting mechanism after the butt joint is completed, the surface nut of the male terminal and the surface threaded area of the female terminal are tightened, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of cable installation, and specifically relates to an automatic assembly robot for rocket processing in a smart factory. BACKGROUND

[0002] In rocket assembly, the connection of sensors and wiring cables is a core link for ensuring data transmission and command execution of each system (such as control, propulsion, measurement, etc.) of the rocket body, and needs to consider high reliability, extreme environment resistance (vibration, impact, high and low temperature, radiation) and maintainability. The sensor is provided with a "female connector" (or a female connector seat is welded), the "male connector" at the end of the cable is aligned with the positioning pin of the female connector (to prevent reverse insertion), the connector lock sleeve is rotated clockwise, and until a "click" sound is heard - the bayonet / thread structure inside the lock sleeve will fix the "male connector" to ensure that it is not loose in a vibrating environment.

[0003] In the prior art, an operator twists a nut by using a torque wrench and the like to realize the connection of the cable and the sensor, but this way is time-consuming and laborious, and seriously affects the assembly efficiency, and therefore needs to be improved. SUMMARY

[0004] To solve the problem of "time-consuming and laborious manual adoption of a torque wrench and the like to tighten a nut to realize the connection of a cable and a sensor" in the background art, the application provides an automatic assembly robot for rocket processing in a smart factory.

[0005] To achieve the above object, the application provides the following technical scheme: an automatic assembly robot for rocket processing in a smart factory, comprising a mechanical arm, and further comprising:

[0006] A clamping mechanism connected to the movable end of the mechanical arm for clamping the male connector of the wiring;

[0007] A locking mechanism arranged on the clamping mechanism for driving the rotation of the nut on the male connector to connect with the female connector;

[0008] A torque adjusting mechanism arranged on the locking mechanism for adjusting the torque;

[0009] A connecting mechanism arranged on the clamping mechanism for driving the male connector and the female connector to approach each other;

[0010] A docking mechanism arranged on the clamping mechanism for driving the male connector and the female connector to dock with each other;

[0011] The clamping mechanism comprises a positioning frame, a first clamping assembly, a second return spring and a second clamping plate, the positioning frame is connected with the mechanical arm, the first clamping assembly is elastically slid in the interior of the positioning frame through the second return spring, the second clamping plate is symmetrically arranged at one end of the positioning frame, and the locking mechanism and the butt joint mechanism are arranged on the first clamping assembly.

[0012] Preferably, the first clamping assembly comprises a sliding frame, a first driving motor and a first clamping plate, the sliding frame is slid in the interior of the positioning frame and is connected with the second return spring, the first driving motor is arranged at the top of the sliding frame, and the first driving motor drives two first clamping plates symmetrically arranged in the interior of the sliding frame to move synchronously towards or away from each other through a bidirectional threaded rod.

[0013] Preferably, the first clamping plate comprises a first clamping arm, a sliding arc block and a first return spring, the first clamping arm is slid in the interior of the sliding frame, the sliding arc block is elastically slid in the clamping part of the first clamping arm through the first return spring, and the inner side of the sliding arc block is further provided with a steel ball which can only rotate in the circumferential direction of the sliding arc block.

[0014] Preferably, the locking mechanism comprises a second clamping assembly one, a second clamping assembly two and a rotating assembly, the second clamping assembly one and the second clamping assembly two are respectively arranged on the two first clamping arms, and the rotating assembly is respectively arranged on the inner sides of the second clamping assembly one and the second clamping assembly two.

[0015] Preferably, the second clamping assembly one comprises a first arc-shaped frame and a first loss-of-field electromagnet, the first arc-shaped frame is connected with the first clamping arm, and the first loss-of-field electromagnet is arranged at the middle part of the first arc-shaped frame.

[0016] Preferably, the second clamping assembly two comprises a second arc-shaped frame and an extension plate, the second arc-shaped frame can be split into a ring shape in cooperation with the first arc-shaped frame, the extension plate is arranged at the bottom of the second arc-shaped frame, and the bottom of the second arc-shaped frame is provided with an opening which is in communication with the inner and outer sides.

[0017] Preferably, the rotating assembly comprises a sliding block, an arc-shaped tooth and a second loss-of-field electromagnet, the sliding block is slid in the interior of the first arc-shaped frame and the second arc-shaped frame, the second loss-of-field electromagnet is arranged at the middle part of the sliding block, the arc-shaped tooth is arranged on the outer side of the second loss-of-field electromagnet and is fixedly connected with the sliding block, and the inner side of the sliding block is provided with a steel ball, when the first arc-shaped frame and the second arc-shaped frame are in contact, the first loss-of-field electromagnet and the second loss-of-field electromagnet are powered off to release the adsorption.

[0018] Preferably, the torsion adjusting mechanism comprises a second driving motor, a limiting cylinder, a third driving motor, a screw rod, a movable plate, a torsion spring, a positioning ball, a connecting sleeve, a connecting shaft and a gear, the second driving motor is fixedly connected with the extension plate, the connecting shaft is rotatably connected with the extension plate, the connecting sleeve is butted with the limiting cylinder, the gear is installed on the surface of the connecting sleeve and is engaged with the arc-shaped teeth through the opening at the bottom of the second arc-shaped frame, the connecting sleeve is rotatably connected with the connecting shaft and the limiting cylinder, the third driving motor is arranged in the interior of the limiting cylinder, the third driving motor drives the movable plate to move linearly in the interior of the limiting cylinder through the screw rod, and the torsion spring is compressed, and the positioning ball is elastically clamped with the connecting shaft through the elastic force of the torsion spring.

[0019] Preferably, the connecting mechanism comprises a ball screw and a telescopic rod, the ball screw is fixed on the surface of one of the second clamping plates, one end of the telescopic rod is installed on the screw rod slider of the ball screw, and the other end is installed on the first clamping arm.

[0020] Preferably, the connecting mechanism comprises a fourth driving motor and a driving wheel, the fourth driving motor is installed on the first clamping arm, the driving wheel is installed on the output shaft of the fourth driving motor, and the driving wheel is in pressure contact with the surface of the male connector.

[0021] Compared with the prior art, the application has the following beneficial effects:

[0022] The first clamping assembly and the locking mechanism jointly clamp and fix the male connector, the mechanical arm preliminarily aligns the male connector with the female connector, the second clamping plate can be clamped on the non-threaded area on the surface of the female connector, then the first clamping assembly is moved to the direction of the second clamping plate through the connecting mechanism, the male connector approaches the female connector, the connecting mechanism drives the male connector to rotate through friction, the male connector and the female connector are aligned and connected, after the connection is completed, the locking mechanism is driven to move through the torsion adjusting mechanism, the screw cap on the surface of the male connector is tightened with the threaded area on the surface of the female connector, and the working efficiency is improved.

[0023] The position movement of the movable plate changes the pressure of the torsion spring on the positioning ball, that is, the locking force between the positioning ball and the connecting shaft changes, the torque is changed in this way, the connection requirements of the male connector and the female connector are guaranteed, and the torque size can also be changed to adapt to various requirements.

[0024] The elastic sliding of the sliding arc block and the first clamping arm provides a certain redundancy, prevents the screw cap from pulling the male connector to make the male connector stick to the female connector more tightly and causes obstruction, and further realizes the stability of the connection. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1Structure diagram of the present application;

[0026] Figure 2 Structure diagram of the clamping mechanism of the present application;

[0027] Figure 3 Structure diagram of the wiring cable of the present application;

[0028] Figure 4 Structure diagram of the connecting mechanism and the first clamping assembly of the present application;

[0029] Figure 5 Structure diagram of the docking mechanism and the first clamping plate of the present application;

[0030] Figure 6 Structure diagram of the locking mechanism of the present application;

[0031] Figure 7 Structure diagram of the second clamping assembly one, the second clamping assembly two and the rotating assembly of the present application;

[0032] Figure 8 Structure diagram of the torque adjusting mechanism of the present application.

[0033] In the figure: 100, mechanical arm; 200, wiring cable; 210, male connector; 220, female connector; 300, clamping mechanism; 310, positioning frame; 320, first clamping assembly; 321, sliding frame; 322, first driving motor; 323, first clamping plate; 3231, first clamping arm; 3232, sliding arc block; 3233, first return spring; 330, second return spring; 340, second clamping plate; 400, locking mechanism; 410, second clamping assembly one; 411, first arc-shaped frame; 412, first power-loss type electromagnet; 420, second clamping assembly two; 421, second arc-shaped frame; 422, extension plate; 430, rotating assembly; 431, sliding block; 432, arc-shaped tooth; 433, second power-loss type electromagnet; 500, torque adjusting mechanism; 510, second driving motor; 520, limiting cylinder; 530, third driving motor; 540, lead screw; 550, movable plate; 560, torque spring; 570, positioning ball; 580, connecting sleeve; 590, connecting shaft; 511, gear; 600, connecting mechanism; 610, ball screw; 620, telescopic rod; 700, docking mechanism; 710, fourth driving motor; 720, driving wheel. DETAILED DESCRIPTION

[0034] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0035] The wiring cable 200 required for the rocket sensor assembly includes a male connector 210 and a female connector 220, the female connector 220 is assembled on the sensor in advance by other robots or manually, and the intelligent factory rocket processing automation assembly robot of the present application screws the male connector 210 on the female connector 220 to realize the connection of the wiring cable 200 and the sensor.

[0036] As shown in Figures 1 to 8 The intelligent factory rocket processing automation assembly robot of the present application includes a mechanical arm 100, and further includes:

[0037] A clamping mechanism 300 is connected to the movable end of the mechanical arm 100 and is used for clamping the male connector 210;

[0038] A locking mechanism 400 is arranged on the clamping mechanism 300 and is used for driving the nut on the male connector 210 to rotate so as to be connected with the female connector 220;

[0039] A torque adjusting mechanism 500 is arranged on the locking mechanism 400 and is used for adjusting the torque;

[0040] A connecting mechanism 600 is arranged on the clamping mechanism 300 and is used for driving the male connector 210 and the female connector 220 to approach;

[0041] A docking mechanism 700 is arranged on the clamping mechanism 300 and is used for driving the male connector 210 to dock with the female connector 220;

[0042] The clamping mechanism 300 includes a positioning frame 310, a first clamping assembly 320, a second reset spring 330 and a second clamping plate 340, the positioning frame 310 is connected with the mechanical arm 100, the first clamping assembly 320 elastically slides in the inside of the positioning frame 310 through the second reset spring 330, the second clamping plate 340 is symmetrically installed at one end of the positioning frame 310, and the locking mechanism 400 and the docking mechanism 700 are both arranged on the first clamping assembly 320.

[0043] Adopting the above scheme: through the joint clamping of the first clamping assembly 320 and the locking mechanism 400, the male connector 210 is clamped and fixed, the mechanical arm 100 preliminarily aligns the male connector 210 with the female connector 220, and the second clamping plate 340 can be clamped on the non-threaded area on the surface of the female connector 220. Then, the first clamping assembly 320 is moved as a whole to the direction of the second clamping plate 340 through the connecting mechanism 600, so that the male connector 210 approaches the female connector 220. At the same time, the abutting mechanism 700 drives the male connector 210 to rotate through friction, so as to realize the alignment and abutment of the male connector 210 and the female connector 220. After the abutment is completed, the locking mechanism 400 is driven to move by the torque adjusting mechanism 500, so as to realize the tightening of the screw cap on the surface of the male connector 210 and the threaded area on the surface of the female connector 220.

[0044] As shown in Figure 4 and Figure 5 , the first clamping assembly 320 includes a sliding frame 321, a first driving motor 322 and a first clamping plate 323. The sliding frame 321 slides in the positioning frame 310 and is connected with the second reset spring 330. The first driving motor 322 is installed on the top of the sliding frame 321 and drives the two first clamping plates 323 symmetrically inside the sliding frame 321 to move synchronously towards or away from each other through a bidirectional threaded rod. The first clamping plate 323 includes a first clamping arm 3231, a sliding arc block 3232 and a first reset spring 3233. The first clamping arm 3231 slides in the sliding frame 321. The sliding arc block 3232 elastically slides in the clamping part of the first clamping arm 3231 through the first reset spring 3233. The inner side of the sliding arc block 3232 is also provided with a steel ball that can only rotate in the circumferential direction of the sliding arc block 3232.

[0045] Adopting the above scheme: the driving of the first driving motor 322 can drive the two first clamping plates 323 to move synchronously towards or away from each other through the bidirectional threaded rod to clamp the male connector 210. The design of the sliding arc block 3232 and the first reset spring 3233 is to provide a certain redundancy when the locking mechanism 400 drives the screw cap on the male connector 210 to connect with the threaded area on the surface of the female connector 220, so as to prevent the screw cap from pulling the male connector 210 to make it stick to the female connector 220 more tightly and hinder the connection, thereby realizing the stability of the connection. The steel ball on the inner side of the sliding arc block 3232 can reduce the friction when the abutting mechanism 700 drives the male connector 210 to rotate, so as to ensure the smooth rotation of the male connector 210.

[0046] As shown in Figure 6 and Figure 7As shown, the locking mechanism 400 comprises a second clamping assembly one 410, a second clamping assembly two 420 and a rotating assembly 430, the second clamping assembly one 410 and the second clamping assembly two 420 are respectively installed on the two first clamping arms 3231, the rotating assembly 430 is respectively arranged at the inner side of the second clamping assembly one 410 and the second clamping assembly two 420, the second clamping assembly one 410 comprises a first arc-shaped frame 411 and a first loss-of-field electromagnet 412, the first arc-shaped frame 411 is connected with the first clamping arm 3231, the first loss-of-field electromagnet 412 is installed at the middle part of the first arc-shaped frame 411, the second clamping assembly two 420 comprises a second arc-shaped frame 421 and an extension plate 422, the second arc-shaped frame 421 can be split into a ring shape in cooperation with the first arc-shaped frame 411, the extension plate 422 is installed at the bottom of the second arc-shaped frame 421, the bottom of the second arc-shaped frame 421 is provided with an opening communicating the inner and outer sides, the rotating assembly 430 comprises a sliding block 431, an arc-shaped tooth 432 and a second loss-of-field electromagnet 433, the sliding block 431 slides in the interior of the first arc-shaped frame 411 and the second arc-shaped frame 421, the second loss-of-field electromagnet 433 is installed at the middle part of the sliding block 431, the arc-shaped tooth 432 covers the outer side of the second loss-of-field electromagnet 433 and is fixedly connected with the sliding block 431, the inner side of the sliding block 431 is provided with a steel ball, when the first arc-shaped frame 411 and the second arc-shaped frame 421 are in contact, the first loss-of-field electromagnet 412 and the second loss-of-field electromagnet 433 are energized to release the adsorption.

[0047] By adopting the above scheme: when the first arc-shaped frame 411 and the second arc-shaped frame 421 are separated, the first loss-of-field electromagnet 412 and the second loss-of-field electromagnet 433 cooperate to completely limit the sliding block 431 in the inner side of the first arc-shaped frame 411 through the suction force; when the first arc-shaped frame 411 and the second arc-shaped frame 421 are butt-jointed, the two rotating assemblies 430 cooperate to rotate in the inner side of the first arc-shaped frame 411 and the second arc-shaped frame 421; the first arc-shaped frame 411 and the second arc-shaped frame 421 are synchronous with the two first clamping arms 3231 to ensure the clamping effect; when the torsion adjusting mechanism 500 drives the rotating assembly 430 as a whole to rotate through the arc-shaped tooth 432, the nut on the male connector 210 clamped can rotate synchronously, realizing the butt-joint of the male connector 210 and the female connector 220, when the nut on the male connector 210 screws into the threaded area of the female connector 220, the nut itself will move along the threaded direction, the steel ball in the inner side of the sliding block 431 can reduce the friction of the nut rotation, so that the nut can move axially in the inner side of the sliding block 431.

[0048] As Figure 8As shown, the torsion adjusting mechanism 500 comprises a second driving motor 510, a limiting cylinder 520, a third driving motor 530, a lead screw 540, a movable plate 550, a torsion spring 560, a positioning ball 570, a connecting sleeve 580, a connecting shaft 590 and a gear 511, the second driving motor 510 is fixedly connected with the extension plate 422, the connecting shaft 590 is rotatably connected with the extension plate 422, the connecting shaft 590 is butted with the limiting cylinder 520 through the connecting sleeve 580, the gear 511 is installed on the surface of the connecting sleeve 580 and is engaged with the arc-shaped teeth 432 through the opening at the bottom of the second arc-shaped frame 421, the connecting sleeve 580 is rotatably connected with the connecting shaft 590 and the limiting cylinder 520, the third driving motor 530 is arranged in the interior of the limiting cylinder 520, the third driving motor 530 drives the movable plate 550 to move linearly in the interior of the limiting cylinder 520 through the lead screw 540, the torsion spring 560 is compressed, and the positioning ball 570 is elastically clamped with the connecting shaft 590 through the elastic force of the torsion spring 560.

[0049] By the above scheme, the pressure of the torsion spring 560 on the positioning ball 570 is changed by the position movement of the movable plate 550, that is, the locking force between the positioning ball 570 and the connecting shaft 590 is changed, the torque is changed in this way, and the connection requirement of the male connector 210 and the female connector 220 is ensured.

[0050] As shown in Figure 4 , the connecting mechanism 600 comprises a ball screw 610 and a telescopic rod 620, the ball screw 610 is fixed on the surface of one of the second clamping plates 340, one end of the telescopic rod 620 is installed on the screw block of the ball screw 610, and the other end is installed on the first clamping arm 3231.

[0051] By the above scheme, when the ball screw 610 is started, the first clamping assembly 320 can be driven to move as a whole, so that the male connector 210 approaches the female connector 220, and the butt joint is realized.

[0052] As shown in Figure 5 and Figure 6 , the butt joint mechanism 700 comprises a fourth driving motor 710 and a driving wheel 720, the fourth driving motor 710 is installed on the first clamping arm 3231, the driving wheel 720 is installed on the output shaft of the fourth driving motor 710, and the driving wheel 720 is in pressure contact with the surface of the male connector 210.

[0053] By the above scheme, the fourth driving motor 710 drives the driving wheel 720 to rotate, and the driving wheel 720 drives the male connector 210 to rotate, so that the pin of the male connector 210 can realize butt joint with the pin of the female connector 220, and the connection effect is ensured.

[0054] Working principle and use process of the application:

[0055] When the plug 210 and the socket 220 are connected, first, the first driving motor 322 drives the two first clamping arms 3231 to move synchronously and oppositely to clamp the plug 210, and the first arc-shaped frame 411 and the second arc-shaped frame 421 are in contact, and the two rotating assemblies 430 are combined to form a circular ring, then the mechanical arm 100 drives the clamping mechanism 300 and the plug 210 to move, and the second clamping plate 340 is clamped on the non-threaded area on the surface of the socket 220;

[0056] Then the fourth driving motor 710 is started to drive the plug 210 to rotate through the driving wheel 720, and the sliding ball screw 610 is started synchronously, the movement of the telescopic rod 620 drives the first clamping assembly 320 and the plug 210 to move towards the socket 220, when the plug 210 and the socket 220 are not aligned for connection, the sliding arc block 3232 can move in the inner side of the first clamping arm 3231 to provide a redundant amount, and as the plug 210 continues to rotate, the plug 210 and the socket 220 can be connected completely;

[0057] After the plug 210 and the socket 220 are initially connected, the second driving motor 510 is started, the elastic clamping connecting shaft 590 and the limiting cylinder 520 are driven synchronously through the elastic force of the torsion spring 560 on the positioning ball 570, and the rotating assembly 430 is driven to rotate as a whole through the gear 511, so as to drive the screw cap area on the plug 210 to rotate, and as the plug 210 continues to be inserted into the socket 220, the screw cap on the plug 210 can be screwed into the threaded area on the surface of the socket 220 to achieve further locking, and when the specified torque is reached, the resistance makes the positioning ball 570 and the connecting shaft 590 disengage, at this time the screw cap no longer rotates.

[0058] It should be noted that the relational terms herein such as first and second and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0059] Although the embodiments of the present application have been shown and described, it should be understood by those ordinary skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automated assembly robot for rocket manufacturing in a smart factory comprising a robotic arm (100), characterized in that, Also include: Clamping mechanism (300), the clamping mechanism (300) is connected in the movable end of the mechanical arm (100), for the butt joint of the male head (210) is clamped; Locking mechanism (400), the locking mechanism (400) is arranged on the clamping mechanism (300), for driving the screw cap on the male head (210) to rotate and connect with the female head (220); Torsion adjustment mechanism (500), the torsion adjustment mechanism (500) is arranged on the locking mechanism (400), for adjusting the torque; Connecting mechanism (600), the connecting mechanism (600) is arranged on the clamping mechanism (300), for driving the male head (210) and the female head (220) to approach; The butt joint mechanism (700) is arranged on the clamping mechanism (300), for driving the male head (210) and the female head (220) to butt joint; Wherein, the clamping mechanism (300) includes positioning frame (310), first clamping assembly (320), second reset spring (330) and second clamping plate (340), the positioning frame (310) is connected with the mechanical arm (100), the first clamping assembly (320) is elastically slid in the inside of the positioning frame (310) through the second reset spring (330), the second clamping plate (340) is symmetrically installed at one end of the positioning frame (310), the locking mechanism (400) and the butt joint mechanism (700) are arranged on the first clamping assembly (320); The first clamping assembly (320) includes sliding frame (321), first drive motor (322) and first clamping plate (323), the sliding frame (321) is slid in the inside of the positioning frame (310) and is connected with the second reset spring (330), the first drive motor (322) is installed at the top of the sliding frame (321), and two first clamping plates (323) symmetrically inside the sliding frame (321) are driven to move synchronously towards or away from each other through a double-threaded rod; The first clamping plate (323) includes first clamping arm (3231), sliding arc block (3232) and first reset spring (3233), the first clamping arm (3231) is slid in the inside of the sliding frame (321), the sliding arc block (3232) is elastically slid in the clamping part of the first clamping arm (3231) through the first reset spring (3233), the inner side of the sliding arc block (3232) is further provided with a steel ball which can only rotate in the circumferential direction of the sliding arc block (3232).

2. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 1, wherein: The locking mechanism (400) includes second clamping assembly one (410), second clamping assembly two (420) and rotating assembly (430), the second clamping assembly one (410) and the second clamping assembly two (420) are respectively installed on two first clamping arms (3231), and the rotating assembly (430) is respectively arranged on the inner side of the second clamping assembly one (410) and the second clamping assembly two (420).

3. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 2, wherein: The second clamping assembly one (410) comprises a first arc-shaped frame (411) and a first de-energized electromagnet (412), the first arc-shaped frame (411) is connected with the first clamping arm (3231), and the first de-energized electromagnet (412) is installed in the middle of the first arc-shaped frame (411).

4. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 3, wherein: The second clamping assembly two (420) comprises a second arc-shaped frame (421) and an extension plate (422), the second arc-shaped frame (421) is matched with the first arc-shaped frame (411) to be spliced into a ring shape, the extension plate (422) is installed at the bottom of the second arc-shaped frame (421), and the bottom of the second arc-shaped frame (421) is provided with an opening communicating the inside and the outside.

5. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 4, wherein: The rotating assembly (430) comprises a sliding block (431), an arc-shaped tooth (432) and a second de-energized electromagnet (433), the sliding block (431) slides in the inside of the first arc-shaped frame (411) and the second arc-shaped frame (421), the second de-energized electromagnet (433) is installed in the middle of the sliding block (431), the arc-shaped tooth (432) covers the outside of the second de-energized electromagnet (433) and is fixedly connected with the sliding block (431), and the inside of the sliding block (431) is provided with a steel ball, when the first arc-shaped frame (411) and the second arc-shaped frame (421) are in contact, the first de-energized electromagnet (412) and the second de-energized electromagnet (433) are powered off to release adsorption.

6. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 5, wherein: The torsion adjusting mechanism (500) comprises a second driving motor (510), a limiting cylinder (520), a third driving motor (530), a lead screw (540), a movable plate (550), a torsion spring (560), a positioning ball (570), a connecting sleeve (580), a connecting shaft (590) and a gear (511), the second driving motor (510) is fixedly connected with the extension plate (422), the connecting shaft (590) is rotationally connected with the extension plate (422), the connecting shaft (590) is butted with the limiting cylinder (520) through the connecting sleeve (580), the gear (511) is installed on the surface of the connecting sleeve (580) and is engaged with the arc-shaped tooth (432) through the opening at the bottom of the second arc-shaped frame (421), the connecting sleeve (580) is rotationally connected with the connecting shaft (590) and the limiting cylinder (520), the third driving motor (530) is arranged in the inside of the limiting cylinder (520), the third driving motor (530) drives the movable plate (550) to move linearly in the inside of the limiting cylinder (520) through the lead screw (540), and the torsion spring (560) is compressed, and the positioning ball (570) is elastically clamped with the connecting shaft (590) through the elastic force of the torsion spring (560).

7. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 1, wherein: The connecting mechanism (600) comprises a ball screw (610) and a telescopic rod (620), the ball screw (610) is fixed on the surface of one of the second clamping plates (340), one end of the telescopic rod (620) is installed on the screw block of the ball screw (610), and the other end is installed on the first clamping arm (3231).

8. The automated assembly robot for rocket manufacturing in a smart factory as claimed in claim 1, wherein: The docking mechanism (700) comprises a fourth driving motor (710) and a driving wheel (720), the fourth driving motor (710) is installed on the first clamping arm (3231), the driving wheel (720) is installed on the output shaft of the fourth driving motor (710), and the driving wheel (720) is in surface pressure contact with the surface of the male connector (210).

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