Complete robot assembly process and robot assembly system

Abstract

The invention provides a robot complete machine assembly process and a robot assembly system. The robot complete machine assembling technology comprises the steps that a stator and a shell are assembled, a first carrying robot carries the stator and the shell to a shell assembly assembling device, and the shell assembly assembling device assembles the stator and the shell into a shell assembly; the speed reducer and the rotor are assembled, the second carrying robot carries the speed reducer and the rotor to the speed reducer assembly assembling device, and the speed reducer assembly assembling device assembles the speed reducer and the rotor into a speed reducer assembly; nesting assembly is carried out, specifically, the third carrying robot carries the shell assembly to a nesting assembly device, and the nesting assembly device assembles nests to the shell assembly; overall assembly, wherein the overall assembly device assembles the speed reducer assembly into the shell assembly to form a semi-finished product assembly; and assembling the brake mechanism, wherein the brake mechanism is assembled on the semi-finished product assembly through the brake mechanism assembling device. The problem that in the prior art, robot installing and assembling efficiency is low is solved.

Description

Technical Field

[0001] This invention relates to the field of robot assembly technology, and more specifically, to a robot assembly process and robot assembly system. Background Technology

[0002] Existing robotic assembly lines typically employ a manual assembly process for the positive electrode assembly of single-joint components on assembly robots. Components are manually assembled at various workstations. This method not only increases labor costs but also limits the production line's speed and continuity. Furthermore, manual intervention is required for unloading assembled products, resulting in low automation and efficiency throughout the assembly process. Moreover, the reliance on manual operation makes it difficult to guarantee assembly consistency and accuracy, especially when strict requirements exist for pressure and dimensions, making it difficult to meet increasingly stringent quality standards in terms of precision control. Quality inspection of assembled products is usually conducted after all assembly steps are completed, often manually. This is time-consuming, prone to errors, and unable to monitor pressure values ​​and crimping dimensions in real time, hindering timely data upload and subsequent tracking and traceability. Summary of the Invention

[0003] The main objective of this invention is to provide a robot assembly process and robot assembly system to solve the problem of low robot assembly efficiency in the prior art.

[0004] To achieve the above objectives, according to one aspect of the present invention, a robot assembly process is provided, comprising: stator and housing assembly, wherein a first transport robot transports the stator and housing to a housing assembly device, and the housing assembly device assembles the stator and housing into a housing assembly; reducer and rotor assembly, wherein a second transport robot transports the reducer and rotor to a reducer assembly device, and the reducer assembly device assembles the reducer and rotor into a reducer assembly; nested assembly, wherein a third transport robot transports the housing assembly to a nested assembly device, and the nested assembly device assembles the nested components onto the housing assembly; overall assembly, wherein a fourth transport robot transports the housing assembly and the reducer assembly to an overall assembly device, and the overall assembly device assembles the reducer assembly into the housing assembly to form a semi-finished assembly; and brake mechanism assembly, wherein a fifth transport robot transports the brake mechanism and the semi-finished assembly to a brake mechanism assembly device, and the brake mechanism assembly device assembles the brake mechanism onto the semi-finished assembly.

[0005] Furthermore, the robot assembly process also includes: servo encoder assembly, where the sixth transport robot transports the servo encoder and semi-finished component to the servo encoder assembly device, which assembles the servo encoder onto the semi-finished component; electromagnet assembly, where the seventh transport robot transports the semi-finished component to the electromagnet assembly device, which assembles the electromagnet onto the semi-finished component; power-on testing, where the eighth transport robot transports the semi-finished component with the electromagnet assembled to the power-on testing device, which performs a power-on test on at least one of the braking mechanism, servo encoder, and electromagnet; semi-automatic encoder assembly, where the ninth transport robot transports the semi-automatic encoder and semi-finished component to the semi-automatic encoder assembly device, which assembles the semi-automatic encoder onto the semi-finished component; and single-joint testing, where the tenth transport robot transports the semi-finished component with the semi-automatic encoder assembled to the single-joint testing device, which performs a power-on test and a noise test on the semi-finished component.

[0006] Furthermore, the stator and housing assembly includes: a first transport robot transporting the housing to a first assembly station of a first moving mechanism; the first transport robot transporting the stator to a first adhesive application station of a first rotating mechanism, the first rotating mechanism driving the stator to rotate, and the first adhesive application mechanism applying adhesive to the stator; the first transport robot transporting the adhesive-applied stator to the first assembly station; the first moving mechanism moving the housing and stator to directly below a first pressing assembly, the first pressing assembly grasping the stator and moving it away from the first assembly station; the first moving mechanism moving the housing to a heating assembly, the heating assembly heating the housing; after heating, the first moving mechanism moving the housing to directly below the first pressing assembly, the first pressing assembly pressing the stator into the housing to form a housing assembly.

[0007] Furthermore, the stator and housing assembly also includes: when the first handling robot picks up the housing, the first handling robot transports the housing to the appearance inspection component, which inspects the appearance of the housing; after the appearance inspection, the first handling robot transports the housing to the marking mechanism, which marks the housing; after the first gluing mechanism applies glue to the stator, the first handling robot transports the stator to the first gluing inspection component, which inspects the amount of glue applied to the stator; after the pressing assembly is completed, the first handling robot transports the pressed housing assembly to the first quality inspection component, which inspects the assembly quality of the housing assembly.

[0008] Furthermore, the assembly of the reducer and rotor includes: the second transport robot transporting the reducer to the second adhesive application station of the second rotating mechanism, the second rotating mechanism driving the reducer to rotate, and the second adhesive application mechanism applying adhesive to the central shaft of the reducer; the second transport robot transporting the rotor to the second adhesive application station of the second rotating mechanism, the second rotating mechanism driving the rotor to rotate, and the second adhesive application mechanism applying adhesive to the rotor; the second transport robot transporting the adhesive-coated reducer and rotor to the second assembly station of the second moving mechanism; the second transport robot transporting the pad and placing it outside the central shaft of the reducer; the second moving mechanism driving the reducer and rotor to move directly below the second pressing assembly, the second pressing assembly grabbing the rotor and pressing the rotor onto the reducer to form the reducer assembly.

[0009] Furthermore, the assembly of the reducer and rotor also includes: when the second handling robot picks up the reducer, the identification mechanism identifies the markings on the reducer, and then the second handling robot transports the reducer to the second gluing station; when the second handling robot picks up the rotor, the identification mechanism identifies the markings on the rotor, and then the second handling robot transports the rotor to the second gluing station; after the second gluing mechanism applies glue to the central shaft of the reducer, the second gluing detection component detects the amount of glue applied to the reducer; after the second gluing mechanism applies glue to the rotor, the second gluing detection component detects the amount of glue applied to the rotor; after the pressing assembly is completed, the second handling robot transports the pressed reducer assembly to the second quality inspection component, and the second quality inspection component detects the assembly quality of the reducer assembly.

[0010] Further, the overall assembly includes: a fourth transport robot transporting the housing assembly and the reducer assembly to the first limiting component at the assembly assembly; a dispensing component dispensing adhesive onto the housing assembly; the assembly assembly picking up the reducer assembly, the first limiting component moving the housing assembly below the reducer assembly, and the assembly assembly descending to assemble the reducer assembly into the housing assembly to form a preliminary assembly assembly; the fourth transport robot transporting the preliminary assembly assembly to the second limiting component at the first locking component, the clamping mechanism descending to clamp the reducer assembly and the housing assembly together; after clamping, the through-hole detection component detecting the positional relationship between the first through-hole located on the rotatable part of the reducer and the second through-hole outside the reducer on the preliminary assembly assembly; when the first through-hole and the second through-hole are not aligned, the second limiting component engages with the reducer assembly to adjust the positional relationship between the first through-hole and the second through-hole, aligning them; the first locking component locking the reducer assembly to the housing assembly using locking screws.

[0011] Furthermore, the overall assembly also includes: before the dispensing assembly dispenses adhesive onto the housing assembly, the dispensing detection assembly detects the position of the housing assembly and determines the dispensing position based on the detection results, and then the dispensing assembly dispenses adhesive at the dispensing position; after the first locking assembly is completed, the fourth transport robot transports the locked preliminary assembly assembly to the fourth quality inspection assembly, and the fourth quality inspection assembly inspects the assembly quality of the preliminary assembly assembly; when the assembly assembly assembles the reducer assembly into the housing assembly, the pressure detection assembly detects the downward pressure of the assembly assembly, and the assembly assembly controls the state of the downward pressure based on the detection results of the pressure detection assembly.

[0012] According to another aspect of the present invention, a robot assembly system is provided, comprising: a frame; a conveying assembly connected to the frame and having a conveying carrier for conveying components; a housing assembly assembly device disposed on the frame and having a first handling robot for handling a stator and a housing, the housing assembly assembly device being used to assemble the stator and the housing into a housing assembly; a reducer assembly assembly device disposed on the frame and located downstream of the housing assembly device, the reducer assembly assembly device having a second handling robot for handling a reducer and a rotor, the reducer assembly assembly device being used to assemble the reducer and the stator into a reducer assembly; and a nested assembly device disposed on the frame, and... Located downstream of the reducer assembly assembly device, the nested assembly device has a third handling robot for transporting the housing assembly, and is used to assemble the nested assembly onto the housing assembly; the overall assembly device, which is mounted on the frame and located downstream of the nested assembly device, has a fourth handling robot for transporting the housing assembly and the reducer assembly, and is used to assemble the reducer assembly and the housing assembly into a semi-finished assembly; the brake mechanism assembly device, which is mounted on the frame and located downstream of the overall assembly device, has a fifth handling robot for transporting the brake mechanism and the semi-finished assembly, and is used to assemble the brake mechanism onto the semi-finished assembly.

[0013] Furthermore, the robot assembly system also includes: a servo encoder assembly device, which is mounted on the frame and located downstream of the overall assembly device. The servo encoder assembly device has a sixth handling robot for transporting semi-finished components, and is used to assemble servo encoders onto the semi-finished components; an electromagnet assembly device, which is mounted on the frame and located downstream of the overall assembly device. The electromagnet assembly device has a seventh handling robot for transporting semi-finished components, and is used to assemble electromagnets onto the semi-finished components; and an energizing test device, which is mounted on the frame and located downstream of the brake mechanism assembly device, the servo encoder assembly device, and the electromagnet assembly device. The energizing test device has... The system includes an eighth handling robot for transporting semi-finished components, and a power-on testing device for testing at least one of the braking mechanism, servo encoder, and electromagnet; a semi-automatic encoder assembly device, mounted on a frame and located downstream of the power-on testing device, and having a ninth handling robot for transporting semi-automatic encoders, which assembles the semi-automatic encoders onto the semi-finished components to form single-joint components; and a single-joint testing device, mounted on a frame and located downstream of the semi-automatic encoder assembly device, which has a tenth handling robot for transporting single-joint components, and performs overall power-on and noise level tests on the single-joint components.

[0014] Furthermore, the housing assembly device further includes: a first rotating mechanism connected to the frame, the first rotating mechanism having a first adhesive application station, the first adhesive application station being provided with a rotating shaft for driving the stator to rotate; a first adhesive application mechanism located at the first adhesive application station and applying adhesive to the stator at the first adhesive application station; a heating assembly connected to the frame, the heating assembly having a heating chamber for heating the housing; a first pressing assembly connected to the frame and having a first pressing end that can be raised and lowered to grab the adhesive-applied stator and press the stator onto the heated housing; and a first moving mechanism movable relative to the frame, the first moving mechanism having a first assembly station for placing the stator and housing, the first moving mechanism having a pressing position directly below the first pressing assembly, a heating position at the heating assembly, and a placement position that avoids the first pressing assembly and the heating assembly.

[0015] Furthermore, the housing assembly device also includes: an appearance inspection component connected to the frame, used to inspect the appearance quality of the housing; a marking mechanism connected to the frame, used to mark the housing; a first adhesive application inspection component located at a first adhesive application station, used to inspect the amount of adhesive applied to the stator; a first quality inspection component connected to the frame, used to inspect the quality of the housing assembly after the stator and housing are assembled; and a first settling table connected to the frame or a conveying component, having a first settling station for settling and curing the housing assembly.

[0016] Furthermore, the reducer assembly device also includes: a second rotating mechanism connected to the frame, the second rotating mechanism having a second adhesive application station, the second adhesive application station being provided with a rotating shaft for driving the reducer and rotor to rotate; a second adhesive application mechanism located at the second adhesive application station, which applies adhesive to the reducer or rotor at the second adhesive application station; a second pressing assembly connected to the frame, having a second pressing end that can be raised and lowered to press the adhesive-applied rotor onto the reducer; and a second moving mechanism movable relative to the frame, the second moving mechanism having a second assembly station for placing the adhesive-applied reducer and rotor, the second moving mechanism having a pressing position directly below the second pressing assembly and a placement position avoiding the direct underside of the second pressing assembly.

[0017] Furthermore, the reducer assembly device also includes: an identification mechanism connected to the frame or a second handling robot, used to identify markings on the reducer and rotor; a second adhesive application detection component located at a second adhesive application station, used to detect the amount of adhesive applied to the rotor and reducer; a second quality inspection component connected to the frame, used to inspect the quality of the reducer assembly after the rotor and reducer are assembled; and a second settling platform connected to the frame or a conveying assembly, having a second settling station for settling and curing the reducer assembly.

[0018] Furthermore, the overall assembly device also includes: an assembly component, at least a portion of which is liftably mounted relative to the frame and used to assemble the reducer component into the housing component; a first limiting component, movably mounted below the assembly component, which supports the housing component and the reducer component and drives the housing component to move below the liftable portion of the assembly component; a dispensing component, mounted at the assembly component and dispensing adhesive onto the housing component on the first limiting component; a first locking component, at least a portion of which is liftably mounted relative to the frame and used to lock the reducer component onto the housing component; a second limiting component, mounted at the first locking component, which supports the pre-assembled assembly and is drivably engaged with the reducer component, enabling the reducer component's shaft to rotate; and a through-hole detection component, connected to the first locking component, which detects the positional relationship between a first through-hole on the pre-assembled assembly located on the rotatable portion of the reducer and a second through-hole outside the reducer.

[0019] Furthermore, the overall assembly device also includes: a dispensing detection component, which is located at the dispensing end of the dispensing component and moves synchronously with it. When the first limiting seat moves to the dispensing end, the dispensing detection component detects the dispensing position of the housing component; a clamping mechanism, which is connected to the first locking component and has a clamping end that can be raised and lowered, used to clamp the reducer component and the housing component together; a fourth quality detection component, which is located at the first locking component and used to detect the assembly quality of the preliminary assembly component; and a pressure detection component, which is located at the assembly component and used to detect the downward pressure of the assembly component.

[0020] Furthermore, the nesting assembly device also includes: a third limiting component connected to the frame, the third limiting component having a placement position for placing the housing component; a nesting feeding mechanism connected to the frame, the nesting feeding mechanism having a feeding channel, the nest being conveyed from one end of the feeding channel to the loading position at the other end under the action of airflow; and a nesting pressing component, the nesting pressing component being vertically and vertically configurable relative to the third limiting component, the nesting pressing component having a suction part for absorbing the nest at the loading position and transporting the nest to the placement position, at least a portion of the nesting pressing component being capable of descending and pressing the nest onto the housing component.

[0021] Furthermore, the brake mechanism assembly device also includes: a brake component feeding mechanism, which is connected to the frame and is used to store brake mechanism components; a fifth limiting assembly, which is connected to the frame and has a placement position for placing semi-finished components; and a brake mechanism pressing assembly, which is vertically adjustable relative to the fifth limiting assembly, and at least a portion of the brake mechanism pressing assembly can descend and press brake mechanism components onto the semi-finished components.

[0022] Furthermore, the servo encoder assembly device also includes: a sixth limiting component, which is connected to the frame and has a placement position for placing semi-finished components; multiple servo encoder feeding mechanisms, which are connected to the frame and each servo encoder feeding mechanism is used to store various components of the servo encoder; and a servo encoder locking assembly, which includes a servo encoder moving mechanism and multiple servo encoder locking parts. The servo encoder moving mechanism is connected to the frame, at least a portion of which is movably disposed relative to the frame. The servo encoder locking parts are all movably connected to the servo encoder moving mechanism and are used to cooperate with different locking screws to lock the components onto the semi-finished components.

[0023] Furthermore, the electromagnet assembly device also includes: a seventh limiting component, which is connected to the frame and has a placement position for placing semi-finished components; an electromagnet feeding mechanism, which is connected to the frame and is used to store various components of the electromagnet; a pre-assembly mechanism, which is connected to the frame and is used to pre-assemble the components into an electromagnet; and a pressing and locking assembly, which is vertically adjustable relative to the seventh limiting component, and at least a portion of the pressing and locking assembly can be lowered to lock the assembled electromagnet and the semi-finished components together.

[0024] Furthermore, the power-on testing device also includes: an eighth limiting component, which is connected to the frame and has a placement position for placing the semi-finished component; a clamping component, which is connected to the frame and has a clamping end for clamping the ribbon cable on the semi-finished component, the clamping end being movably disposed relative to the frame; and a power-on component, which has a movably disposed power-on terminal, the power-on terminal being located on one side of the placement position and being able to move toward the semi-finished component and make contact with the contacts on the semi-finished component.

[0025] Furthermore, the semi-automatic encoder assembly device also includes: a ninth limiting component, which is connected to the frame and has a placement position for placing semi-finished components; a semi-automatic encoder feeding mechanism, which is connected to the frame and is used to store components of the semi-automatic encoder; a position detection component, which is connected to the frame and is used to detect mounting hole positions on the semi-finished components and on the components, and has a detection position; a ninth handling robot, which is connected to the frame and is used to handle the components of the semi-automatic encoder to the detection position of the position detection component and the ninth limiting component; and a semi-automatic encoder locking component, which is movably connected to the frame and is used to lock the components onto the semi-finished components.

[0026] Furthermore, the single-joint testing device also includes: a power-on testing component, which is connected to the frame and has a power-on placement position with contacts, wherein the single-joint component is electrically connected to the contacts when placed in the power-on placement position; and a silent testing component, which is connected to the frame and has a testing cavity, wherein the tenth transport robot can transport the single-joint component to the testing cavity for silent testing.

[0027] By applying the technical solution of this invention, a fully automated process from material loading to assembly is achieved through the cooperation between various handling robots and corresponding assembly devices. This effectively solves the technical problems of low automation levels, inability to achieve fully unmanned operation, and high-precision assembly in existing robot assembly production lines. During the stator and housing assembly process, the first handling robot accurately delivers the stator and housing to the housing assembly device, which completes the assembly of the housing components through precise mechanical positioning and assembly. Subsequently, the assembly of the reducer and rotor is completed collaboratively by the second handling robot and the reducer assembly device, ensuring high-precision assembly of the reducer components. In the nested assembly stage, the housing components are delivered to the nested assembly device by the third handling robot, achieving automatic nesting. During overall assembly, the fourth handling robot cooperates with the overall assembly device to seamlessly insert the reducer components into the housing components, forming a semi-finished component. Finally, the brake mechanism assembly is completed jointly by the fifth handling robot and the brake mechanism assembly device, ensuring precise installation of the brake mechanism. The entire process enables fully automated assembly of single-joint components, eliminating the need for excessive human intervention and significantly improving assembly efficiency. Furthermore, the automated control and detection system can monitor various parameters in real time during assembly, ensuring consistency in assembly accuracy and quality. Simultaneously, the data is uploaded to the system for easy recording and traceability, significantly enhancing the automation level and production efficiency of the robot's overall assembly. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0029] Figure 1 A flowchart of the robot assembly process of the present invention is shown;

[0030] Figure 2 A schematic diagram of the housing assembly device is shown.

[0031] Figure 3 It shows Figure 2 Top view;

[0032] Figure 4 An enlarged view of the structure of the housing assembly device, excluding the first frame, the first conveying assembly, and the first handling robot, is shown.

[0033] Figure 5 A schematic diagram of the gearbox assembly device is shown.

[0034] Figure 6 It shows Figure 5 Top view;

[0035] Figure 7 A schematic diagram of the structure of the second handling robot, the second handling robot, the second gluing mechanism, the second pressing assembly, and the second moving mechanism working together in the gear reducer assembly device is shown.

[0036] Figure 8 A schematic diagram of the nested assembly device is shown.

[0037] Figure 9 It shows Figure 8 Top view;

[0038] Figure 10 It shows Figure 8 A structural diagram of the third limiting component, the nested feeding mechanism, and the nested pressing component;

[0039] Figure 11 It shows Figure 10 A structural diagram from another perspective;

[0040] Figure 12 A schematic diagram of the overall assembly device is shown;

[0041] Figure 13 It shows Figure 12 Top view;

[0042] Figure 14 It shows Figure 12 Structural diagram of the assembly component;

[0043] Figure 15 It shows Figure 12 A schematic diagram of the structure at the first locking component;

[0044] Figure 16 A schematic diagram of the brake mechanism assembly is shown.

[0045] Figure 17 It shows Figure 16 Top view;

[0046] Figure 18 It shows Figure 16 A schematic diagram of the structure of the fifth limiting component and the braking mechanism pressing component;

[0047] Figure 19 A schematic diagram of the servo encoder assembly device is shown.

[0048] Figure 20 It shows Figure 19 Top view;

[0049] Figure 21 It shows Figure 19 A schematic diagram of the structure in which the sixth limit component, servo encoder locking component, and sixth quality detection component work together;

[0050] Figure 22 A schematic diagram of the electromagnet assembly device is shown.

[0051] Figure 23 It shows Figure 22 Top view;

[0052] Figure 24 It shows Figure 22 A schematic diagram of some components of the medium-pressure coupling assembly;

[0053] Figure 25 It shows Figure 22 A schematic diagram of the pre-assembly mechanism;

[0054] Figure 26 A schematic diagram of the power-on testing device is shown.

[0055] Figure 27 It shows Figure 26 Top view;

[0056] Figure 28 It shows Figure 26 A schematic diagram of the structure of the eighth limiting component, clamping component, power-on component, and cable detection component;

[0057] Figure 29 A schematic diagram of the semi-automatic encoder assembly device is shown.

[0058] Figure 30 It shows Figure 29 Top view;

[0059] Figure 31 It shows Figure 29 A schematic diagram showing the structure of the cooperation between the ninth limit component, the position detection component, the semi-automatic encoder locking component, and the angle adjustment component;

[0060] Figure 32 A schematic diagram of the single-joint testing device is shown.

[0061] Figure 33 It shows Figure 32 Top view;

[0062] Figure 34 It shows Figure 32 A schematic diagram of the Zhongtong Electric test assembly.

[0063] The above figures include the following reference numerals:

[0064] 100. Shell assembly device; 110. First frame; 111. First feeding bin; 112. First feeding channel; 120. First conveying assembly; 130. First handling robot; 140. First rotating mechanism; 150. First gluing mechanism; 160. Heating assembly; 170. First pressing assembly; 180. First moving mechanism; 190. Appearance inspection assembly; 1100. Marking mechanism; 1110. First quality inspection assembly;

[0065] 200. Reducer assembly device; 210. Second frame; 211. Second feeding bin; 212. Second feeding channel; 220. Second conveying assembly; 230. Second handling robot; 240. Second rotating mechanism; 250. Second gluing mechanism; 260. Second pressing assembly; 270. Second moving mechanism; 280. Identification mechanism; 290. Second quality inspection assembly;

[0066] 300. Nested assembly device; 310. Third frame; 320. Third conveying assembly; 321. Third conveying carrier; 330. Third limiting assembly; 331. Third mounting bracket; 332. Third limiting seat; 333. Third limiting drive; 340. Nested feeding mechanism; 350. Third handling robot; 360. Nested pressing assembly; 361. Nested pressing drive; 362. Nested pressing head; 370. Third quality inspection assembly;

[0067] 400. Overall assembly device; 410. Fourth frame; 420. Fourth conveying assembly; 430. Fourth handling robot; 440. Assembly assembly; 450. First limiting assembly; 460. Dispensing assembly; 470. First locking assembly; 480. Second limiting assembly; 481. Second limiting seat; 482. Rotation mechanism; 490. Dispensing detection assembly; 4100. Through hole detection assembly; 4110. Clamping mechanism; 4120. Fourth quality inspection assembly; 4130. Wear ring feeding mechanism;

[0068] 500. Brake mechanism assembly device; 510. Fifth frame; 520. Fifth conveying assembly; 521. Fifth conveying carrier; 530. Brake parts loading mechanism; 540. Fifth limiting assembly; 541. Fifth mounting bracket; 542. Fifth limiting seat; 543. Fifth limiting drive; 550. Fifth handling robot; 560. Brake mechanism pressing assembly; 561. Brake mechanism pressing drive; 562. Brake mechanism pressing joint; 570. Fifth quality inspection assembly;

[0069] 600. Servo encoder assembly device; 610. Sixth frame; 620. Sixth conveying assembly; 630. Sixth limit assembly; 640. Servo encoder feeding mechanism; 650. Sixth handling robot; 660. Servo encoder locking assembly; 661. Servo encoder moving mechanism; 662. Servo encoder locking component; 670. Sixth quality inspection assembly;

[0070] 700. Electromagnet assembly device; 710. Seventh frame; 720. Seventh conveying assembly; 730. Seventh limiting assembly; 731. Seventh mounting frame; 732. Clamping mechanism; 733. Center positioning mechanism; 740. Electromagnet feeding mechanism; 750. Pre-assembly mechanism; 751. Frame; 752. Pre-assembly component; 753. Rotating assembly; 760. Seventh handling robot; 770. Crimping and locking assembly; 771. Electromagnet crimping drive component; 772. Electromagnet crimp connector; 773. Locking mechanism; 780. Avoidance drive component;

[0071] 800. Power-on testing device; 810. Eighth frame; 820. Eighth conveying assembly; 830. Eighth handling robot; 840. Eighth limiting assembly; 841. Eighth limiting seat; 850. Clamping assembly; 851. Clamping moving mechanism; 852. Clamping claw; 860. Power-on assembly; 861. Power-on terminal; 862. Moving bracket; 863. Elastic element; 870. Cable testing assembly;

[0072] 900. Semi-automatic encoder assembly device; 910. Ninth frame; 920. Ninth conveying assembly; 930. Ninth limit assembly; 940. Semi-automatic encoder feeding mechanism; 950. Position detection assembly; 951. First detection component; 952. Second detection component; 960. Ninth handling robot; 970. Semi-automatic encoder locking assembly; 971. Locking moving mechanism; 972. Semi-automatic encoder locking component; 980. Angle adjustment assembly;

[0073] 1000 Single-joint testing device; 1010 Tenth frame; 1020 Tenth conveying assembly; 1021 Tenth conveying carrier; 1030 Tenth handling robot; 1040 Power-on testing assembly; 1041 Test board; 1042 Power-on / off mechanism; 1043 Contact; 1044 Positioning component; 1045 Position detection component; 1050 Noise level testing assembly; 1051 Housing; 1052 Telescopic mechanism. Detailed Implementation

[0074] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0075] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0076] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0077] To address the problem of low assembly efficiency in existing robot technologies, this invention provides a robot assembly process and a robot assembly system.

[0078] like Figure 1The robot assembly process shown includes: stator and housing assembly, where a first transport robot 130 transports the stator and housing to a housing assembly device 100, which assembles the stator and housing into a housing assembly; reducer and rotor assembly, where a second transport robot 230 transports the reducer and rotor to a reducer assembly device 200, which assembles the reducer and rotor into a reducer assembly; nested assembly, where a third transport robot 350 transports the housing assembly to a nested assembly device 300, which attaches the nested assembly to the housing assembly; overall assembly, where a fourth transport robot 430 transports the housing assembly and reducer assembly to an overall assembly device 400, which assembles the reducer assembly into the housing assembly to form a semi-finished assembly; and brake mechanism assembly, where a fifth transport robot 550 transports the brake mechanism and the semi-finished assembly to a brake mechanism assembly device 500, which assembles the brake mechanism into the semi-finished assembly.

[0079] This embodiment achieves a fully automated process from material loading to assembly through the cooperation between various handling robots and corresponding assembly devices. This effectively solves the technical problems of low automation levels, inability to achieve fully unmanned operation, and high-precision assembly in existing robot assembly lines. During the stator and housing assembly process, the first handling robot 130 accurately delivers the stator and housing to the housing assembly device 100, which completes the assembly of the housing components through precise mechanical positioning and assembly. Subsequently, the assembly of the reducer and rotor is completed collaboratively by the second handling robot 230 and the reducer assembly device 200, ensuring high-precision assembly of the reducer components. In the nested assembly stage, the housing components are delivered to the nested assembly device 300 by the third handling robot 350, achieving automatic nesting. During overall assembly, the fourth handling robot 430 cooperates with the overall assembly device 400 to seamlessly insert the reducer components into the housing components, forming a semi-finished component. Finally, the brake mechanism assembly is completed jointly by the fifth handling robot 550 and the brake mechanism assembly device 500, ensuring precise installation of the brake mechanism. The entire process enables fully automated assembly of single-joint components, eliminating the need for excessive human intervention and significantly improving assembly efficiency. Furthermore, the automated control and detection system can monitor various parameters in real time during assembly, ensuring consistency in assembly accuracy and quality. Simultaneously, the data is uploaded to the system for easy recording and traceability, significantly enhancing the automation level and production efficiency of the robot's overall assembly.

[0080] The robot assembly process in this embodiment further includes: after the brake mechanism is assembled, servo encoder assembly, the sixth handling robot 650 transports the servo encoder and the semi-finished component of the brake mechanism assembly to the servo encoder assembly device 600, and the servo encoder assembly device 600 assembles the servo encoder onto the semi-finished component; electromagnet assembly, the seventh handling robot 760 transports the semi-finished component of the servo encoder assembly to the electromagnet assembly device 700, and the electromagnet assembly device 700 assembles the electromagnet onto the semi-finished component; power-on testing, the eighth handling robot 830 transports the semi-finished component of the electromagnet assembly to the power-on testing device. At test device 800, the power-on testing device 800 performs power-on testing on at least one of the braking mechanism, servo encoder, and electromagnet. For semi-automatic encoder assembly, the ninth transport robot 960 transports the semi-automatic encoder and semi-finished component to the semi-automatic encoder assembly device 900, which assembles the semi-automatic encoder onto the semi-finished component, thus forming a single-joint assembly. For single-joint testing, the tenth transport robot 1030 transports the basically assembled single-joint assembly to the single-joint testing device 1000, which performs overall power-on testing and noise reduction testing on the single-joint assembly. The above process achieves automated assembly of components such as servo encoders, electromagnets, and semi-automatic encoders, and also enables automated power-on testing and single-joint testing, thus making the overall assembly of the single-joint assembly more complete.

[0081] It should be noted that the assembly sequence of the brake mechanism, servo encoder, and electromagnet described above can be adjusted as needed and is not limited to the sequence given in this embodiment. After the semi-automatic encoder is assembled, the semi-finished component is basically assembled and becomes a single-joint component. Further processing, such as various tests and packaging, can then be performed on the single-joint component.

[0082] In conjunction with the aforementioned robot assembly process, this embodiment also provides a robot assembly system, which can be used to perform the aforementioned robot assembly process. The robot assembly system specifically includes a frame, a conveying assembly, a housing assembly device 100, a reducer assembly device 200, a nested assembly device 300, an overall assembly device 400, and a brake mechanism assembly device 500. The conveying assembly is connected to the frame and has a conveying carrier for conveying components. The housing assembly device 100 is mounted on the frame and has a first handling robot 130 for handling the stator and housing, used to assemble the stator and housing into a housing assembly. The reducer assembly device 200 is mounted on the frame and located downstream of the housing assembly device 100. The reducer assembly device 200 has a second handling robot 230 for handling the reducer and rotor, used to assemble the reducer and stator into a reducer assembly. The nested assembly device 300... A nested assembly device 300, mounted on a frame and located downstream of the reducer assembly device 200, has a third transport robot 350 for transporting the housing assembly and is used to assemble the nested assembly onto the housing assembly. An integral assembly device 400, mounted on a frame and located downstream of the nested assembly device 300, has a fourth transport robot 430 for transporting the housing assembly and the reducer assembly and is used to assemble the reducer assembly and the housing assembly into a semi-finished assembly. A brake mechanism assembly device 500, mounted on a frame and located downstream of the integral assembly device 400, has a fifth transport robot 550 for transporting the brake mechanism and the semi-finished assembly and is used to assemble the brake mechanism onto the semi-finished assembly.

[0083] The robot assembly system of this embodiment also includes a servo encoder assembly device 600, an electromagnet assembly device 700, an energization testing device 800, a semi-automatic encoder assembly device 900, and a single-joint testing device 1000. The servo encoder assembly device 600 is mounted on the frame and located downstream of the brake mechanism assembly device 500. The servo encoder assembly device 600 has a sixth handling robot 650 for transporting the servo encoder, and is used to assemble the servo encoder onto the semi-finished component. The electromagnet assembly device 700 is mounted on the frame and located downstream of the servo encoder assembly device 600. The electromagnet assembly device 700 has a seventh handling robot 760 for transporting the semi-finished component, and is used to assemble the electromagnet onto the semi-finished component. The energization testing device 800 is mounted on the frame and located downstream of the electromagnet assembly device 600. Downstream of the 700, the power-on testing device 800 has an eighth handling robot 830 for handling semi-finished components. The power-on testing device 800 is used to perform power-on testing on at least one of the braking mechanism, servo encoder, and electromagnet. The semi-automatic encoder assembly device 900 is mounted on the frame and located downstream of the power-on testing device 800. The semi-automatic encoder assembly device 900 has a ninth handling robot 960 for handling semi-automatic encoders. The semi-automatic encoder assembly device 900 is used to assemble semi-automatic encoders onto semi-finished components to form single-joint components. The single-joint testing device 1000 is mounted on the frame and located downstream of the semi-automatic encoder assembly device 900. The single-joint testing device 1000 has a tenth handling robot 1030 for handling single-joint components. The single-joint testing device 1000 is used to perform overall power-on testing and noise testing on the single-joint components.

[0084] The frame in this embodiment comprises multiple parts, namely, ten parts from the first frame to the tenth frame. Each part cooperates with the assembly device. The frames can be integrally installed or segmented. Similar to the frame configuration, the conveying assembly in this embodiment is also divided into multiple segments. Each assembly device has one segment, making the conveying assembly into ten parts, from the first to the tenth conveying assembly, to realize the conveying of each component. The conveying assemblies on each assembly device can be connected to each other to achieve continuous conveying.

[0085] In this embodiment, the conveying assembly uses a conveyor chain, with the conveyor and the conveyor chain forming a drive connection. The upper surface of the conveyor has grooves for placing components. All handling robots in this embodiment are six-axis handling robots.

[0086] This embodiment will provide a detailed explanation of each assembly process and the corresponding device.

[0087] Regarding the assembly of the housing components:

[0088] like Figures 2 to 4 As shown, the stator and housing assembly process in this embodiment is for the stator and housing of the assembly robot, which includes: a first transport robot 130 transporting the housing to a first assembly station; the first transport robot 130 transporting the stator to a first gluing station of a first rotating mechanism 140, the first rotating mechanism 140 driving the stator to rotate, and the first gluing mechanism 150 applying glue to the stator; the first transport robot 130 transporting the glued stator to the first assembly station; a first pressing assembly 170 gripping the stator, a heating assembly 160 heating the housing, and the first pressing assembly 170 pressing the stator into the heated housing to complete the assembly.

[0089] The stator and housing assembly in this embodiment effectively solves the problems of unmanned operation and precise control of assembly process parameters in the stator and housing assembly process of existing automated assembly robots. Specifically, this embodiment uses a first handling robot 130 to transport the housing and stator to designated workstations respectively. Through the coordinated operation of the first rotating mechanism 140 and the first gluing mechanism 150, precise gluing is applied to the stator to be assembled at the first gluing workstation. Subsequently, the first pressing component 170 and the heating component 160 work together. The former is responsible for gripping the glued stator, while the latter heats the housing located at the first assembly workstation, so that the installation space of the housing is slightly increased after heating, thereby ensuring that the stator can be accurately pressed into the housing, thus completing the assembly process. This integrated automated process not only significantly reduces the need for manual intervention and improves the efficiency and capacity of the production line, but also achieves precise control of the assembly process by introducing a series of automated equipment such as the first handling robot 130, the first rotating mechanism 140, and the heating component 160, ensuring the consistency and reliability of assembly quality. Moreover, the above process does not require human intervention, achieving unmanned operation, thereby further optimizing the safety of the working environment, reducing potential risks caused by manual operation, and making the entire assembly line more intelligent and efficient.

[0090] It should be noted that the order between the process of the first handling robot 130 handling the outer shell and the process of handling the stator in this embodiment can be adjusted as needed. For example, the outer shell can be handled to the first assembly station first, and then the stator can be handled, glued, and then handled to the first assembly station; or the stator can be handled, glued, and then handled to the first assembly station first, and then the outer shell can be handled to the first assembly station; or the stator can be handled to the first glued station first, and the outer shell can be handled to the first assembly station during the glued process of the stator, and then the stator can be handled to the first assembly station after the glued process is completed.

[0091] In this embodiment, the stator and housing assembly further includes: when the first handling robot 130 transports the housing and stator to the first assembly station, the first moving mechanism 180 with the first assembly station, the area directly below the first pressing assembly 170, and the heating assembly 160 are all vertically misaligned. At this time, the first moving mechanism 180 is in the placement position, thereby enabling the first handling robot 130 to accurately place the housing and stator at the first assembly station, avoiding interference or collisions with components such as the first pressing assembly 170 and the heating assembly 160; when the stator and housing are assembled... After the shells are placed, the first moving mechanism 180 moves the shell and stator to directly below the first pressing assembly 170. At this point, the first pressing assembly 170 can grasp the stator and move it away from the first assembly station. Then, the first moving mechanism 180 moves the shell to the heating assembly 160, which heats the shell. After heating, the shell expands slightly. At this point, the first moving mechanism 180 moves the shell directly below the first pressing assembly 170, which can then press the stator into the shell, thus achieving the assembly between the shell and the stator. The above process can heat the shell and assemble the stator and shell. Utilizing the principle of thermal expansion and contraction, the shell expands after heating before the stator is inserted. After cooling, the shell can fix the stator, and the adhesive method ensures that the stator and shell are stably assembled together.

[0092] In this embodiment, the stator and housing assembly further includes: when the first handling robot 130 picks up the housing, the first handling robot 130 transports the housing to the appearance inspection component 190, and the appearance inspection component 190 inspects the appearance of the housing. By performing appearance inspection on the housing in advance, defective parts can be eliminated at an early stage, avoiding the flow of non-conforming products on the production line, reducing production costs and resource waste, and improving the efficiency and product quality of the entire production line.

[0093] In this embodiment, the stator and housing assembly further includes: after the housing appearance inspection, the first handling robot 130 transports the housing to the marking mechanism 1100, where the marking mechanism 1100 marks the housing. This achieves a seamless connection from inspection to marking, ensuring that each qualified housing accurately obtains the necessary marking information, facilitating subsequent assembly and traceability.

[0094] In this embodiment, the stator and housing assembly further includes: after the first gluing mechanism 150 applies glue to the stator, the first handling robot 130 transports the stator to the first gluing detection component, which detects the amount of glue applied to the stator. Once the amount of glue on the stator is verified to meet the requirements, the first handling robot 130 places the stator at the first assembly station, awaiting subsequent processes. This ensures that the amount of glue applied meets the process standards, avoiding assembly quality problems caused by insufficient or excessive glue. Furthermore, the automated detection not only improves the accuracy and efficiency of the detection but also reduces errors that may be introduced by manual inspection, thereby enhancing the automation level of the overall assembly line and the consistency of the products.

[0095] In this embodiment, the stator and housing assembly further includes: after the press-fit assembly is completed, the first handling robot 130 transports the press-fitted housing assembly to the first quality inspection component 1110, where the first quality inspection component 1110 inspects the assembly quality of the housing assembly. The first quality inspection component 1110 performs a comprehensive quality inspection of the housing assembly, specifically including dimensions, appearance, etc., to ensure that each step meets strict manufacturing standards, thereby guaranteeing production quality and reducing potential human error.

[0096] In this embodiment, the stator and housing assembly further includes: after quality inspection, the first handling robot 130 transports the housing assembly to the first stationary position for static curing; after static curing, the first handling robot 130 transports the housing assembly to the first conveying component 120 for continued conveying. This ensures that the adhesive is fully cured, enhancing the bonding strength between the stator and the housing.

[0097] In this embodiment, the stator and housing assembly further includes: before the first handling robot 130 handles the stator and housing, the feeding mechanism transports the stator and housing to the first loading bin 111, and the first handling robot 130 transports the stator and housing from the first loading bin 111 to the first gluing station and the first assembly station. In this embodiment, the feeding mechanism uses a feeding trolley, which is vertically adjustable. During feeding, the feeding trolley moves along the first loading channel 112 to the first loading bin 111. At this point, the feeding trolley can stop there to continue feeding, or it can place the carrier of the component at the first loading bin 111 and leave the first loading channel 112 to repeat the transport of the next batch of components. This enables automatic feeding, and combined with the aforementioned processes, achieves fully unmanned operation including automatic feeding, automatic appearance inspection, automatic marking, automatic gluing, automatic heating, automatic assembly, and automatic dimensional inspection.

[0098] The overall assembly process of the stator and housing in this embodiment is as follows:

[0099] 1. The feeding mechanism delivers the required stator, shell and other materials to the corresponding first feeding bin 111.

[0100] 2. The first handling robot 130 grabs the shell for appearance inspection and marks it, and then places it at the first assembly station.

[0101] 3. The first handling robot 130 picks up the stator and moves it to the first gluing station for gluing. The first gluing detection component detects the amount of gluing applied.

[0102] 4. After the glue is applied, the first handling robot 130 places the glued stator into the first assembly station.

[0103] 5. The first moving mechanism 180 delivers the stator to the area below the first pressing assembly 170, the first pressing assembly 170 grabs the stator, and the first moving mechanism 180 then moves the outer casing to the heating assembly 160 to heat the outer casing to the required temperature.

[0104] 6. After heating is completed, the first moving mechanism 180 moves again to below the first pressing assembly 170, and the first pressing assembly 170 presses the stator into the housing.

[0105] 7. After the crimping is completed, the first handling robot 130 takes out the crimped and assembled shell assembly and places it at the first quality inspection component 1110 to check whether the dimensions are qualified.

[0106] 8. If the quality is qualified, the first handling robot 130 will place it in the first stationary position for glue curing. If the quality is not qualified, it will be placed in the unqualified placement area.

[0107] like Figures 2 to 4As shown, the housing assembly device 100 of this embodiment is used to assemble the stator and housing of a robot. The housing assembly device 100 can perform the stator and housing assembly described above. Specifically, the housing assembly device 100 includes a first frame 110, a first conveying assembly 120, a first handling robot 130, a first rotating mechanism 140, a first gluing mechanism 150, a heating assembly 160, and a first pressing assembly 170. The first frame 110 has a first loading bin 111 for placing components; the first conveying assembly 120 is connected to the first frame 110 and has a first conveying carrier for conveying the housing assembly; the first handling robot 130 is connected to the first frame 110 and is used to handle the stator, housing, and housing assembly; the first rotating mechanism... 140 is connected to the first frame 110. The first rotating mechanism 140 has a first gluing station, and a rotating shaft for driving the stator to rotate is provided at the first gluing station. The first gluing mechanism 150 is located at the first gluing station and applies glue to the stator at the first gluing station. The heating assembly 160 is connected to the first frame 110 and has a heating cavity for heating the outer shell. The first pressing assembly 170 is connected to the first frame 110 and has a first pressing end that can be raised and lowered. The first pressing end can lower to grab the glued stator and press the stator onto the heated outer shell.

[0108] Through the aforementioned structural form and assembly process, the efficient and precise automated assembly of the stator and housing components is achieved. Specifically, the first frame 110 serves as the basic support structure, bearing the key components of the entire assembly line. The first conveying assembly 120 accurately transports the housing assembly from the first loading bin 111 to the designated position, ensuring the continuity and accuracy of material supply. The first handling robot 130 can quickly and accurately transport the stator and housing to various workstations during the assembly process, and can also perform appearance inspection and marking operations, effectively improving the intelligence level of the assembly line. The coordinated use of the first rotating mechanism 140 and the first gluing mechanism 150 ensures that the stator is uniformly and appropriately glued at the first gluing station, improving the bonding quality and assembly accuracy. The heating assembly 160 heats the housing through the heating chamber, achieving the expansion of the housing and providing conditions for the stator pressing, enhancing the reliability and stability of the assembly. Finally, the lifting and pressing mechanism of the first pressing assembly 170 ensures that the stator can be smoothly and accurately pressed into the heated housing, completing the final assembly process. The aforementioned device, through the precise collaboration of automated equipment, achieves unmanned assembly, significantly improving production efficiency and product quality, while also reducing the safety risks associated with manual operation, demonstrating its significant advantages in the automation upgrade of modern manufacturing.

[0109] like Figure 4As shown, in this embodiment, the housing assembly device 100 further includes a first moving mechanism 180. The first moving mechanism 180 is movably disposed relative to the first frame 110. The first moving mechanism 180 has a first assembly station for placing the stator and the housing. The first moving mechanism 180 has a pressing position located directly below the first pressing assembly 170, a heating position located at the heating assembly 160, and a placement position that avoids the first pressing assembly 170 and the heating assembly 160. In this embodiment, the first moving mechanism 180 includes a moving base. The moving base is movably mounted on the first frame 110 via a guide rail mechanism. The upper surface of the moving base serves as the first assembly station, and its upper surface may be provided with a groove to ensure stable placement of the components. The guide rail mechanism allows the moving base to move along a straight line. The first pressing assembly 170 and the heating assembly 160 are respectively located above a certain position on the moving path of the moving seat, so that the moving seat can pass over the first pressing assembly 170 and the heating assembly 160 during the movement, thereby realizing the purpose of transporting the stator and the housing to the first pressing assembly 170 and the heating assembly 160 for corresponding operations. In this way, when the stator and the housing need to be placed, the moving seat is in the placement position, and the first handling robot 130 can place the stator and the housing normally, avoiding interference with the first pressing assembly 170, the heating assembly 160 and other components. When pressing is required, the moving seat first moves to the pressing position, at which time the first pressing assembly 170 can descend to grab the stator, and then the moving seat moves to the heating position to transport the housing to the heating chamber for heating. After heating is completed, the moving seat moves back to the pressing position so that the first pressing assembly 170 can press the grabbed stator downward into the housing, realizing the assembly between the stator and the housing.

[0110] In this embodiment, the heating component 160 and the first pressing component 170 are arranged in a straight line along the moving direction of the first moving mechanism 180, and the first pressing component 170 is closer to the first handling robot 130 than the heating component 160. Thus, the placement position, pressing position, and heating position are arranged sequentially from closest to farthest from the first handling robot 130. This makes placing the first handling robot 130 more convenient and shortens the movement path of the moving seat when repeatedly moving between the pressing and heating positions during a single assembly process, thereby improving processing efficiency.

[0111] In this embodiment, the first pressing assembly 170 includes a first lifting frame, a first lifting drive, and a first gripper. The first lifting frame is movable up and down relative to the first frame 110. In this embodiment, an upright frame is provided on the first frame 110. The first lifting drive can be a motor, chain, or other components. The first lifting drive is mounted on the frame, and the first lifting frame is longitudinally mounted on the frame and driven by the first lifting drive, thereby enabling the first lifting drive to drive the first lifting frame to move up and down. The first gripper is located at the bottom of the first lifting frame and moves up and down synchronously with the first lifting frame. The first gripper can be a gripper structure, with a gripping area formed between the grippers, thereby gripping the stator and driving the stator to move up and down. The first gripper has a first pressing end, which can be the top surface of the gripping area. When the first gripper grips the stator and presses it into the housing, the stator can abut against the first pressing end, which provides downward pressure, thereby pressing the stator onto the housing. Of course, the structure of the first crimping assembly 170 can also be adjusted as needed. In addition to the lifting method, the first crimping assembly 170 can also be provided with a lateral movement method.

[0112] The heating assembly 160 in this embodiment includes a heating cavity. The heating cavity can be height-adjustable as needed. Heating tubes and other components can be installed inside the heating cavity, so that when the movable seat moves the outer shell to the heating position, the heating cavity can descend to cover the outside of the outer shell, thereby heating the outer shell. The heating assembly 160 can also use other structural components such as laser heating, as long as it can heat the outer shell and achieve thermal expansion, which facilitates the assembly of the stator.

[0113] In this embodiment, the housing assembly device 100 further includes an appearance inspection component 190, a marking mechanism 1100, a first adhesive application inspection component, a first quality inspection component 1110, and a first stationary platform. The appearance inspection component 190 is connected to the first frame 110 and is used to inspect the appearance quality of the housing, ensuring that defect-free parts enter subsequent processes. The appearance inspection component 190 may use components such as cameras as needed. The marking mechanism 1100 is connected to the first frame 110 and is used to mark the housings that have passed the appearance inspection, facilitating tracking and management. The first adhesive application inspection component is located at the first adhesive application station. The stator is precisely picked up by the first handling robot 130 at the first adhesive application station and placed at the first adhesive application inspection component. Subsequently, the first adhesive application inspection component inspects the amount of adhesive applied to the stator to ensure it meets process standards. The first adhesive application inspection component may also use components such as cameras. The first quality inspection component 1110 is connected to the first frame 110. The first quality inspection component 1110 is used to inspect the quality of the housing assembly after the stator and housing are assembled, to verify whether the dimensions and quality of the housing assembly meet the standards. The first settling table is connected to the first frame 110 or the first conveying component 120. The first settling table has a first settling station. The housing assembly that has passed quality inspection is transported to the first settling table by the first handling robot 130, where it undergoes static curing to ensure that the chemical reaction proceeds fully, thereby obtaining a robust and durable product structure. The implementation of this entire technical solution not only greatly improves production efficiency and automation but also significantly reduces errors caused by human factors, achieving the goal of high-precision and high-efficiency automated production.

[0114] In this embodiment, the first moving mechanism 180, the first rotating mechanism 140, the first gluing mechanism 150, the heating component 160, the first pressing component 170, the appearance inspection component 190, the marking mechanism 1100, the first gluing inspection component, and the first quality inspection component 1110 are arranged in a generally linear manner. Following the direction from one side of the first frame 110 to the other, their arrangement sequence is: heating component 160, first pressing component 170, marking mechanism 1100, appearance inspection component 190, first quality inspection component 1110, and first gluing mechanism 150. The first rotating mechanism 140 and the first gluing inspection component are both located at the first gluing mechanism 150. The first moving mechanism 180 is located below the first pressing component 170 and the heating component 160, and its moving direction is the same as the arrangement direction of the aforementioned components. The first handling robot 130 is located on one side of the aforementioned linear arrangement and is approximately located in the middle of the first frame 110, thereby placing the aforementioned components within the operating range of the first handling robot 130.

[0115] like Figure 2 and Figure 3As shown, the first frame 110 of this embodiment has a first feeding channel 112, an external feeding mechanism is movably disposed at the first feeding channel 112, and a first feeding bin 111 is located above the first feeding channel 112. The stator and the outer casing on the feeding mechanism are transported to the first feeding bin 111 through the first feeding channel 112. In this embodiment, the first feeding channel 112 is a straight channel, which is located on the opposite sides of the first frame 110, respectively, and the first conveying component 120. The first feeding channel 112 can be hollowed out and is divided into three segments along its length: the docking segment, the feeding segment, and the exit segment. The feeding trolley first rises in the docking segment to dock with the first feeding channel 112. Then, the carrier plate carrying the component is transported to the first feeding bin 111 in the feeding segment by the movement of the feeding trolley itself or by the conveyor belt or other device set in the first feeding channel 112. The first handling robot 130 then picks up the stator and the outer shell from the first feeding bin 111. The empty carrier plate after the component is used is moved to the exit segment, where it is received by the feeding trolley and the next round of feeding continues.

[0116] Regarding the assembly of the speed reducer components:

[0117] like Figures 5 to 7 As shown, the reducer and rotor assembly of this embodiment is used for assembling the rotor and reducer of the robot, and includes: a second transport robot 230 transporting the reducer to the second adhesive application station of the second rotating mechanism 240, the second rotating mechanism 240 driving the reducer to rotate, and the second adhesive application mechanism 250 applying adhesive to the central shaft of the reducer; the second transport robot 230 transporting the rotor to the second adhesive application station of the second rotating mechanism 240, the second rotating mechanism 240 driving the rotor to rotate, and the second adhesive application mechanism 250 applying adhesive to the rotor; the second transport robot 230 transporting the adhesive-applied reducer and rotor to the second assembly station; the second transport robot 230 transporting the pad and placing it outside the central shaft of the reducer; and the second pressing assembly 260 gripping the rotor and pressing the rotor onto the reducer to complete the assembly.

[0118] In this embodiment, the assembly of the reducer and rotor achieves efficient assembly through an automated process. Specifically, firstly, the second transport robot 230 transports the reducer to the second adhesive application station of the second rotating mechanism 240. The second rotating mechanism 240 drives the reducer to rotate, ensuring that its central axis can receive adhesive application from the second adhesive application mechanism 250 in all 360 degrees circumferentially. Subsequently, the same process is applied to the rotor to ensure the accuracy and consistency of adhesive application. Next, the second transport robot 230 transports the adhesive-applied reducer and rotor to the second assembly station, while placing a pad on the outside of the reducer's central axis. This series of operations eliminates errors that may be caused by manual operation and improves assembly accuracy. Finally, the second pressing assembly 260 grips the rotor and presses it into the reducer. The rotor abuts against the pad, allowing the rotor to be installed in the predetermined position, thus completing the assembly. The entire process is fully automated, requiring minimal human intervention, which significantly improves assembly efficiency, reduces labor costs, and ensures high assembly accuracy and precision, thus meeting the requirements of high efficiency, high precision, and stability.

[0119] In this embodiment, the assembly of the reducer and rotor further includes: when the second handling robot 230 picks up the reducer, the identification mechanism 280 identifies the markings on the reducer, and then the second handling robot 230 transports the reducer to the second gluing station; similarly, when the second handling robot 230 picks up the rotor, the identification mechanism 280 identifies the markings on the rotor, and then the second handling robot 230 transports the rotor to the second gluing station. After identification, the identification mechanism 280 can transmit the identified information to a terminal for unified monitoring and management. The identification mechanism 280 can use methods such as barcode scanning. Correspondingly, corresponding barcodes are affixed to the rotor and reducer. By scanning the barcodes to confirm the materials during assembly, not only is the assembly quality ensured, but subsequent quality management and traceability are also facilitated.

[0120] In this embodiment, the assembly of the reducer and rotor further includes: after the second gluing mechanism 250 applies glue to the central shaft of the reducer, the second gluing detection component detects the amount of glue applied to the reducer; similarly, after the second gluing mechanism 250 applies glue to the rotor, the second gluing detection component detects the amount of glue applied to the rotor. This arrangement effectively ensures the adhesive quality of key parts during assembly, avoiding product defects caused by insufficient or excessive glue. Furthermore, the glue application detection, combined with the aforementioned barcode scanning detection, achieves comprehensive online real-time monitoring, which not only improves production efficiency but also significantly enhances the consistency and reliability of the finished product, meeting the requirements of high-precision assembly.

[0121] In this embodiment, the assembly of the reducer and rotor further includes: after applying adhesive to the reducer and rotor, the second handling robot 230 transports the adhesive-coated reducer and rotor to the second assembly station of the second moving mechanism 270. At this time, the second moving mechanism 270 is offset from directly below the second pressing assembly 260, so that the second pressing assembly 260 will not affect the placement of the rotor and reducer, avoiding interference, collision, etc. After the pad is placed, the second moving mechanism 270 moves the reducer and rotor to directly below the second pressing assembly 260. At this time, the second pressing assembly 260 can pick up the rotor and press it onto the reducer, realizing the pressing assembly process.

[0122] In this embodiment, the assembly of the reducer and rotor further includes: after the pressing assembly is completed, the second handling robot 230 transports the pressed reducer assembly to the second quality inspection component 290, where the second quality inspection component 290 inspects the assembly quality of the reducer assembly, including dimensions. This addition not only ensures the accuracy of each assembly step but also eliminates potential defective products through quality control of the assembly results, improving the overall production line efficiency and the reliability of the finished product. Automated inspection allows for real-time feedback on the assembly status, enabling timely adjustments to process parameters or equipment operating status, thereby reducing waste during production and increasing the yield rate.

[0123] In this embodiment, the assembly of the reducer and rotor further includes: after quality inspection, the second handling robot 230 transports the reducer assembly to the second stationary position for static curing; after static curing, the second handling robot 230 transports the reducer assembly to the second conveying component 220 for continued conveying. The static curing process is crucial for enhancing the bonding strength between components, ensuring that the connection between the assembled rotor and reducer is completely secure before further conveying and processing, thus guaranteeing the overall quality of the robot assembly. Furthermore, automated handling reduces human intervention, avoiding potential damage to the reducer assembly during transport. Simultaneously, precise control of curing time and environment further improves product reliability and consistency.

[0124] In this embodiment, the assembly of the reducer and rotor further includes: before the second handling robot 230 handles the reducer, the feeding mechanism transports the reducer and rotor to the second loading bin 211, and the second handling robot 230 transports the reducer and rotor from the second loading bin 211 to the second gluing station. In this embodiment, the feeding mechanism uses a feeding trolley, which is vertically adjustable. During feeding, the feeding trolley moves along the second loading channel 212 to the second loading bin 211. At this point, the feeding trolley can stop there to continue feeding, or it can place the carrier of the component at the second loading bin 211, and the feeding trolley itself leaves the second loading channel 212 to repeat the transport of the next batch of components.

[0125] The assembly process of the reducer and rotor in this embodiment is as follows:

[0126] 1. The feeding trolley automatically delivers the required parts to the corresponding second feeding bin 211.

[0127] 2. The second handling robot 230 grabs the reducer, the identification mechanism 280 scans the code and uploads it to the system, and the second handling robot 230 places the reducer on the second rotating mechanism 240.

[0128] 3. The second adhesive application mechanism 250 applies adhesive to the central shaft of the reducer, and the camera detects the amount of adhesive applied to ensure that the process requirements are met.

[0129] 4. The second handling robot 230 grabs the rotor, the identification mechanism 280 scans the code and uploads it to the system, and the second handling robot 230 places the rotor on the second rotating mechanism 240.

[0130] 5. The second adhesive application mechanism 250 applies adhesive to the rotor, and the camera detects the amount of adhesive applied to ensure that the process requirements are met.

[0131] 6. After the adhesive is applied, the second handling robot 230 places the glued reducer and rotor into the second assembly station.

[0132] 7. The second handling robot 230 grabs the pad and places it into the central shaft of the reducer.

[0133] 8. The second moving mechanism 270 delivers the rotor to the area below the second pressing assembly 260, and the second pressing assembly 260 automatically grabs the rotor and presses it onto the reducer.

[0134] 9. After the crimping is completed, the second handling robot 230 takes it out and places it at the second quality inspection component 290 to check whether it is qualified.

[0135] 10. If the sample passes inspection, the second handling robot 230 will place it in the second stationary position for solidification. If the sample fails inspection, it will be placed in the unqualified placement area.

[0136] like Figures 5 to 7 As shown, the reducer assembly device 200 of this embodiment is used to assemble the rotor and reducer of a robot. The reducer assembly device 200 can perform the above-described assembly of the reducer and rotor. Specifically, the reducer assembly device 200 includes a second frame 210, a second conveying assembly 220, a second handling robot 230, a second rotating mechanism 240, a second gluing mechanism 250, and a second pressing assembly 260. The second frame 210 has a second loading bin 211 for placing components; the second conveying assembly 220 is connected to the second frame 210 and has a second conveying carrier for conveying the reducer assembly; the second handling robot 230 is connected to the second frame 210 and is used to handle the reducer assembly. The machine, rotor, and reducer assembly; a second rotating mechanism 240 connected to a second frame 210, the second rotating mechanism 240 having a second adhesive application station, the second adhesive application station being provided with a rotating shaft for driving the reducer and rotor to rotate; a second adhesive application mechanism 250 located at the second adhesive application station, and applying adhesive to the reducer or rotor at the second adhesive application station; a second pressing assembly 260 connected to the second frame 210, and having a second pressing end that can be raised and lowered to press the adhesive-applied rotor onto the reducer.

[0137] The aforementioned structural form, combined with the aforementioned assembly process, achieves efficient and precise automated assembly of the rotor and reducer components. Specifically, the second feeding hopper 211 ensures the orderly supply of materials, the second conveying assembly 220 is responsible for the smooth transition of the reducer assembly, and the second handling robot 230 flexibly moves the reducer, rotor, and reducer assembly between various workstations, demonstrating a high degree of operational flexibility and automation. The introduction of the second rotating mechanism 240, especially at the second gluing station, ensures uniform and appropriate gluing of the reducer's central shaft and rotor surface through precise control of the rotating shaft, in conjunction with the second gluing mechanism 250, thereby improving assembly quality. The second pressing assembly 260, through its liftable second pressing end, achieves tight pressing of the rotor and reducer. Automated testing is performed after assembly, ensuring the process compliance and product consistency of each assembly unit. Overall, this reducer assembly device 200 not only significantly improves assembly efficiency but also reduces the instability of human operation through automated processes, thereby ensuring high-precision assembly results and meeting the demands of modern manufacturing for automated, efficient, and high-quality assembly.

[0138] Optionally, there are various ways to specifically arrange the second rotating mechanism 240 and its second adhesive application station. The specific arrangement can be determined according to needs. For example, in one embodiment, multiple second rotating mechanisms 240 are provided, each of which has a second adhesive application station. The rotor and the reducer are located at different second adhesive application stations of different second rotating mechanisms 240, so that the adhesive application of the rotor and the reducer is performed on different second rotating mechanisms 240. In another embodiment, at least one second rotating mechanism 240 has multiple second adhesive application stations, each of which is provided with a rotating shaft. The rotor and the reducer are located at different second adhesive application stations, so that the adhesive application of the rotor and the reducer is performed on different second adhesive application stations of the same second rotating mechanism 240. In another embodiment, a second rotating mechanism 240 and a second gluing station are both provided. After the reducer is glued, the second handling robot 230 removes the reducer and places it in the second assembly station, and then places the rotor in the second gluing station for gluing. This allows the rotor and reducer to be glued sequentially in the same second gluing station. Alternatively, the rotor and reducer can be placed in the same second gluing station for gluing at the same time.

[0139] like Figure 5 and Figure 7 As shown, in this embodiment, the reducer assembly device 200 further includes a second moving mechanism 270. The second moving mechanism 270 is movably arranged relative to the second frame 210. The second moving mechanism 270 has a second assembly station for placing the reducer and rotor after gluing. The second moving mechanism 270 has a pressing position located directly below the second pressing assembly 260 and a placement position that avoids the direct underside of the second pressing assembly 260. The second moving mechanism 270 in this embodiment includes a moving seat, which is movably mounted on the second frame 210 via a guide rail mechanism. The upper surface of the moving seat serves as a second assembly station, and its upper surface may be provided with a groove to ensure stable placement of the components. The guide rail mechanism allows the moving seat to move along a straight line, while the second pressing assembly 260 is located above a certain segment of the guide rail assembly, so that the moving seat can pass directly below the second pressing assembly 260 when it moves. In this way, when the rotor and reducer need to be placed, the moving seat is located in the placement position, thereby avoiding interference and collision between the components and the second pressing assembly 260 when they are placed. When pressing is required, the moving seat moves to the pressing position, at which point the second pressing assembly 260 can descend and grab the rotor on the second assembly station and press it into the reducer to complete the assembly.

[0140] In this embodiment, in addition to the movable nature of the second moving mechanism 270, the second rotating mechanism 240 is also movable relative to the second frame 210, and the moving direction of the second rotating mechanism 240 is angled to the moving direction of the second moving mechanism 270, allowing the second rotating mechanism 240 to move closer to the second moving mechanism 270. This facilitates the second handling robot 230 in placing the rotor and reducer onto the second rotating mechanism 240, ensuring stable and reliable placement. Furthermore, it allows the second rotating mechanism 240 to be closer to the second moving mechanism 270 during placement and disassembly, thus facilitating the second handling robot 230 in placing the rotor and reducer on the second assembly station, reducing time wasted due to frequent posture adjustments by the second handling robot 230, and further improving assembly efficiency.

[0141] In this embodiment, the second pressing assembly 260 includes a second lifting frame, a second lifting drive, and a second gripping member. The second lifting frame is movable up and down relative to the second frame 210. In this embodiment, an upright frame is provided on the second frame 210. The second lifting drive can be a motor, chain, or other components. The second lifting drive is mounted on the frame, and the second lifting frame is longitudinally inserted through the frame and driven by the second lifting drive, thereby enabling the second lifting drive to drive the second lifting frame to move up and down. The second gripping member is located at the bottom of the second lifting frame and moves up and down synchronously with the second lifting frame. The second gripping member can adopt a claw structure, with a gripping area formed between the claws, thereby gripping the rotor and driving the rotor to move up and down. The second gripping member has a second pressing end, which can be the top surface of the gripping area. Thus, when the second gripping member grips the rotor and presses it onto the reducer, the rotor can abut against the second pressing end, which provides downward pressure, thereby pressing the rotor onto the reducer. Of course, the structure of the second crimping assembly 260 can also be adjusted as needed. In addition to the lifting method, the second crimping assembly 260 can also be provided with a lateral movement method.

[0142] In this embodiment, the reducer assembly device 200 also includes an identification mechanism 280, a second adhesive application detection component, a second quality inspection component 290, and a second stationary platform, realizing an integrated automated processing procedure from material handling, identification, adhesive application, assembly to curing. The identification mechanism 280 is connected to the second frame 210 or the second handling robot 230. Its main task is to scan and identify the markings on the reducer and rotor to ensure the correctness and traceability of the assembled materials. This function is crucial for ensuring production accuracy and quality. The second adhesive application detection component is located at the second adhesive application station. It can accurately detect the amount of adhesive applied to the rotor and reducer to ensure compliance with process requirements. The second adhesive application detection component can use components such as cameras, utilizing camera vision inspection technology as a detection method to verify whether the adhesive application meets the preset standards, thereby improving the reliability and consistency of the assembly. The second quality inspection component 290 is also connected to the second frame 210. Immediately after assembly, it performs quality inspection on the reducer assembly obtained by assembling the rotor and reducer to determine whether it meets design specifications. This step plays a key role in timely detection and elimination of potential defects and improving the yield rate. The second settling table is connected to the second frame 210 or the second conveying assembly 220, and has a second settling station for placing the assembled reducer assembly in it for static curing. This ensures stability during the curing stage, guarantees sufficient chemical reaction, and results in a robust and durable product structure. The implementation of this entire technical solution not only significantly improves production efficiency and automation but also substantially reduces errors caused by human factors, achieving the goal of high-precision and high-efficiency automated production.

[0143] The second frame 210 of this embodiment has a second feeding channel 212. An external feeding mechanism is movably disposed at the second feeding channel 212. The second feeding bin 211 is located above the second feeding channel 212. The rotor and reducer on the feeding mechanism are conveyed to the second feeding bin 211 through the second feeding channel 212. In this embodiment, the second feeding channel 212 is a straight channel, which is located on the opposite sides of the second frame 210, respectively, and the second conveying component 220. The second feeding channel 212 can be hollowed out and is divided into three segments along its length: the docking segment, the feeding segment, and the exit segment. The feeding trolley first rises in the docking segment to dock with the second feeding channel 212. Then, by the movement of the feeding trolley itself or by the drive of the conveyor belt or other device set in the second feeding channel 212, the carrier plate carrying the component is transported to the second feeding bin 211 in the feeding segment for feeding. The second handling robot 230 then picks up the rotor and reducer from the second feeding bin 211. The empty carrier plate after the component is used is moved to the exit segment, where it is received by the feeding trolley and the next round of feeding continues.

[0144] For nested assemblies:

[0145] like Figures 8 to 11 As shown, the nested assembly device 300 of this embodiment includes a third frame 310, a third conveying assembly 320, a third limiting assembly 330, a nested feeding mechanism 340, a third handling robot 350, and a nested pressing assembly 360. The third conveying assembly 320 is connected to the third frame 310 and has a third conveying carrier 321 for conveying the housing assembly; the third limiting assembly 330 is connected to the third frame 310 and has a placement position for placing the housing assembly; the nested feeding mechanism 340 is connected to the third frame 310. The nested feeding mechanism 340 has a feeding channel, and the nests are transported from one end of the feeding channel to the loading position at the other end under the action of airflow; the third handling robot 350 is connected to the third frame 310, and the third handling robot 350 is used to handle the housing assembly; the nested pressing assembly 360 is vertically and vertically arranged relative to the third limiting assembly 330, and the nested pressing assembly 360 has a suction part, which is used to pick up the nests at the loading position and transport the nests to the placement position. At least a part of the nested pressing assembly 360 can descend and press the nests onto the housing assembly.

[0146] This embodiment achieves automated nested assembly through the cooperation of the third conveying component 320, the third limiting component 330, the nested feeding mechanism 340, the third handling robot 350, and the nested pressing component 360. Specifically, the third conveying component 320 conveys the shell component processed in the previous process to the working range of the third handling robot 350. The third handling robot 350 moves the shell component on the third conveying carrier 321 to the third limiting component 330. At the same time, the nested feeding mechanism 340 operates, blowing the nest through the feeding channel to the loading position to wait for loading. After the shell component is moved to the placement position, the suction unit operates to suck up the nest and press it down onto the shell component. The pressure of the nested pressing component 360 presses the shell component and the nest together to complete the assembly. Then, the third handling robot 350 moves the assembled shell component back to the third conveying carrier 321, and the third conveying component 320 continues to convey the nested assembled shell component to the next process. The above setup can utilize the cooperation between various structures to achieve the purpose of robot-nested assembly, thereby automating the nested assembly, reducing the number of manual steps, reducing labor intensity, and ensuring that the assembly meets the process requirements, thus improving processing efficiency and quality.

[0147] In this embodiment, the suction unit includes a pneumatic suction head for transporting nested items. The suction head has a negative pressure channel, one end of which is connected to the outside. This allows the negative pressure channel to cooperate with devices such as a negative pressure generator, enabling the suction head to use negative pressure to lift and hold the nested items. When the suction head transports the nested items, it uses the negative pressure channel to suction the nested items, thus moving the nested items along with it. This achieves the effect of transporting and moving the nested items to the placement position while maintaining the stability of the nested items' position during the pressing process. Of course, besides negative pressure suction, the suction unit can also use other methods such as magnetic suction, as long as it can move the nested items.

[0148] like Figure 10 and Figure 11 As shown, in this embodiment, the nested pressing assembly 360 further includes a nested pressing drive 361 and a nested pressing head 362. The nested pressing drive 361 is connected to the third frame 310 or the third limiting assembly 330. In this embodiment, the nested pressing drive 361 is a motor, which is mounted on the third mounting bracket 331 of the third limiting assembly 330. The nested pressing head 362 is vertically and vertically mounted above the third limiting assembly 330. The nested pressing drive 361 is driven to connect with the nested pressing head 362, so that the nested pressing drive 361 acts as a power component. When it is necessary to press the nested part onto the housing assembly, the nested pressing drive 361 can drive the nested pressing head 362 to descend, so that the bottom of the nested pressing head 362 presses the nested part, and the nested part is pressed to a predetermined position on the housing assembly, thus realizing the nested assembly. To ensure that the nested part can be stably held by the suction part during crimping, in this embodiment, the suction part is set below the nested crimping head 362. More specifically, the suction part adopts a longitudinally extending tubular structure with a hollow design. The hollow part is a negative pressure channel. The suction part is set longitudinally at the bottom of the nested crimping head 362 and extends downward a short distance, so that the suction part can hold and keep the nested part stable during crimping.

[0149] In this embodiment, the nested feeding mechanism 340 further includes a hopper and an air blowing component. The hopper has a receiving cavity for accommodating nests and can be funnel-shaped to hold a certain amount of nests. One end of the feeding channel is connected to the bottom side of the hopper, allowing the nests to be conveyed from the hopper into the feeding channel and further conveyed to the loading position for loading. The air blowing component is located at the feeding channel and can be a nozzle or similar structure. The outlet of the air blowing component faces the feeding channel, allowing the airflow generated to act on the nests and drive them to move along the feeding channel to the loading position, thus realizing the conveying of the nests.

[0150] Optionally, the nested feeding mechanism 340 also includes a separation mechanism. The specific structure of the separation mechanism can be set as needed, and can adopt structures such as vibration separation or screen separation. The separation mechanism is set at the hopper and can also be set at the entrance of the feeding channel. In this way, the separation mechanism can separate the nests in the hopper from each other. With the setting of the air blowing component, the nests are separated one by one under the separation action of the separation mechanism and transported to the feeding channel. Then, under the action of the air flow of the air blowing component, they are automatically blown to the upper material position of the nest.

[0151] like Figure 10 and Figure 11 As shown, in this embodiment, the third limiting component 330 includes a third mounting frame 331, a third limiting seat 332, and a third limiting drive component 333. The third mounting frame 331 is connected to the third frame 310. In this embodiment, the third mounting frame 331 is upright, and the third limiting seat 332 is movably disposed at the bottom area of ​​the third mounting frame 331. In this embodiment, the third limiting seat 332 adopts a flat plate structure with a certain thickness, thereby enabling the third limiting seat 332 to be laterally movable. A groove is provided on the upper surface of the third limiting seat 332. The groove is used to initially position the housing component, thereby forming a placement position at the groove and realizing the stable placement of the housing component. Due to the movable arrangement of the third limiting seat 332, it forms two positions in the lateral direction: a receiving position and a pressing position. When the third limiting seat 332 moves, it moves between the receiving position and the pressing position. When the third limiting seat 332 is in the receiving position, it is within the operating range of the third handling robot 350 and is vertically offset from the nested pressing component 360. At this time, the third handling robot 350 can transport the shell component onto the third limiting seat 332 without colliding with the nested pressing component 360. When the third limiting seat 332 is in the pressing position, it is vertically aligned with the nested pressing component 360. At this time, the nested pressing head 362 of the nested pressing component 360 can be pressed down to press the nested component onto the shell component, thus achieving nested assembly. The third limiting drive component 333 can be a motor or other components, which is driven to connect with the third limiting seat 332, thereby driving the third limiting seat 332 to move between the receiving position and the pressing position.

[0152] Optionally, a guide rail or other structure can be provided between the third limiting seat 332 and the third mounting frame 331 as needed. The guide rail can be used to form a track fit structure between the third limiting seat 332 and the third mounting frame 331, thereby ensuring the stability of the third limiting seat 332 when it moves on the third mounting frame 331.

[0153] In this embodiment, the third limiting component 330 further includes a clamping member, which is disposed on the third limiting seat 332 and located on the periphery of the placement position. The clamping member can clamp the housing assembly placed on the placement position. The clamping member can adopt a structure such as a claw, and this embodiment provides multiple clamping members, with clamping members provided on opposite sides of the placement position in the circumferential direction. The clamping members on both sides can move towards or away from each other, so that the clamping members can work together to clamp the housing assembly located in the middle, thereby keeping the position of the housing assembly on the placement position stable.

[0154] In this embodiment, the nested assembly device 300 further includes a third mass detection component 370 for detecting the state of the housing assembly. The third limiting seat 332 also has a detection position. The third mass detection component 370 is located above the third limiting seat 332, and when the third limiting seat 332 is in the detection position, the third limiting seat 332 and the third mass detection component 370 are vertically aligned. The third mass detection component 370 can be a camera or other components. The camera is located above the movement trajectory of the third limiting seat 332 and at a certain height from the third limiting seat 332. Moreover, the camera can be height-adjustable. When the third limiting seat 332 moves to the detection position, it is directly below the camera, allowing the camera to take a picture. The image is used to detect the position of the housing component and the nesting position to determine whether the crimping standard is met. If it is, the third limiting seat 332 moves to the crimping position, where the nesting crimping component 360 performs the crimping. If it is not, the third limiting seat 332 can return to the receiving position, where it can be further adjusted by the third handling robot 350 or clamping components. The nesting position after crimping can also be detected to further ensure the quality of the crimping.

[0155] Optionally, the receiving position and the detection position can be the same position, that is, the housing assembly is placed and the position is detected at the same position, and the third limit seat 332 moves between the two positions.

[0156] Optionally, the third quality inspection component 370 may further include a crimping detection element, which is used to detect the pressure of the nested crimping component 360 during the nested crimping process to ensure the stability and reliability of the crimping process and guarantee processing quality. The third quality inspection component 370 and the nested crimping component 360 work together to automatically detect the corresponding pressure values ​​and corresponding crimping dimensions, facilitating subsequent documentation and traceability.

[0157] Optionally, the number of structures such as the nested feeding mechanism 340, the third handling robot 350, and the third limiting component 330 in this embodiment can be set as needed, and one or more can be set. Since the components assembled by the nested assembly device 300 in this embodiment are nested, this embodiment sets one of each of the nested feeding mechanism 340, the third handling robot 350, and the third limiting component 330, so that they can cooperate to perform nested assembly. Of course, multiple of the above structures can also be set, and they can cooperate one-to-one or in a multi-to-multiple manner. For example, one third handling robot 350 can be used to transport shell components for multiple third limiting components 330.

[0158] Regarding the overall assembly of the housing assembly and the gearbox assembly:

[0159] like Figures 12 to 15 As shown, the overall assembly of this embodiment is used to assemble the shell assembly and reducer assembly of the robot, which includes: a fourth transport robot 430 transporting the shell assembly and reducer assembly to the first limiting component 450 at the assembly assembly 440; an adhesive dispensing component 460 dispensing adhesive onto the shell assembly; the assembly assembly 440 picking up the reducer assembly, the first limiting component 450 driving the shell assembly to move below the reducer assembly, and the assembly assembly 440 descending to assemble the reducer assembly into the shell assembly to form a preliminary assembly assembly; the fourth transport robot 430 transporting the preliminary assembly assembly to the second limiting component 480 at the first locking component 470; the second limiting component 480 drivingly cooperating with the reducer assembly and adjusting the positional relationship between the first through hole on the rotatable part of the reducer and the second through hole on the outside of the reducer on the preliminary assembly assembly, so that the first through hole and the second through hole are aligned; the first locking component 470 locking the reducer assembly to the shell assembly with locking screws.

[0160] In this embodiment, the fourth transport robot 430 automatically transports the housing assembly and the reducer assembly to the first limiting component 450 at the assembly assembly 440. The dispensing component 460 precisely dispenses adhesive onto the housing assembly, while the assembly assembly 440 picks up the reducer assembly and holds it on the assembly assembly 440. Then, the first limiting component 450 moves the housing assembly to below the reducer assembly, allowing the assembly assembly 440 to descend and insert the reducer assembly into the housing assembly. The adhesive achieves a stable and sealed connection between the two parts. The fourth transport robot 430 then transports the pre-assembled assembly to the second limiting component 480. The second limiting component 480 adjusts the reducer to align the first through hole on the reducer with the second through hole on the housing assembly, allowing for locking. This ensures that the locked reducer assembly and housing assembly meet the usage requirements and guarantee the accuracy of the assembly process. The above process effectively solves the problem of low automation in existing technologies, which makes it impossible to fully realize unmanned material feeding, assembly, screw fastening and other multi-process integration. The entire process integrates automated detection and control, realizing high efficiency and high quality of overall assembly, and ensuring the dimensional accuracy and performance stability of the product during the assembly process.

[0161] It should be noted that this embodiment uses the housing assembly, including the outer shell and the stator, and the reducer assembly, including the reducer and the rotor, as examples for illustration. The assembly of the housing assembly and the reducer assembly can refer to existing assembly methods or be performed manually, etc., which will not be described in detail in this embodiment. This embodiment mainly focuses on the method of assembling the housing assembly and the reducer assembly together as a whole.

[0162] In this embodiment, the overall assembly further includes: after the fourth handling robot 430 transports the preliminary assembly component to the second limiting component 480, the through-hole detection component 4100 detects the positional relationship between the first through-hole and the second through-hole on the preliminary assembly component; when the first through-hole and the second through-hole are not aligned, the second limiting component 480 drives the reducer shaft to rotate until the first through-hole and the second through-hole are aligned. The through-hole detection component 4100 can be a camera or other components, which can detect the position of the first through-hole and the second through-hole by means of image acquisition and recognition such as taking pictures. The above setting can ensure the precise alignment between the two through-holes during assembly, thereby avoiding assembly errors caused by through-hole misalignment and significantly improving assembly accuracy and efficiency.

[0163] In this embodiment, the overall assembly further includes: before the dispensing assembly 460 dispenses adhesive onto the housing assembly, the dispensing detection assembly 490 detects the position of the housing assembly and determines the dispensing position based on the detection result. Then, the dispensing assembly 460 dispenses adhesive at the dispensing position. This ensures the accuracy of the dispensing position and the precise control of the dispensing amount, preventing adhesive overflow or insufficient dispensing due to positional deviations, thereby improving the product's sealing performance and assembly reliability. The dispensing detection assembly 490 can also employ visual inspection components such as cameras, or other types of components such as laser sensors.

[0164] In this embodiment, the overall assembly also includes: when the fourth handling robot 430 transports the reducer assembly to the first limiting component 450, the fourth handling robot 430 first transports the reducer assembly to the dispensing detection component 490. The dispensing detection component 490 detects the position of the locking holes on the reducer assembly, or the detection component on the fourth handling robot 430 detects the position of the locking holes during the transport process. That is, when the reducer assembly is transported to the first limiting component 450, the position of the screw locking holes on the reducer assembly can be detected, thereby ensuring accurate alignment in the subsequent assembly process and reducing assembly failures or defective products caused by positional deviations. The above detection can be performed by the dispensing detection component 490, or the fourth handling robot 430 can be equipped with a camera or other detection components to perform detection during the transport process, thereby saving time and improving processing efficiency.

[0165] In this embodiment, the overall assembly further includes: when the fourth handling robot 430 transports the preliminary assembly component to the second limiting component 480, the clamping mechanism 4110 descends and clamps the reducer component and the housing component together. After clamping, the relative positions between the first through hole and the second through hole are adjusted. Since the fourth handling robot 430 performs a second handling of the preliminary assembly component after the assembly component 440 is initially assembled, this embodiment also includes a second clamping process. The clamping mechanism 4110 at the second limiting component 480 can further clamp the preliminary assembly component after the second handling to ensure the stable and reliable docking between the housing component and the reducer component, ensuring a tight fit between the two components. Further adjustments to the first and second through holes and their positions are then made, working together to ensure the stable and reliable quality of the component after subsequent screw fastening.

[0166] In this embodiment, the overall assembly also includes: after the first locking component 470 is locked, the fourth transport robot 430 transports the locked preliminary assembly component to the fourth quality inspection component 4120. The fourth quality inspection component 4120 inspects the assembly quality of the preliminary assembly component, thereby further ensuring that the quality of the assembled component meets the requirements. Components that do not meet the requirements are processed in a timely manner to avoid them flowing into subsequent processes and causing waste of time and parts.

[0167] In this embodiment, the overall assembly also includes: when the assembly component 440 assembles the reducer component into the housing component, the pressure detection component detects the downward pressure of the assembly component 440, and the assembly component 440 controls the state of the downward pressure based on the detection result of the pressure detection component. In this way, by monitoring the pressure value in real time, uniform force is ensured during the assembly process of the reducer component and the housing component, effectively avoiding component misalignment or damage caused by uneven pressure. This not only improves assembly accuracy but also ensures product consistency and stability, providing a reliable foundation for subsequent quality inspection and performance verification.

[0168] In this embodiment, both the first limiting component 450 and the second limiting component 480 can be movably configured. The first limiting component 450 can be configured with two or three positions as needed. When two positions are configured, the two positions can be positions that cooperate with the assembly component 440 and the dispensing component 460, respectively. When three positions are configured, in addition to the above two positions, a position that does not cooperate with either the assembly component 440 or the dispensing component 460 can be added, so that the fourth handling robot 430 can safely place the reducer component and the housing component on the first limiting component 450. Specifically, initially, the first limiting component 450 is positioned where it does not engage with either the assembly component 440 or the dispensing component 460. At this point, the fourth handling robot 430 places the reducer component and the housing component on the first limiting component 450. Then, the first limiting component 450 moves to a position engaging with the dispensing component 460, which then dispenses adhesive. After dispensing, the first limiting component 450 moves to a position engaging with the assembly component 440, which then picks up the reducer component and inserts it into the housing component. This method optimizes the material handling and assembly logistics path, improving the efficiency of the automated assembly line. Of course, the movement path of the first limiting component 450 can be adjusted as needed and is not limited to the method described in this embodiment.

[0169] Similarly, the second limiting component 480 can be set in two positions, one that cooperates with the first locking component 470 and the other that does not cooperate with the first locking component 470, so as to ensure that the preliminary assembly component can be placed on the second limiting component 480 and moved to the first locking component 470 for screw fastening under the action of the second limiting component 480.

[0170] The overall assembly process in this embodiment is as follows:

[0171] 1. The fourth handling robot 430 picks up the housing assembly and places it onto the first limiting assembly 450.

[0172] 2. The clamping element at the first limiting component 450 clamps the housing assembly.

[0173] 3. The fourth handling robot 430 grabs the reducer assembly and takes a picture to determine the position of the hole used for locking.

[0174] 4. The fourth transport robot 430 places the reducer assembly onto the first limit assembly 450.

[0175] 5. The first limiting component 450 first moves the housing component to the dispensing detection component 490 to take a picture to confirm the position and then applies waterproof glue inside the housing component.

[0176] 6. The first limit component 450 then moves the reducer component below the assembly component 440 and picks up the reducer component.

[0177] 7. The first limiting component 450 automatically moves the housing component below the assembly component 440.

[0178] 8. The reducer assembly is already waiting to be assembled above. After the housing assembly moves below it, the assembly assembly 440 descends to install the reducer assembly into the housing assembly. During the assembly process, the pressure detection assembly detects the pressure curve to ensure that the pressure is uniform and not skewed.

[0179] 9. After assembly, the fourth transport robot 430 automatically transports the initially assembled components to the second limit component 480.

[0180] 10. The clamping member of the second limiting component 480 clamps the preliminary assembly component and moves to the pressing mechanism 4110 to press it.

[0181] 11. The through-hole detection component 4100 takes pictures of the preliminary assembly components to determine whether the first through-hole of the reducer is aligned with the second through-hole on the outside of the reducer.

[0182] 12. If the first through hole and the second through hole are not concentric, the second limiting component 480 clamps the shaft of the reducer and rotates the first through hole and the second through hole until the first through hole and the second through hole are axially aligned.

[0183] 13. The first fastening assembly 470 moves the machine head with an electric screwdriver, picks up the corresponding screws, and fastens the reducer assembly to the housing assembly.

[0184] 14. After the screws are tightened, the fourth handling robot 430 picks them up and places them at the fourth quality inspection component 4120.

[0185] 15. After passing the inspection, the fourth handling robot 430 places it on the fourth conveyor of the fourth conveyor assembly 420 and transfers it to the next workstation.

[0186] like Figures 12 to 15 As shown, this embodiment also provides an overall assembly device 400 for assembling a robot's housing assembly and reducer assembly. The overall assembly device 400 can be used to perform the above-described overall assembly. The overall assembly device 400 includes a fourth frame 410, a fourth conveying assembly 420, a fourth handling robot 430, an assembly assembly 440, a first limiting assembly 450, a dispensing assembly 460, a first locking assembly 470, and a second limiting assembly 480. The fourth conveying assembly 420 is connected to the fourth frame 410 and has a fourth conveying carrier for conveying the housing assembly, the reducer assembly, and the pre-assembled assembly assembly. The fourth handling robot 430 is connected to the fourth frame 410 and is used to handle the housing assembly, the reducer assembly, and the pre-assembled assembly assembly. At least a portion of the assembly assembly 440 is relative to the fourth frame 410. The frame 410 is height-adjustable and is used to assemble the reducer assembly into the housing assembly; the first limiting component 450 is movably disposed below the assembly assembly 440, and the first limiting component 450 is used to support the housing assembly and the reducer assembly, and to drive the housing assembly to move below the height-adjustable portion of the assembly assembly 440; the dispensing component 460 is disposed at the assembly assembly 440 and dispenses adhesive onto the housing assembly on the first limiting component 450; at least a portion of the first locking component 470 is height-adjustable relative to the fourth frame 410 and is used to lock the reducer assembly onto the housing assembly; the second limiting component 480 is disposed at the first locking component 470, and the second limiting component 480 is used to support the pre-assembled assembly after assembly, and the second limiting component 480 is drivably engaged with the reducer assembly and can drive the shaft of the reducer assembly to rotate.

[0187] In this embodiment, the overall assembly device 400, in conjunction with the overall assembly, automates the entire assembly process of the robot housing component and the reducer component, significantly improving assembly efficiency and product quality. Specifically, the precise delivery of materials by the fourth conveying component 420 ensures continuity and timeliness; the flexible use of the fourth handling robot 430 reduces human intervention; the combined use of the assembly component 440 and the first limiting component 450 guarantees the accuracy of the assembly process; the application of the dispensing component 460 enhances the connection and sealing performance of the assembled parts; and the joint operation of the first locking component 470 and the second limiting component 480 ensures the stability of screw fastening and the accuracy of concentricity adjustment. The overall device design integrates multiple processes such as unmanned feeding, clamping, alignment, assembly, rotation, screw fastening, and dimensional inspection, not only reducing labor costs but also improving production flexibility and response speed, meeting the urgent needs of modern manufacturing for high efficiency, precision, and automation.

[0188] like Figure 14 As shown, in this embodiment, the first limiting component 450 includes a first limiting seat, which can be connected to the fourth frame 410 via a guide rail assembly, allowing the first limiting seat to move relative to the fourth frame 410. The first limiting seat has a first placement position for placing the housing assembly and a second placement position for placing the reducer assembly. The specific structural forms of the first and second placement positions can be set as needed. In this embodiment, the first placement position is in the form of a groove, allowing the housing assembly to be stably placed in the groove. The second placement position is in the form of a placement frame, which cooperates with the reducer assembly to stably place the reducer assembly. The first and second placement positions are arranged laterally with a certain gap between them to ensure placement stability.

[0189] Clamping elements can also be provided on the first limiting seat. The clamping elements can be arranged in pairs and are located on opposite sides of the groove, so that they can move towards each other so that the two clamping elements can cooperate to clamp and fix the housing assembly placed in the groove, so as to prevent the housing assembly from shifting during assembly and other operations.

[0190] The assembly component 440 in this embodiment includes a mounting frame, a lifting frame, a lifting drive, and a gripping claw. The mounting frame is connected to the fourth frame 410, and components such as the dispensing component 460 can be mounted on the mounting frame. The lifting frame is vertically connected to the mounting frame, and a longitudinal guide rail can be provided between them to achieve lifting coordination. A lifting drive, which can be a motor or other component, is provided between the mounting frame and the lifting frame to drive the lifting frame's vertical movement. The gripping claw is located at the bottom of the lifting frame and has a gripping end for grasping the reducer assembly, allowing the gripping end to also rise and fall. When the assembly component 440 operates, the lifting drive drives the lifting frame to rise and fall, thereby causing the gripping claw to rise and fall together, allowing the gripping claw to grasp the reducer assembly and rise together. When the housing assembly moves directly below the gripping claw, it drives the reducer assembly to fall and be inserted into the housing assembly, achieving preliminary assembly.

[0191] The dispensing assembly 460 in this embodiment includes a dispensing head. The dispensing head can be mounted on a mounting bracket or mounted on a separate bracket. The dispensing head can be arranged in a horizontally and vertically movable manner, allowing it to adjust its position and align with the area on the housing assembly where dispensing is required, ensuring accurate and reliable dispensing. In this embodiment, a first limiting seat is movably positioned below the gripping end and the dispensing end; that is, the movement trajectory of the first limiting seat passes directly below the gripping claw and the dispensing head, thus enabling it to cooperate with the assembly assembly 440 and the dispensing assembly 460.

[0192] In this embodiment, the overall assembly device 400 also includes a dispensing detection component 490. The dispensing detection component 490 in this embodiment adopts a camera. The dispensing detection component 490 is set at the dispensing end and connected to the dispensing component 460. It moves synchronously with the dispensing component 460, that is, the dispensing detection component 490 is connected to the dispensing head and is located on one side of the dispensing head, so that the two can cooperate with each other. When the first limiting seat moves to the first placement position at the dispensing end, the dispensing detection component 490 is also facing the housing assembly, so that the dispensing position of the housing assembly can be detected. After detection, the dispensing head can perform the dispensing operation.

[0193] like Figure 15As shown, the structure of the first locking assembly 470 in this embodiment is somewhat similar to that of the assembly assembly 440. Specifically, the first locking assembly 470 includes a frame, a lifting member, and a locking head. The locking head can be in the form of an electric screwdriver and has a locking end for screw locking. The locking head is located at the bottom of the lifting member, which can be connected to the frame via a chain, guide rail, or other structure. The frame is vertically mounted on the fourth frame 410. A motor or other component can be installed between the frame and the lifting member as a driving component, so that the lifting frame can drive the locking head to rise and fall together, realizing actions such as screw adsorption and screw locking. The frame can adopt a segmented structure, which can include a first frame and a second frame. The first frame is connected to the fourth frame 410, while the second frame is laterally movable to the first frame. The lifting frame is mounted on the second frame and moves with the second frame, so that the locking head can change its position laterally or rise and fall, realizing various actions.

[0194] The second limiting component 480 in this embodiment includes a second limiting seat 481 and a driving mechanism. The second limiting seat 481 is located below the locking end, allowing it to cooperate with the locking head to achieve the locking action. A guide rail assembly or other components can also be provided between the second limiting seat 481 and the fourth frame 410, allowing the second limiting seat 481 to move laterally relative to the fourth frame 410, thus adjusting its position. The second limiting seat 481 can also be equipped with clamping components, which are configured in the same way as those on the first limiting seat, to clamp and fix the components, preventing them from wobbling, ensuring assembly accuracy, and keeping the housing assembly stationary when adjusting the positions of the first and second through holes. The driving mechanism is located below the second limiting seat 481 and has a driving end. The structure of the driving end cooperates with the reducer's shaft, allowing them to engage and drive the reducer's shaft to rotate. The drive end can be positioned below the second limit seat 481, with a through hole on the second limit seat 481. When the preliminary assembly component is placed on the second limit seat 481, the rotating shaft passes through the through hole and engages with the drive end. Alternatively, the drive end can be height-adjustable, shaped like a gripper. The second limit seat 481 can still have a through hole, allowing the drive end to rise above the second limit seat 481 when the preliminary assembly component is placed on it, thus engaging with the rotating shaft. Regardless of the method used, the drive end is used to drive the rotating shaft of the reducer, thereby rotating the reducer and adjusting the relative position between the first and second through holes.

[0195] In this embodiment, the second limiting seat 481 includes a structure with upper and lower seats. The upper seat is rotatable, and the preliminary assembly component is placed on the upper seat. At the same time, the second limiting component 480 also includes a rotating mechanism 482, which is used to drive the upper seat to rotate. Specifically, it can be in the form of a motor combined with gears, belts, etc., so that the preliminary assembly component can rotate as a whole when screwing, achieving a 360-degree screwing effect.

[0196] In this embodiment, the overall assembly device 400 also includes a through hole detection component 4100. The through hole detection component 4100 can also be a camera or other components. The through hole detection component 4100 is connected to the lifting member or the side of the locking head of the first locking component 470. The through hole detection component 4100 is located at the locking end. The through hole detection component 4100 is used to detect the positional relationship between the first through hole located on the rotatable part of the reducer and the second through hole outside the reducer on the preliminary assembly component. Thus, the position between the first through hole and the second through hole is detected before the screw is locked. Moreover, the second detection component can move with the locking head to ensure that it can detect the position between the first through hole and the second through hole without having to adjust the position separately.

[0197] The overall assembly device 400 in this embodiment also includes a clamping mechanism 4110, which is connected to the first locking assembly 470. The clamping mechanism 4110 has a clamping head that can be raised and lowered, with the bottom end of the clamping head serving as the clamping end. The clamping head can be connected to components such as the locking head and the lifting component, so that the position of the clamping head can also be adjusted synchronously. When the clamping head is facing the preliminary assembly assembly, the clamping head descends, and the clamping end can clamp the reducer assembly and the housing assembly together.

[0198] The overall assembly device 400 in this embodiment also includes a fourth quality inspection component 4120. The fourth quality inspection component 4120 is disposed at the first fastening component 470. The fourth quality inspection component 4120 is used to inspect the assembly quality of the preliminary assembly component. After the screws of the assembly component 440 are fastened, the fourth quality inspection component 4120 can inspect the fastened component. The inspection content may include the fastening status of the screws and the dimensional accuracy of the crimped parts, thereby effectively ensuring the quality and consistency of the final product.

[0199] The overall assembly device 400 in this embodiment also includes a pressure detection component, which is installed at the assembly component 440. The pressure detection component can be a sensor or other components. The pressure detection component is used to detect the downward pressure of the assembly component 440, thereby enabling real-time monitoring of the pressure. By analyzing the pressure curve in real time, it is possible to detect whether the pressing is uniform, prevent the reducer from tilting during the pressing process, ensure assembly quality, and achieve process traceability.

[0200] like Figure 12 and Figure 13 As shown, in this embodiment, the assembly component 440, the fourth transport robot 430, and the first locking component 470 are located on the same side of the fourth transport component 420. The assembly component 440 and the first locking component 470 are located on opposite sides of the fourth transport robot 430, and their arrangement direction is the same as the length direction of the fourth transport component 420. This ensures that both the assembly component 440 and the first locking component 470 are within the working range of the fourth transport robot 430. Since the first limiting component 450 and the second limiting component 480 are located at the assembly component 440 and the first locking component 470, respectively, they are also within the working range of the fourth transport robot 430. The fourth transport robot 430 clamps the housing assembly and the reducer assembly, rotates them approximately 90 degrees, and transports them to the first limiting assembly 450 for preliminary assembly. After preliminary assembly, the transport robot 430 continues to rotate approximately 180 degrees in the same direction to the second limiting assembly 480 for screw fastening. After fastening, the fourth transport robot 430 transports the fastened assembly and rotates it approximately 90 degrees to the fourth conveying assembly 420, where it is placed on the fourth conveying carrier. In this way, the fourth transport robot 430 can efficiently complete the transport process of the housing assembly and the reducer assembly within a minimal travel distance, thereby improving the automation level and work efficiency of the production line.

[0201] The overall assembly device 400 in this embodiment also includes a wear-resistant ring feeding mechanism 4130, which is used to place wear-resistant rings. The fourth handling robot 430 can grasp the wear-resistant rings at the wear-resistant ring feeding mechanism 4130, thereby realizing the assembly of the wear-resistant rings. The wear-resistant ring feeding mechanism 4130 is set within the working range of the fourth handling robot 430, and the fourth conveying component 420 and the wear-resistant ring feeding mechanism 4130 are set on opposite sides of the fourth handling robot 430. The wear-resistant ring feeding mechanism 4130 is located between the assembly component 440 and the first locking component 470. In this way, along the circumferential direction of the circumferential working range of the fourth handling robot 430, the fourth conveying component 420, the assembly component 440, the wear-resistant ring feeding mechanism 4130, and the first locking component 470 are arranged at intervals of approximately 90 degrees, so that the overall layout can improve the working efficiency of the fourth handling robot 430.

[0202] Regarding the assembly of the braking mechanism:

[0203] like Figures 16 to 18As shown, the brake mechanism assembly device 500 of this embodiment includes a fifth frame 510, a fifth conveying assembly 520, a brake component loading mechanism 530, a fifth limiting assembly 540, a fifth handling robot 550, and a brake mechanism pressing assembly 560. The fifth conveying assembly 520 is connected to the fifth frame 510 and has a fifth conveying carrier 521 for conveying semi-finished components. The brake component loading mechanism 530 is connected to the fifth frame 510 and is used to store brake mechanism components. The fifth limiting assembly 540 is connected to the fifth frame 510 and has a placement position for placing semi-finished components. The fifth handling robot 550 is connected to the fifth frame 510 and is used to handle semi-finished components and brake mechanism components. The brake mechanism pressing assembly 560 is vertically oriented relative to the fifth limiting assembly 540, and at least a portion of the brake mechanism pressing assembly 560 can descend and press brake mechanism components onto the semi-finished components.

[0204] This embodiment achieves automated assembly of the robot brake mechanism through the cooperation of the fifth conveying component 520, the brake part loading mechanism 530, the fifth limiting component 540, the fifth handling robot 550, and the brake mechanism pressing component 560. Specifically, the fifth conveying component 520 transports the semi-finished components processed in the previous process to the working range of the fifth handling robot 550. The fifth handling robot 550 transports the semi-finished components from the fifth conveying carrier 521 to the fifth limiting component 540. Then, the fifth handling robot 550 picks up the pre-stored parts from the brake part loading mechanism 530 and transports the parts to the semi-finished components at the fifth limiting component 540. Finally, the brake mechanism pressing component 560 presses down to press the parts into the semi-finished components, thereby completing the assembly of the brake mechanism. The above arrangement utilizes the mutual cooperation between the various structures to achieve the purpose of assembling the robot brake mechanism using a robot, thereby automating the assembly of the brake mechanism, reducing the number of manual steps, reducing labor intensity, and improving processing efficiency and quality.

[0205] In this embodiment, the fifth conveying assembly 520 takes the form of a conveying chain, and the fifth conveying carrier 521 and the conveying chain form a driving engagement. The upper surface of the fifth conveying carrier 521 is provided with a groove for placing semi-finished components. Brake parts feeding mechanism 530 can be equipped with brake mechanism components such as axle clips by manual placement or pre-placement by an automated device. In this embodiment, the fifth handling robot 550 is a six-axis robot. During assembly, the fifth conveyor 521 moves to a designated position and stops under the drive of the conveyor chain. The fifth handling robot 550 then picks up the semi-finished components on the fifth conveyor 521 and transports them to the placement position of the fifth limiting component 540. Then, the brake component loading mechanism 530 picks up the parts and places them on the semi-finished components. The brake mechanism pressing component 560 then presses down to press the parts into the semi-finished components to complete the assembly. After assembly, the fifth handling robot 550 picks up the assembled semi-finished components and transports them back to the fifth conveyor 521. Then, the fifth conveyor component 520 starts again to continue transporting the assembled semi-finished components to the subsequent processing station.

[0206] like Figure 18As shown, in this embodiment, the fifth limiting component 540 includes a fifth mounting frame 541, a fifth limiting seat 542, and a fifth limiting drive component 543. The fifth mounting frame 541 is connected to the fifth frame 510 and serves as the basic support for the fifth limiting component 540. Most components are mounted on the fifth mounting frame 541, and the brake mechanism pressing component 560 is also mounted on the fifth mounting frame 541. Therefore, the fifth mounting frame 541 adopts an upright frame structure and has a certain height, thereby enabling the brake mechanism pressing component 560 to move up and down. The fifth limiting seat 542 adopts a flat plate structure with a certain thickness, is arranged horizontally, and is movably positioned at the bottom of the fifth mounting frame 541. The upper surface of the fifth limiting seat 542 also has a groove for placement. Due to the movable design of the fifth limiting seat 542, it has both a receiving position and a pressing position. When moving, the fifth limiting seat 542 moves between these two positions. When in the receiving position, it is within the operating range of the fifth handling robot 550 and is vertically offset from the braking mechanism pressing assembly 560. This ensures that the fifth handling robot 550 can stably place semi-finished components, parts, and other structures at the designated location, avoiding interference with the braking mechanism pressing assembly 560 and other structures. When pressing is required after handling, the fifth limiting seat 542 moves to the pressing position. At this point, it is vertically aligned with the braking mechanism pressing assembly 560, allowing the pressing assembly 560 to descend and press the parts into the semi-finished component. The fifth limiting drive 543 is driven to the fifth limiting seat 542. The fifth limiting drive 543 can be a motor or other components. It is used to drive the fifth limiting seat 542 to move between the receiving position and the pressing position, thereby changing the position of the fifth limiting seat 542.

[0207] In this embodiment, a transmission component can be used between the fifth limiting seat 542 and the fifth limiting drive member 543 as needed. The transmission component can be in the form of a lead screw structure, chain structure, gear structure, belt structure, etc., as long as it can enable the fifth limiting drive member 543 to drive the fifth limiting seat 542 to move. In this embodiment, a guide rail assembly is also provided between the fifth limiting seat 542 and the fifth mounting bracket 541. The guide rail assembly includes a guide rail disposed on the fifth mounting bracket 541 and a slider disposed on the fifth limiting seat 542. The slider and the fifth limiting seat 542 can be an integral structure or a separate structure. The guide rail extends in the lateral direction, so that the fifth limiting seat 542 can only move in a predetermined lateral direction, ensuring the movement effect of the fifth limiting seat 542.

[0208] In this embodiment, the fifth limiting component 540 further includes clamping members, which can be in the form of grippers. The clamping members are disposed on the upper surface of the fifth limiting seat 542 and located around the periphery of the placement position. The clamping members can clamp the semi-finished component placed on the placement position. This embodiment provides multiple clamping members, symmetrically arranged circumferentially on the sides of the placement position. This allows the clamping members to move closer to each other, thereby clamping and positioning the semi-finished component placed on the placement position. This enables the semi-finished component to be finely adjusted and held in a predetermined position, preventing assembly failure due to positional deviation. Of course, the clamping members can also adopt other structural forms, such as using two semi-circular retaining rings as clamping members to hold the semi-finished component, thereby achieving the functions of clamping and positioning.

[0209] In this embodiment, the brake mechanism assembly device 500 further includes a fifth quality detection component 570 for detecting the state of the semi-finished component. The fifth limiting seat 542 also has a detection position. The fifth quality detection component 570 is located above the fifth limiting seat 542, and when the fifth limiting seat 542 is in the detection position, the fifth limiting seat 542 and the fifth quality detection component 570 are vertically aligned. In this embodiment, the fifth quality detection component 570 is a camera. The camera is located above the movement trajectory of the fifth limiting seat 542 and at a certain height from the fifth limiting seat 542. Moreover, the camera can be height-adjustable. When the fifth limiting seat 542 moves to the detection position, it is directly below the camera, allowing the camera to take a picture. The image is used to detect the position of the semi-finished component and other parts, determining whether they meet the crimping standards. If they do, the fifth limiting seat 542 moves to the crimping position, where the braking mechanism crimping assembly 560 performs the crimping. If not, the fifth limiting seat 542 can retract to the receiving position, where further adjustments can be made using the fifth handling robot 550 or clamping components. Furthermore, the fifth quality inspection assembly 570 can also detect the position of the crimped parts to further ensure the quality of the crimping. The fifth quality inspection assembly 570 may also include sensors to detect the pressure during the crimping process. The fifth quality inspection assembly 570, in conjunction with the braking mechanism crimping assembly 560, can automatically detect the corresponding pressure values ​​and crimping dimensions, facilitating subsequent documentation and traceability.

[0210] Optionally, the receiving position and the detection position can be the same position, that is, the position is used for both placing the semi-finished components and detecting the position. In this case, the fifth limit seat 542 moves between the two positions.

[0211] In this embodiment, the brake mechanism assembly device 500 also includes a gripper replacement assembly. This assembly stores identical or different grippers. The specifications of the grippers can be set according to the assembly and gripping requirements of the brake mechanism, as long as the grippers can grip and transport the corresponding semi-finished components and parts. The fifth handling robot 550 can move to the gripper replacement assembly and replace the grippers. This allows for gripper replacement when the type, specifications, or parts of the semi-finished components change, thus adapting to different gripping requirements.

[0212] In this embodiment, the brake mechanism pressing assembly 560 includes a brake mechanism pressing drive 561 and a brake mechanism pressing connector 562. The brake mechanism pressing drive 561 can be a motor or other components, and it is connected to the fifth frame 510 or the fifth limiting assembly 540 to achieve installation and fixation. The brake mechanism pressing connector 562 is vertically and flexibly positioned above the fifth limiting assembly 540. The specific structural form of the brake mechanism pressing connector 562 can be set as needed, and it can be cylindrical or other shapes. The brake mechanism pressing drive 561 is driven to connect with the brake mechanism pressing connector 562 and can drive the brake mechanism pressing connector 562 to descend. Thus, when it is necessary to press a component, after the fifth limiting seat 542 moves to the pressing position, the brake mechanism pressing drive 561 drives the brake mechanism pressing connector 562 to descend. The brake mechanism pressing connector 562 contacts and presses down the brake mechanism component onto the semi-finished assembly, thereby realizing the assembly of the brake mechanism.

[0213] In this embodiment, the fifth mounting bracket 541 adopts an L-shaped structure. The fifth limiting seat 542 is installed on the transverse segment of the L-shape, allowing the fifth limiting seat 542 to move along the transverse segment of the L-shape. The brake mechanism pressing assembly 560 and the fifth quality detection assembly 570 are both installed on the longitudinal segment of the L-shape. Along the moving direction of the fifth limiting seat 542, the fifth quality detection assembly 570, the brake mechanism pressing assembly 560, and the longitudinal segment of the L-shape are arranged sequentially, thus naturally forming three positions: the pressing position, the detection position, and the receiving position.

[0214] Optionally, the number of structures such as the brake component loading mechanism 530, the fifth handling robot 550, and the fifth limiting component 540 in this embodiment can be set as needed, and one or more can be set. This embodiment sets one fifth handling robot 550, one fifth limiting component 540, and multiple brake component loading mechanisms 530. The reason for setting multiple brake component loading mechanisms 530 is to take into account that there may be various types of parts, so multiple brake component loading mechanisms 530 can hold various parts. Since the brake component loading mechanisms 530 are all within the working range of the fifth handling robot 550, the fifth handling robot 550 can transport the parts to the semi-finished components as needed by the brake component loading mechanisms 530.

[0215] The specific working process of the brake mechanism assembly device 500 in this embodiment is as follows:

[0216] 1. The fifth limiting seat 542 is located in the receiving position, and the fifth handling robot 550 picks up the semi-finished component from the fifth conveyor 521 and places it on the fifth limiting seat 542.

[0217] 2. The clamping mechanism clamps the semi-finished components.

[0218] 3. The fifth handling robot 550 changes its gripper and picks up the corresponding material and places it on the shaft in the semi-finished component.

[0219] 4. The fifth handling robot 550 grips the shaft clip and opens it onto the shaft inside the semi-finished component.

[0220] 5. The fifth quality inspection component 570 checks whether the placement is correct. If correct, the fifth limit seat 542 moves to the crimping position.

[0221] 6. Press down the brake mechanism pressing assembly 560 to press the shaft clip into the corresponding position.

[0222] 7. After the pressing is completed, the fifth handling robot 550 puts the semi-finished component back onto the fifth conveyor 521, and the fifth conveyor 520 transports the semi-finished component to the next workstation.

[0223] Regarding the assembly of servo encoders:

[0224] like Figures 19 to 21As shown, the servo encoder assembly device 600 of this embodiment includes a sixth frame 610, a sixth conveying assembly 620, a sixth limiting assembly 630, a sixth handling robot 650, and a servo encoder locking assembly 660. The sixth conveying assembly 620 is connected to the sixth frame 610 and has a sixth conveying carrier for conveying semi-finished components. The sixth limiting assembly 630 is connected to the sixth frame 610 and has a placement position for placing semi-finished components. Multiple servo encoder loading mechanisms 640 are connected to the sixth frame 610, and each servo encoder loading mechanism 640 is used to store various components of the servo encoder. The sixth handling robot 650 is connected to the sixth frame 610. The sixth handling robot 650 is used to transport the components of the servo encoder to the sixth limit assembly 630. The servo encoder locking assembly 660 includes a servo encoder moving mechanism 661 and a plurality of servo encoder locking parts 662. The servo encoder moving mechanism 661 is connected to the sixth frame 610. At least a part of the servo encoder moving mechanism 661 is movably arranged relative to the sixth frame 610. The servo encoder locking parts 662 are all movably connected to the servo encoder moving mechanism 661. The servo encoder locking parts 662 are used to cooperate with different locking screws and lock the components to the semi-finished assembly through the locking screws.

[0225] The servo encoder assembly device 600 in this embodiment achieves a high-precision, high-efficiency unmanned assembly process. Specifically, the sixth frame 610 supports the entire device, and the sixth conveying component 620 is responsible for the automatic transfer of semi-finished components, ensuring the continuity and unmanned operation of the loading and unloading processes. The precise positioning capability of the sixth limit component 630 ensures the stability of the semi-finished components during the assembly process. The integration of multiple servo encoder loading mechanisms 640 allows various servo encoder components to be supplied to the sixth handling robot 650 in an orderly manner. The latter has high flexibility and accuracy, and can accurately transport the components to the designated position. The servo encoder locking component 660, through the precise control of the servo encoder moving mechanism 661 and the setting of multiple servo encoder locking parts 662, allows each servo encoder locking part 662 to be adapted to different locking screws, ensuring the correct installation of each component and achieving the preset torque requirements. The above-mentioned setup achieves unmanned assembly, which not only greatly improves production efficiency and reduces labor costs, but also ensures the consistency and reliability of the assembly process, meeting the requirements for high precision and intelligence.

[0226] This embodiment uses the A2 encoder as an example for illustration. Its specific components include a vibratory feeder and various sub-components such as sensors mounted on the vibratory feeder.

[0227] like Figure 21As shown, in this embodiment, the servo encoder moving mechanism 661 includes a first servo encoder moving mechanism, a second servo encoder moving mechanism, and a servo encoder lifting mechanism. Both the first servo encoder moving mechanism and the second servo encoder moving mechanism are movably arranged laterally, and the moving direction of the first servo encoder moving mechanism is angular to the moving direction of the second servo encoder moving mechanism. In this embodiment, the first servo encoder moving mechanism and the second servo encoder moving mechanism are arranged perpendicularly to each other. One of the first and second servo encoder moving mechanisms is connected to the sixth frame 610, while the other is connected to the servo encoder lifting mechanism. The servo encoder locking component 662 is located at the bottom of the servo encoder lifting mechanism. Thus, the first and second servo encoder moving mechanisms can drive the servo encoder lifting mechanism and the servo encoder locking component 662 to move laterally, enabling switching between any lateral positions. This allows the servo encoder locking component 662 to move between the servo encoder loading mechanism 640 and the sixth limit component 630, effectively transporting the locking screw from the servo encoder loading mechanism 640 to the sixth limit component 630. The servo encoder lifting mechanism can then move the servo encoder locking component 662 up and down, allowing it to install and lock the locking screw onto the component. This configuration enhances the flexibility and precision of the equipment in the lateral dimension, while the lifting operation enables the servo encoder locking component 662 to be precisely positioned in the vertical direction, thus performing the locking operation on the target component. The coordinated operation of the first and second servo encoder moving mechanisms, combined with the vertical movement of the servo encoder lifting mechanism, enables the servo encoder locking component 662 to move freely in three-dimensional space. This greatly improves the automation and efficiency of the assembly process, while also ensuring that the locking accuracy meets the process requirements. This not only optimizes the assembly process but also reduces labor costs and enhances the overall efficiency of the production line.

[0228] In this embodiment, the first servo encoder moving mechanism, the second servo encoder moving mechanism, and the servo encoder lifting mechanism all employ guide rail assemblies. Each assembly includes a guide rail and a slider that are slidably connected to each other. The guide rail and slider are respectively mounted on two mutually movable structures, allowing them to move relative to each other. The guide rail extends laterally or longitudinally as needed to achieve linear motion. Of course, in addition to the above-described configuration, other structural forms can also be used to achieve movement.

[0229] Since this embodiment uses multiple servo encoder locking components 662 to cooperate with different locking screws, multiple servo encoder lifting mechanisms are also configured in this embodiment. Each servo encoder lifting mechanism and servo encoder locking component 662 is configured in a one-to-one correspondence, allowing each servo encoder locking component 662 to move independently. Lateral movement can be controlled uniformly by the first and second servo encoder moving mechanisms. Alternatively, at least two servo encoder locking components 662 can be connected to the same servo encoder lifting mechanism. In this case, the servo encoder locking components 662 connected to the same servo encoder lifting mechanism move synchronously. These servo encoder locking components 662 can be spaced a certain distance apart to prevent interference from one servo encoder locking component 662 while it is operating.

[0230] In this embodiment, the servo encoder assembly device 600 further includes a sixth quality inspection component 670. The sixth quality inspection component 670 can employ components such as sensors and cameras. It is connected to the sixth frame 610 and is used to detect at least one of the following: mounting hole positions on the semi-finished component, mounting hole positions on parts, and the assembly state of the semi-finished component after servo encoder assembly. For example, the sixth quality inspection component 670 in this embodiment includes a camera, which is positioned on one side of the sixth limiting component 630. Above the camera is a detection position for photographic inspection. Before fastening, the screw hole positions can be photographed and positioned; after fastening, the semi-finished component can be moved to the detection position for assembly quality inspection. The camera can also be mounted on the sixth handling robot 650 for photographing. Through real-time monitoring and data feedback, this embodiment allows the sixth quality inspection component 670 to adjust the operating precision of the sixth handling robot 650 in a timely manner during the assembly process, ensuring that each assembly step meets the pre-set process standards, thereby significantly improving assembly quality and production efficiency. This integrated inspection system not only enables full monitoring of the assembly process but also effectively prevents potential assembly errors, ensuring the accuracy and reliability of servo encoder assembly. Of course, the sixth quality inspection component 670 can also use other devices, thus flexibly adapting to the inspection needs of different types of products. Furthermore, by adjusting its inspection parameters, it can achieve compatible inspection of multiple servo encoder models, enhancing the equipment's versatility and adaptability.

[0231] In this embodiment, the sixth limiting component 630 includes a sixth mounting frame, a sixth limiting seat, and a sixth limiting drive. The sixth mounting frame is connected to the sixth frame 610 and serves as the basic support structure for the entire sixth limiting component 630. The sixth limiting seat is movably mounted on the sixth mounting frame and may have a groove or similar structure, which can serve as a placement position to achieve stable placement of the semi-finished component. The sixth limiting drive can be a motor or similar component and is drivenly connected to the sixth limiting seat, thereby driving the sixth limiting seat to move and enabling the sixth limiting seat to move according to... The position can be changed depending on the needs. For example, when placing a semi-finished component, the sixth limit drive can move the sixth limit seat to avoid being directly under the servo encoder locking component 662. Then, the sixth handling robot 650 can place the semi-finished component on the sixth limit seat, avoiding interference with components such as the servo encoder locking component 662 and the sixth quality inspection component 670. After the semi-finished component is placed, the sixth limit drive can move the sixth limit seat to below the servo encoder locking component 662, facilitating the screw fastening operation of the servo encoder locking component 662. This setup achieves precise positioning and secure clamping of the semi-finished component, ensuring that it can stably accept the installation of the vibratory feeder and various sub-components during automated assembly, avoiding assembly errors caused by inaccurate positioning, and improving assembly accuracy and efficiency.

[0232] Optionally, the sixth limiting seat may also be provided with clamping components. The clamping components may be in the form of claws, and clamping components may be provided on both sides of the placement position. The clamping components on both sides may move towards or away from each other, thereby clamping or releasing the semi-finished components, so that the semi-finished components can be locked on the sixth limiting seat, avoiding random shaking during the assembly process and ensuring the quality of assembly.

[0233] Optionally, the specific number of structures such as the sixth limiting component 630, the servo encoder locking component 660, and the servo encoder feeding mechanism 640 can be set as needed. In this embodiment, multiple sixth limiting components 630, servo encoder locking components 660, and sixth quality detection components 670 are provided, and each sixth limiting component 630 is provided with a servo encoder locking component 660, thereby forming a one-to-one corresponding cooperation between the sixth limiting components 630, servo encoder locking components 660, and sixth quality detection components 670. Multiple servo encoder feeding mechanisms 640 are also provided. The reason for having multiple servo encoder feeding mechanisms 640 is that each servo encoder feeding mechanism 640 is used to store different components, such as storing the vibratory feeder, various sub-components, locking screws, etc. In this embodiment, only one sixth handling robot 650 and only one servo encoder loading mechanism 640 for storing the same type of components are provided. Both the servo encoder loading mechanism 640 and the sixth handling robot 650 are located between two adjacent sixth limiting components 630. Specifically, the sixth limiting component 630, the servo encoder locking component 660, and the sixth quality inspection component 670 are set up in a one-to-one correspondence. In this embodiment, two sets are provided, located on opposite sides of the sixth frame 610, with a certain space between the two sets of components. The sixth handling robot 650 and the servo encoder loading mechanism 640 are located in the middle space, so that the sixth handling robot 650 located in the middle can operate the sixth limiting components 630 and the servo encoder loading mechanism 640 on both sides. That is, when the components on one side do not require the assembly action of the sixth handling robot 650, the sixth handling robot 650 can cooperate with the components on the other side, thereby achieving the effect of assembling multiple semi-finished components at the same time and further improving assembly efficiency.

[0234] The usage process of the servo encoder assembly device 600 in this embodiment is as follows:

[0235] 1. The sixth handling robot 650 picks up the semi-finished component and puts it into the sixth limiting component 630.

[0236] 2. Clamping components clamp the semi-finished components.

[0237] 3. The sixth quality inspection component 670 takes pictures in sequence, and the sixth handling robot 650 picks up the parts to be assembled and places them in the installation position inside the semi-finished component.

[0238] 4. Different servo encoder locking parts 662 are used for different parts. The servo encoder locking parts 662 move to the corresponding servo encoder feeding mechanism 640 to pick up the locking screw.

[0239] 5. After the absorption is completed, the servo encoder moving mechanism 661 drives the servo encoder locking part 662 to move above the part to be locked and screw it on, so as to achieve the corresponding process requirements.

[0240] 6. After the screws are tightened, the sixth handling robot 650 picks up the semi-finished component and places it in the detection position of the sixth quality inspection component 670 for inspection.

[0241] 7. After passing the inspection, the sixth handling robot 650 places it on the sixth conveyor on the assembly line and transfers it to the next workstation.

[0242] Regarding the assembly of electromagnets:

[0243] like Figures 22 to 25 As shown, the electromagnet assembly device 700 of this embodiment includes a seventh frame 710, a seventh conveying assembly 720, a seventh limiting assembly 730, an electromagnet feeding mechanism 740, a pre-assembly mechanism 750, a seventh handling robot 760, and a crimping and locking assembly 770. The seventh conveying assembly 720 is connected to the seventh frame 710 and has a seventh conveying carrier for conveying semi-finished components; the seventh limiting assembly 730 is connected to the seventh frame 710 and has a placement position for placing semi-finished components; the electromagnet feeding mechanism 740... Connected to the seventh frame 710, the electromagnet feeding mechanism 740 is used to store the various components of the electromagnet; the pre-assembly mechanism 750 is connected to the seventh frame 710 and is used to pre-assemble the components into an electromagnet; the seventh handling robot 760 is connected to the seventh frame 710 and is used to handle the semi-finished components and the electromagnet; the crimping and locking assembly 770 is vertically adjustable relative to the seventh limiting assembly 730, and at least a portion of the crimping and locking assembly 770 can be lowered to lock the assembled electromagnet and the semi-finished components together.

[0244] In this embodiment, the seventh conveying component 720, the seventh limiting component 730, the electromagnet feeding mechanism 740, the pre-assembly mechanism 750, the seventh handling robot 760, and the crimping and locking component 770 cooperate with each other to realize the assembly of the electromagnet itself and its assembly onto the semi-finished component. Specifically, the seventh conveying component 720 conveys the semi-finished components processed in the previous process to the working range of the seventh handling robot 760. The seventh handling robot 760 moves the semi-finished components on the seventh conveying carrier to the seventh limiting component 730. Then, the seventh handling robot 760 moves the components that make up the electromagnet from the electromagnet feeding mechanism 740 to the pre-assembly mechanism 750. The pre-assembly mechanism 750 assembles the components together to form the electromagnet. Then, the seventh handling robot 760 moves the assembled electromagnet to the semi-finished component. The pressure of the pressing and locking component 770 causes the electromagnet to be pressed onto the semi-finished component to complete the locking assembly. Then, the seventh handling robot 760 moves the assembled semi-finished component back to the seventh conveying carrier. The seventh conveying component 720 continues to convey the semi-finished component with the electromagnet assembled to the next process. The above setup utilizes the cooperation between various structures to achieve the goal of automated assembly of robotic electromagnets by robots. This automates the assembly of electromagnets, reduces the number of manual steps, lowers the intensity of manual labor, and ensures that the assembly meets the process requirements, thereby improving processing efficiency and quality.

[0245] like Figure 25 As shown, in this embodiment, the pre-assembly mechanism 750 includes a frame 751, a pre-assembly component 752, and a rotating assembly 753. The frame 751 is connected to the seventh frame 710 and serves as the main support part of the pre-assembly mechanism 750. The pre-assembly component 752 is rotatably connected to the frame 751. In this embodiment, the pre-assembly component 752 adopts a plate-like or block-like structure and has a pre-assembly station for placing parts. When it is necessary to assemble the parts into an electromagnet, the seventh handling robot 760 sequentially transports each part to the pre-assembly station. Due to the rotatable configuration of the pre-assembly component 752, the pre-assembly component 752 can drive the parts to rotate together as a whole when it rotates. When the pre-assembly component 752 rotates, the parts placed on the pre-assembly station can move towards each other and naturally connect with each other to form an electromagnet, thus completing the assembly of the electromagnet itself. Subsequently, the seventh handling robot 760 can transport the assembled electromagnet and further assemble it onto the semi-finished component. The rotating assembly 753 is disposed between the pre-assembled part 752 and the frame 751. The rotating assembly 753 can serve as a drive and transmission component, enabling the pre-assembled part 752 to rotate relative to the frame 751 to achieve the assembly of the electromagnet itself. On the other hand, it can also serve as a transition component, allowing the rotating assembly 753 to rotate smoothly on the frame 751.

[0246] Based on the above configuration, the rotating component 753 may include components such as a drive component, a transmission component, and bearings, thereby serving as a drive and transition mechanism. In this embodiment, the frame 751 has two longitudinal columns, and the pre-assembled component 752 is positioned between the two columns, resulting in a form where the pre-assembled component 752 is supported at both ends and suspended in the middle. A rotating component 753 is provided on one side of the pre-assembled component 752, while the other side is connected to the frame 751 only via a bearing, allowing the pre-assembled component 752 to rotate via a single-sided drive. Alternatively, in addition to the above configuration, two rotating components 753 can be provided, with rotating components 753 on both sides of the pre-assembled component 752, thereby achieving dual-sided drive. During drive, a control program synchronizes the rotation of the rotating components 753 on both sides.

[0247] In this embodiment, the pre-assembly station has a placement surface for receiving components. Since the placement surface is used to place components, this embodiment uses the side with the larger area of ​​the pre-assembly fixture as the placement surface. The pre-assembly component 752 has a placement position and an assembly position. When the pre-assembly component 752 is in the placement position, the placement surface extends laterally. At this time, the placement surface is the upward-facing surface of the pre-assembly component 752, thus fulfilling the function of receiving components. When assembling the electromagnet itself, the pre-assembly component 752 rotates to the assembly position. At this time, the pre-assembly component 752 rotates approximately 90 degrees, causing the originally upward-facing placement surface to face left and right. The placement surface now extends approximately longitudinally, allowing the components placed on it to automatically assemble together under gravity to form the electromagnet. It should be noted that the pre-assembly station can be equipped with protrusions, grooves, columns, or other structures that cooperate with the components, thereby ensuring the stable placement and assembly of the components.

[0248] In this embodiment, the crimping and locking assembly 770 is capable of both lifting and lateral movement. Specifically, the crimping and locking assembly 770 is laterally movably mounted on the seventh limiting assembly 730, and has a crimping position directly above the placement position and a clearance position directly above the clearance placement position. Correspondingly, the electromagnet assembly device 700 also includes a clearance drive 780, which is drivenly connected to the electromagnet crimping head 772 portion of the crimping and locking assembly 770. The clearance drive 780 can be a cylinder or similar component, and is used to drive the lateral movement of the crimping and locking assembly 770, allowing the crimping and locking assembly 770 to switch between the crimping position and the clearance position. Thus, when the seventh handling robot 7... When handling semi-finished components, the avoidance drive 780 drives the pressing and locking assembly 770 to the avoidance position. At this time, the pressing and locking assembly 770 avoids being directly above the placement position, so that the seventh handling robot 760 can smoothly handle the semi-finished components to or from the placement position without interfering with the pressing and locking assembly 770. When it is necessary to press and lock the electromagnet, the avoidance drive 780 drives the pressing and locking assembly 770 to the pressing position. At this time, the pressing and locking assembly 770 is directly above the semi-finished component, so that it can press down to press the electromagnet onto the semi-finished component, realizing the locking assembly of the electromagnet.

[0249] like Figure 22 and Figure 24As shown, in this embodiment, the crimping and locking assembly 770 includes an electromagnet crimping drive 771, an electromagnet crimp connector 772, and a locking mechanism 773. The electromagnet crimping drive 771 can be a motor or other components, and it is connected to the seventh frame 710 or the seventh limiting assembly 730 to achieve installation and fixation. The electromagnet crimp connector 772 is vertically and flexibly positioned above the seventh limiting assembly 730. The specific structural form of the electromagnet crimp connector 772 can be set as needed, and it can be cylindrical or other shapes. The electromagnet crimping drive 771 is driven to connect with the electromagnet crimp connector 772 and can drive the electromagnet crimp connector 772 to descend. The lateral position of the electromagnet crimp connector 772 corresponds to and cooperates with the crimping and locking assembly 770. That is, when the crimping and locking assembly 770 is in the crimping position, the electromagnet crimp connector 772 is located directly above the placement position; when the crimping and locking assembly 770 is in the avoidance position, the electromagnet crimp connector 772 is offset from directly above the placement position. Thus, when it is necessary to crimp the electromagnet onto the semi-finished component, after the crimping and locking assembly 770 moves to the crimping position, the electromagnet crimping connector 772 can descend to assemble the electromagnet onto the semi-finished component, thereby achieving electromagnet assembly. The locking mechanism 773 is movably disposed at the placement position. The locking mechanism 773 can be connected to the electromagnet crimping connector 772 or can be set independently of the electromagnet crimping connector 772. The locking mechanism 773 is used to lock the electromagnet onto the semi-finished component. Specifically, after the electromagnet crimping connector 772 presses the electromagnet onto the semi-finished component, the locking mechanism 773 locks the electromagnet and the semi-finished component together by means of screws or other methods, thereby achieving assembly.

[0250] like Figure 24 As shown, in this embodiment, the seventh limiting component 730 includes a seventh mounting bracket 731 and a clamping mechanism 732. The seventh mounting bracket 731 is connected to the seventh frame 710. The seventh mounting bracket 731 serves as the main support part of the seventh limiting component 730. The placement position is located on the upper surface of the seventh mounting bracket 731. A groove or other structure can be provided at the placement position as needed to achieve initial positioning of the semi-finished component. The clamping mechanism 732 is movably disposed on the upper surface of the seventh mounting bracket 731 and located around the placement position. The clamping mechanism 732 may include multiple clamping members, which may adopt a claw structure. In this embodiment, the clamping members are arranged in pairs, forming an area for clamping the semi-finished component. When the semi-finished component is placed at the placement position, the paired clamping members can move towards each other, thereby clamping the semi-finished component and achieving a stable clamping effect. This ensures that the semi-finished component maintains a fixed position during pressing, thus guaranteeing processing quality.

[0251] In addition to the clamping mechanism 732, the seventh limiting component 730 in this embodiment also includes a central positioning mechanism 733. The central positioning mechanism 733 is located at the placement position and is preferably located at the bottom center of the placement position. It cooperates with the positioning structure at the center of the semi-finished component. When the positioning structure on the semi-finished component is a groove, the central positioning mechanism 733 can be in the form of a protrusion. Of course, the groove and the protrusion can be interchanged. In this way, when the semi-finished component is placed on the placement position, the positioning structure and the central positioning mechanism 733 are mutually positioned and cooperated, thereby positioning the semi-finished component. Combined with the clamping action of the clamping mechanism 732, the position of the semi-finished component is accurately fixed.

[0252] In this embodiment, the electromagnet assembly device 700 further includes a seventh quality inspection component, which is connected to the seventh frame 710 and is used to test the elasticity and height of the semi-finished component after electromagnet assembly, thereby realizing automatic inspection after assembly and ensuring good assembly quality.

[0253] In addition to the seventh quality inspection component, the electromagnet assembly device 700 may also include an assembly inspection component. Unlike the seventh quality inspection component, which inspects assembly quality after assembly, the assembly inspection component can inspect the position, size, and pressure of the electromagnet to be installed on the semi-finished component during assembly, ensuring the stability and reliability of the pressing process and guaranteeing processing quality. The assembly inspection component may employ components such as cameras and sensors as needed. Both the seventh quality inspection component and the assembly inspection component can be connected to the pressing and locking component 770, and can move laterally together with the pressing and locking component 770, thereby avoiding collisions and interference with the space directly above the placement position and preventing interference with the seventh handling robot 760.

[0254] Optionally, the number of structures such as the electromagnet feeding mechanism 740, the seventh handling robot 760, and the seventh limiting component 730 in this embodiment can be set as needed, and one or more can be set. This embodiment sets one seventh handling robot 760, two seventh limiting components 730, and multiple electromagnet feeding mechanisms 740. The reason for setting multiple electromagnet feeding mechanisms 740 is that there may be various components of the electromagnet, and components such as screws used for fastening can also be placed at one electromagnet feeding mechanism 740. Therefore, different components can be placed in different electromagnet feeding mechanisms 740.

[0255] The specific usage process of the electromagnet assembly device 700 in this embodiment is as follows:

[0256] 1. The seventh handling robot 760 picks up the semi-finished component and places it into the placement position of the seventh limiting component 730.

[0257] 2. The central positioning mechanism 733 performs central positioning of the semi-finished components.

[0258] 3. The clamping components hold the semi-finished components to ensure the consistency of their position.

[0259] 4. The seventh handling robot 760 picks up the relevant components of the electromagnet and places them on the pre-assembly mechanism 750.

[0260] 5. The pre-assembly component 752 of the pre-assembly mechanism 750 is first laid flat and then rotated for assembly. After assembly, the seventh handling robot 760 clamps the electromagnet.

[0261] 6. After the seventh handling robot 760 picks up the electromagnet, it places it into the pre-positioned semi-finished component, and the pressing and locking component 770 performs screw fastening assembly.

[0262] 7. After the locking is completed, the seventh handling robot 760 transports it to the seventh quality inspection component, which then tests the elasticity and height of the assembled electromagnet.

[0263] 8. After passing the inspection, the seventh handling robot 760 places it on the seventh conveyor of the seventh conveyor assembly 720 and transfers it to the next workstation.

[0264] For power-on testing:

[0265] like Figures 26 to 28 As shown, the power-on testing device 800 of this embodiment includes an eighth frame 810, an eighth conveying assembly 820, an eighth handling robot 830, an eighth limiting assembly 840, a clamping assembly 850, and a power-on assembly 860. The eighth conveying assembly 820 is connected to the eighth frame 810 and has an eighth conveying carrier for conveying semi-finished components. The eighth handling robot 830 is connected to the eighth frame 810 and is used to handle semi-finished components and external testing lines. The eighth limiting assembly 840 is connected to the eighth frame 810 and has a placement position for placing semi-finished components. The clamping assembly 850 is connected to the eighth frame 810 and has a clamping end for clamping the ribbon cable on the semi-finished component. The clamping end is movably disposed relative to the eighth frame 810. The power-on assembly 860 has a movably disposed power-on terminal 861. The power-on terminal 861 is located on one side of the placement position and can move towards the semi-finished component and make contact with the contacts on the semi-finished component.

[0266] This embodiment employs an eighth handling robot 830, a clamping component 850, and a power supply component 860 in cooperation. The eighth handling robot 830 transports the semi-finished component from the eighth conveyor to the eighth limiting component 840 for stabilization. At this point, the clamping component 850 clamps the ribbon cable on the semi-finished component, stabilizing its position and ensuring reliable subsequent cable connection. The eighth handling robot 830 then clamps the external detection cable and transports it to the ribbon cable for direct connection, establishing an electrical connection between the detection cable and the semi-finished component. This allows the operating status and parameters of the semi-finished component to be transmitted to the terminal for further analysis and processing. Simultaneously, after the semi-finished component is placed on the eighth limiting component 840, the power supply terminal 861 of the power supply component 860 moves closer to the semi-finished component, making contact with the contacts on the component. This allows the power supply component 860 to power the semi-finished component through the interaction of the power supply terminal 861 and the contacts. The two parts work together to enable the semi-finished components to undergo power-on testing, and the test data can be transmitted through the detection line to test the encoders and other devices on the semi-finished components. This ensures the stability and reliability of the semi-finished components during assembly, avoids rework, and since the entire process is automated, it can achieve automated testing without human intervention. This not only reduces the intensity of manual labor and improves testing efficiency, but also ensures the accuracy and reliability of the test results.

[0267] like Figure 28 As shown, in this embodiment, the clamping assembly 850 includes a clamping moving mechanism 851 and a clamping claw 852. The clamping moving mechanism 851 is movably connected to the eighth frame 810. The clamping claw 852 is connected to the clamping moving mechanism 851 and moves laterally and / or longitudinally under the drive of the clamping moving mechanism 851. The end of the clamping claw 852 is openable and has a clamping end. The specific movement mode of the clamping moving mechanism 851 can be set as needed, and either linear movement or rotary movement can be adopted. In this embodiment, the gripper 852 is arranged in pairs with two claws. The two claws can move towards or away from each other, forming an area for gripping the cable. When the cable needs to be gripped, the gripper 852 moves to a predetermined position under the action of the gripping moving mechanism 851, so that the cable is located between the two claws. Then, the two claws move towards each other, thereby gripping the cable and stabilizing its position. This ensures that the eighth handling robot 830 can accurately insert the detection wire into the cable.

[0268] The clamping and moving mechanism 851 in this embodiment adopts a linear structure and a lateral bidirectional and longitudinal lifting form. Specifically, the clamping and moving mechanism 851 includes a first clamping and moving mechanism, a second clamping and moving mechanism, and a clamping and lifting mechanism. The first clamping and moving mechanism is laterally movably connected to the eighth frame 810; the second clamping and moving mechanism is laterally movably connected to the first clamping and moving mechanism, and the moving direction of the first clamping and moving mechanism is set at an angle to the moving direction of the second clamping and moving mechanism. In this embodiment, the moving directions of the two are set vertically. The clamping and lifting mechanism is longitudinally movably connected to the second clamping and moving mechanism and moves laterally under the drive of the first and second clamping and moving mechanisms. The clamping claw 852 is connected to the clamping and lifting mechanism. In this way, when the semi-finished component is placed in the placement position, the first clamping moving mechanism can drive the second clamping moving mechanism, the clamping lifting mechanism and the clamping claw 852 to move. The second clamping moving mechanism can drive the clamping lifting mechanism and the clamping claw 852 to move. The clamping lifting mechanism can drive the clamping claw 852 to move up and down, so that the clamping claw 852 can be adjusted at any position within a certain space range, so that the clamping claw 852 can accurately correspond to the position of the ribbon cable and ensure the effect of clamping the ribbon cable.

[0269] In this embodiment, the energizing component 860 includes a movable bracket 862 and an elastic element 863. The movable bracket 862 is movably connected to the eighth frame 810. The energizing terminal 861 is disposed on the movable bracket 862. The energizing terminal 861 can move closer to or further away from the semi-finished component under the action of the movable bracket 862, thereby adjusting the position of the energizing terminal 861. The elastic element 863 can be a spring or other component. The elastic element 863 is disposed between the energizing terminal 861 and the movable bracket 862. In this embodiment, the elastic element 863 is sleeved on the column at the tail end of the energizing terminal 861, so that the elastic element 863 can always provide the energizing terminal 861 with a spring force to move towards the semi-finished component, so that the energizing terminal 861 always has a tendency to move towards the contact point. During docking, when the energizing terminal 861 contacts the contact point, the movable bracket 862 continues to move a small distance. When the energized terminal 861 can no longer move, it will squeeze the elastic element 863, causing the elastic element 863 to be compressed and store elastic force. This elastic force will further ensure stable and reliable contact between the energized terminal 861 and the contact, avoiding the occurrence of contact failure. At the same time, the elastic element 863 can also provide a buffer between the moving bracket 862 and the energized terminal 861, preventing the moving bracket 862 from continuing to move due to inertia after the energized terminal 861 contacts the contact, which would cause the energized terminal 861 to excessively squeeze the contact and cause damage.

[0270] Optionally, the movable bracket 862 and the clamping movable mechanism 851 can adopt a similar form, that is, they can also adopt a linear movement form. The main difference between the two is that the movable bracket 862 does not need to be adjusted for height. Specifically, the movable bracket 862 includes a first movable part and a second movable part. The first movable part is laterally movable to the eighth frame 810, and the second movable part is laterally movable to the first movable part. The energized terminal 861 is disposed on the second movable part. The movement direction of the first movable part is set at an angle to the movement direction of the second movable part. In this embodiment, the movement directions of the two are set perpendicularly, so that the movable bracket 862 can drive the energized terminal 861 to adjust within a certain range on the plane, so that the energized terminal 861 can align with the contacts on the semi-finished component to ensure the docking effect. The movement direction of one of the first movable part and the second movable part is the direction of approaching and moving away from the semi-finished component, so as to realize the approach docking and separation of the energized terminal 861 and the contacts. Of course, it is also possible to provide only one of the first moving part and the second moving part, so that the moving bracket 862 can drive the energized terminal 861 to move closer to or away from the semi-finished component.

[0271] In this embodiment, the power-on testing device 800 also includes a ribbon cable detection component 870. The ribbon cable detection component 870 can be a camera, sensor, or other components. In this embodiment, a camera is used. The ribbon cable detection component 870 is set at the placement position and located above the placement position. In this way, when the eighth handling robot 830 places the semi-finished component at the placement position, the camera can detect the position of the ribbon cable on the semi-finished component at the placement position, thereby realizing the determination of the position of the ribbon cable. The gripper 852 can adjust its own position according to the position of the ribbon cable to ensure that the gripper component 850 can stably and reliably grip the ribbon cable.

[0272] In this embodiment, the eighth limiting component 840 includes an eighth mounting bracket, an eighth limiting seat 841, and multiple clamping members. The eighth limiting seat 841 is connected to the eighth frame 810 via the eighth mounting bracket and has a placement position. The eighth limiting seat 841 and the eighth frame 810 can be fixedly or movably connected. A groove is provided on the upper surface of the eighth limiting seat 841, serving as the placement position to ensure stable placement of the semi-finished component. The clamping members are movably disposed on the eighth limiting seat 841 and located around the placement position. Clamping members are provided on opposite sides of the placement position, and the clamping members on both sides can move towards each other. After the semi-finished component is placed on the eighth limiting seat 841, the clamping members move towards each other to clamp the semi-finished component, keeping its position stable and preventing displacement at the docking point. The clamping members can be in the form of claws or semi-circular clamps, etc.

[0273] like Figure 26 and Figure 27 As shown, in this embodiment, there are multiple and correspondingly arranged eighth limiting components 840, clamping components 850, and energizing components 860. Each eighth limiting component 840 is located within the working range of the eighth handling robot 830 and arranged circumferentially along the eighth handling robot 830. This embodiment has four eighth limiting components 840, with two clamping components 850 and one energizing component 860 respectively arranged on the periphery of each of the four eighth limiting components 840. Thus, when the eighth handling robot 830 moves a semi-finished component to an eighth limiting component 840, the eighth limiting component 840 and its corresponding clamping components 850 and energizing components 860 can operate to perform an energization test on the semi-finished component. Simultaneously, the eighth handling robot 830 can move another semi-finished component to another eighth limiting component 840 to perform an energization test on that semi-finished component. In this way, one eighth handling robot 830 can cooperate with multiple eighth limiting components 840 to achieve synchronous testing of multiple semi-finished components, thereby significantly improving testing efficiency.

[0274] The usage process of the power-on testing device 800 in this embodiment is as follows:

[0275] 1. The eighth handling robot 830 picks up the semi-finished component and puts it into the eighth limiting component 840.

[0276] 2. The eighth limiting component 840 clamps the semi-finished component.

[0277] 3. Take a picture of the ribbon cable on the driver board with the camera to determine its location.

[0278] 4. The gripper 852 grabs the ribbon cable on the driver board and fixes it in place.

[0279] 5. The eighth handling robot 830 then clamps and connects the external detection line and the cable.

[0280] 6. The power-on terminal 861 of the power-on component 860 extends and is connected to the contact to ensure that the semi-finished component is powered.

[0281] 7. After powering on, perform program testing.

[0282] 8. After the test is completed, the eighth handling robot 830 disconnects the test line, and the power supply component 860 resets and disconnects the power.

[0283] 9. After the power outage is completed, the eighth handling robot 830 changes its gripper and places the inspected semi-finished components onto the eighth conveyor to be transferred to the next process.

[0284] Regarding the assembly of semi-automatic encoders:

[0285] like Figures 29 to 31 As shown, the semi-automatic encoder assembly device 900 of this embodiment includes a ninth frame 910, a ninth conveying assembly 920, a ninth limiting assembly 930, a semi-automatic encoder feeding mechanism 940, a position detection assembly 950, a ninth handling robot 960, and a semi-automatic encoder locking assembly 970. The ninth conveying assembly 920 is connected to the ninth frame 910 and has a ninth conveying carrier for conveying semi-finished components; the ninth limiting assembly 930 is connected to the ninth frame 910 and has a placement position for placing semi-finished components; the semi-automatic encoder feeding mechanism 940 is connected to the ninth frame 910 and is semi-automatic... The automatic encoder feeding mechanism 940 is used to store the components of the semi-automatic encoder; the position detection component 950 is connected to the ninth frame 910 and is used to detect the mounting hole positions on the semi-finished component and the components, and the position detection component 950 has a detection position; the ninth handling robot 960 is connected to the ninth frame 910 and is used to handle the components of the semi-automatic encoder to the detection position of the position detection component 950 and the ninth limit component 930; the semi-automatic encoder locking component 970 is movably connected to the ninth frame 910 and is used to lock the components onto the semi-finished component, thereby forming a single joint component.

[0286] This embodiment solves the problems of precise alignment and unmanned operation in the assembly process of automated encoders in the prior art by working in collaboration between a precision position detection component 950 and a flexible ninth handling robot 960. The position detection component 950 accurately identifies the mounting holes on the semi-finished component and the corresponding holes on the parts, ensuring assembly accuracy. The ninth handling robot 960 is responsible for transporting the parts from the semi-automatic encoder loading mechanism 940 to the detection position, and then, based on the information provided by the position detection component 950, precisely places the parts onto the semi-finished component within the ninth limiting component 930. The semi-automatic encoder locking component 970 can move between the semi-automatic encoder loading mechanism 940 and the ninth limiting component 930 as needed, securely locking the parts to the semi-finished component using screws or other methods, completing the assembly. Furthermore, the device also integrates the ninth limiting component 930 to fix the semi-finished component, ensuring stability during the assembly process. The entire device achieves a series of unmanned operations, including automatic feeding, clamping, alignment, assembly, and locking, significantly improving production efficiency and reducing the need for manual intervention. Simultaneously, the accurate detection by the position detection component 950 ensures that assembly dimensions meet process requirements, thereby improving product quality and consistency. This automated assembly solution not only increases production speed but also reduces human error, making the assembly of semi-automatic encoders more precise and efficient.

[0287] This embodiment takes a semi-automatic encoder as an example, which includes two parts: a drive board and an encoder body. Both the drive board and the encoder body have mounting holes that correspond to the mounting holes on the semi-finished component. The drive board and the encoder body are connected to the semi-finished component by screw fastening.

[0288] like Figure 31 As shown, in this embodiment, the position detection component 950 includes a first detection element 951 and a second detection element 952. Both the first detection element 951 and the second detection element 952 in this embodiment are image detection elements, more specifically, cameras. The camera detects the position of the mounting holes by taking pictures. The first detection element 951 has a first detection position, which is directly below the camera. The first detection position is movably positioned directly above the placement position. During detection, it can move to directly above the placement position. The first detection element 951 is used to detect the mounting holes on the semi-finished component placed at the placement position, and can also detect the mounting holes on the component when the component is installed. The second detection element 952 has a second detection position, which is directly above the camera. The second detection position is offset from directly above the placement position. The second detection element 952 is used to detect the mounting holes on the component. In this embodiment, the first detection component 951 is mounted on the locking movement mechanism 971 of the semi-automatic encoder locking assembly 970. This eliminates the need for a separate support for the first detection component 951, allowing it to move directly above its placement position. The second detection component 952, however, has a separate support connected to the ninth frame 910 and extending longitudinally to a certain height. This design of the two detection components ensures precise alignment of components during automated assembly, thereby improving assembly efficiency and accuracy. By pre-setting the detection positions of the first and second detection components 951 and 952, automatic identification and calibration of mounting hole positions for different components can be achieved, guiding the robot to perform accurate assembly operations. This design not only simplifies the assembly process but also effectively avoids errors that may occur during manual assembly, ensuring product assembly quality and production consistency. In other embodiments, the position detection assembly 950 can also be implemented using other types of sensors or vision systems to adapt to different types of components and assembly requirements.

[0289] In use, the drive board or encoder body can first be picked up and transported to the position of the second detection component 952 by the ninth handling robot 960. The second detection component 952 detects the position of the mounting holes on it, while the first detection component 951 detects the position of the mounting holes on the semi-finished component. The specific corresponding positional relationship is determined based on the detection results of the two detection components. When the ninth handling robot 960 moves the drive board or encoder body directly above the semi-finished component, the first detection component 951 can detect the mounting holes on the drive board or encoder body again to ensure the reliability of the alignment and fit with the semi-finished component. Of course, the above specific process can be adjusted as needed and is not limited to the given implementation method. For example, the encoder body can be assembled without the detection of the first detection component 951 and directly detected at the second detection component 952.

[0290] In this embodiment, the semi-automatic encoder locking assembly 970 includes a locking moving mechanism 971 and a semi-automatic encoder locking component 972. The locking moving mechanism 971 is movably connected to the ninth frame 910. The semi-automatic encoder locking component 972 is connected to the locking moving mechanism 971. The locking moving mechanism 971 can adopt a guide rail mechanism or the like as needed. The locking moving mechanism 971 can drive the semi-automatic encoder locking component 972 to move between the semi-automatic encoder feeding mechanism 940 and the ninth limit assembly 930, allowing the semi-automatic encoder locking component 972 to move flexibly within the workspace. This enables the semi-automatic encoder locking component 972 to transport and lock screws and other fasteners placed at the semi-automatic encoder feeding mechanism 940 to the semi-finished assembly using magnetic attraction or other methods, achieving the effect of screw locking. The above arrangement not only improves assembly efficiency but also ensures the stability and accuracy of the locking process, effectively avoiding errors introduced by manual operation, and improving the automation level and product quality of the entire production line.

[0291] In this embodiment, the locking and attaching moving mechanism 971 includes a first locking and attaching moving mechanism, a second locking and attaching moving mechanism, and a locking and attaching lifting mechanism. Both the first and second locking and attaching moving mechanisms are movably arranged laterally, and the moving direction of the first locking and attaching moving mechanism is angled to the direction of the second locking and attaching moving mechanism. In this embodiment, the first and second locking and attaching moving mechanisms are arranged perpendicularly laterally, allowing them to drive the semi-automatic encoder locking component 972 to switch at any laterally position. The locking and attaching lifting mechanism is connected to either the first or second locking and attaching moving mechanism. The semi-automatic encoder locking component 972 is located at the bottom of the locking and attaching lifting mechanism, and the first detection component 951 is also located on the locking and attaching lifting mechanism. This allows the locking and attaching lifting mechanism to drive the semi-automatic encoder locking component 972 to move up and down, enabling the semi-automatic encoder locking component 972 to descend to pick up and install screws, or to rise to transport screws. Simultaneously, the locking and attaching lifting mechanism provides an installation position for the first detection component 951.

[0292] In this embodiment, the semi-automatic encoder assembly device 900 further includes an angle adjustment component 980, which is used to adjust the installation position of the encoder body. The angle adjustment component 980 is connected to the ninth frame 910 and has an adjustable position that can be moved. When the ninth handling robot 960 places the encoder body in the adjustable position, the angle adjustment component 980 can drive the encoder body to move through the adjustable position, thereby changing the angle state of the encoder body so that the mounting holes on the encoder body correspond to the mounting holes on the semi-finished component to ensure the screw fastening effect.

[0293] The angle adjustment assembly 980 in this embodiment includes an adjustment frame and a rotary drive. The adjustment frame has a frame structure and is rotatably mounted relative to the ninth frame 910, and has an adjustment position. The encoder body can be mounted on the adjustment frame and rotates with it. The rotary drive can be a motor or other component, which is driven by the adjustment frame. When adjusting the position of the encoder body, it drives the adjustment frame to rotate, thereby changing the angle of the encoder body and ensuring that the mounting holes meet the assembly requirements. This configuration improves the flexibility and accuracy of the assembly process and effectively ensures the correct alignment of the encoder body during assembly, thus improving the final product's assembly quality and production efficiency.

[0294] like Figure 29 and Figure 30As shown, in this embodiment, the ninth limiting component 930 includes a ninth mounting frame, a ninth limiting seat, and a ninth limiting drive. The ninth mounting frame is connected to the ninth frame 910 and serves as the main support part of the ninth limiting component 930. The ninth limiting seat can be movably mounted on the ninth mounting frame via components such as guide rails. A groove is provided on the upper surface of the ninth limiting seat, serving as a placement position to achieve stable placement of the semi-finished component. The ninth limiting drive can be a component such as a motor, which is driven by the ninth limiting seat to drive the ninth limiting seat to move, allowing the ninth limiting seat to move according to requirements. Different positions can be switched. For example, when placing a semi-finished component, the ninth limit drive can move the ninth limit seat to avoid being directly under the semi-automatic encoder locking component 972. Then, the ninth handling robot 960 can place the semi-finished component on the ninth limit seat, avoiding interference with components such as the semi-automatic encoder locking component 972 and the first detection component 951. After the semi-finished component is placed, the ninth limit drive can move the ninth limit seat to be directly under the first detection component 951, allowing the first detection component 951 to detect the mounting holes on the semi-finished component. This setup achieves precise positioning and secure clamping of the semi-finished component, ensuring that the semi-finished component can stably receive the installation of the drive board and encoder body during automated assembly, avoiding assembly errors caused by inaccurate positioning, and improving assembly accuracy and efficiency. The addition of the ninth limit drive makes the movement of the ninth limit seat more flexible and controllable, adapting to semi-finished components of different sizes or shapes, enhancing the versatility and adaptability of the equipment.

[0295] Optionally, the ninth limiting seat may also be provided with clamping components. The clamping components may be in the form of claws, and clamping components may be provided on both sides of the placement position. The clamping components on both sides may move towards or away from each other, thereby clamping or releasing the semi-finished components, so that the semi-finished components can be locked on the ninth limiting seat, avoiding random shaking during the assembly process and ensuring the quality of assembly.

[0296] In this embodiment, the semi-automatic encoder assembly device 900 further includes a ninth quality detection component. The ninth quality detection component may include components such as a displacement sensor and a height sensor. The ninth quality detection component is connected to the ninth frame 910 and is disposed above the ninth limit component 930. The ninth quality detection component is used to test the height of the component after the semi-automatic encoder is assembled, thereby ensuring the consistency of assembly accuracy and guaranteeing assembly quality.

[0297] Optionally, the specific number of structures such as the ninth limiting component 930, the semi-automatic encoder locking component 970, and the semi-automatic encoder feeding mechanism 940 can be set as needed. In this embodiment, multiple ninth limiting components 930, semi-automatic encoder locking components 970, and position detection components 950 are provided, and each ninth limiting component 930 is provided with a semi-automatic encoder locking component 970, thereby forming a one-to-one corresponding cooperation between the ninth limiting components 930, semi-automatic encoder locking components 970, and position detection components 950. Multiple semi-automatic encoder feeding mechanisms 940 are also provided. The reason for having multiple semi-automatic encoder feeding mechanisms 940 is that each semi-automatic encoder feeding mechanism 940 is used to store different components, such as storing the drive board, encoder body, screws, etc. In this embodiment, only one ninth handling robot 960 and only one semi-automatic encoder loading mechanism 940 for storing the same type of parts are provided. Both the semi-automatic encoder loading mechanism 940 and the ninth handling robot 960 are located between two adjacent ninth limiting components 930. Specifically, the ninth limiting component 930, the semi-automatic encoder locking component 970, and the position detection component 950 are set up in a one-to-one correspondence. In this embodiment, two sets are provided, located on opposite sides of the ninth frame 910, with a certain space between the two sets of components. The ninth handling robot 960 and the semi-automatic encoder loading mechanism 940 are located in the middle space, so that the ninth handling robot 960 located in the middle can operate the ninth limiting components 930 and the semi-automatic encoder loading mechanism 940 on both sides. That is, when the components on one side do not require the ninth handling robot 960 to perform assembly actions, the ninth handling robot 960 can cooperate with the components on the other side, thereby achieving the effect of assembling multiple semi-finished components at the same time and further improving assembly efficiency.

[0298] The usage process of the semi-automatic encoder assembly device 900 in this embodiment is as follows:

[0299] 1. The ninth handling robot 960 picks up the semi-finished component and puts it into the ninth limiting component 930.

[0300] 2. The ninth limiting component 930 clamps the semi-finished component.

[0301] 3. The ninth handling robot 960 picks up the drive board and places it on the second inspection piece 952 for alignment inspection to determine its mounting hole position.

[0302] 4. After the hole positions are determined, the first inspection piece 951 then determines the mounting hole positions of the drive board on the semi-finished component.

[0303] 5. The ninth handling robot 960 then places the drive board inside the semi-finished component, ensuring that the drive board is aligned with the mounting holes of the semi-finished component.

[0304] 6. The locking and moving mechanism 971 drives the semi-automatic encoder locking component 972 to move the screw electric screwdriver above the drive board and perform screw locking.

[0305] 7. The ninth handling robot 960 then picks up the encoder body and places it on the angle adjustment component 980.

[0306] 8. The angle adjustment component 980 drives the encoder body to rotate so that the mounting holes on the encoder body reach the predetermined position, and the first detection component 951 takes a picture for confirmation.

[0307] 9. After confirmation, the ninth handling robot 960 picks up the encoder body and puts it into the semi-finished component.

[0308] 10. After confirming the placement of the first inspection piece 951, proceed with screw fastening.

[0309] 11. After the locking is completed, the ninth quality inspection component performs height inspection.

[0310] 12. After passing the inspection, the ninth handling robot 960 will place the assembled single-joint component onto the ninth conveyor and transfer it to the next workstation.

[0311] For single-joint tests:

[0312] like Figures 32 to 34 As shown, the single-joint testing device 1000 of this embodiment includes a tenth frame 1010, a tenth conveying component 1020, a tenth handling robot 1030, a power-on testing component 1040, and a silent testing component 1050. The tenth conveying component 1020 is connected to the tenth frame 1010 and has a tenth conveying carrier 1021 for conveying the single-joint component. The tenth handling robot 1030 is connected to the tenth frame 1010 and is used to handle the single-joint component. The power-on testing component 1040 is connected to the tenth frame 1010 and has a power-on placement position with a contact 1043. When the single-joint component is placed in the power-on placement position, it is electrically connected to the contact 1043. The silent testing component 1050 is connected to the tenth frame 1010 and has a testing cavity. The tenth handling robot 1030 can transport the single-joint component to the testing cavity for silent testing.

[0313] This embodiment integrates a tenth transport robot 1030, a power-on testing component 1040, and a silent testing component 1050 to achieve automated testing and unmanned handling of single-joint components. The tenth transport component 1020 is responsible for transporting the single-joint component from the preceding process to the testing device, thus enabling automated transport. The tenth transport robot 1030 is responsible for transporting the single-joint component to the workstations of each testing component. The power-on placement position on the power-on testing component 1040 is equipped with a contact 1043. When the single-joint component is accurately placed in this position, the contact 1043 contacts and conducts electricity, automatically starting the power-on testing program to accurately detect the component's electrical performance. The silent testing component 1050 contains a testing chamber in which the tenth transport robot 1030 places the single-joint component for silent performance evaluation, ensuring that the component meets noise standards during operation. This setup allows the entire testing process to be automated without manual intervention, greatly improving testing efficiency and accuracy while reducing labor costs. It also solves the problem in existing technologies where single-joint component testing relies on manual operation and is difficult to achieve continuous and efficient testing.

[0314] In this embodiment, the power-on test component 1040 and the silent test component 1050 are located on opposite sides of the tenth transport robot 1030. This allows single-joint components to be efficiently transferred from one test component to another without a complex intermediate handling process, which improves testing efficiency. Furthermore, it ensures that the power-on test component 1040 and the silent test component 1050 do not interfere with each other, guaranteeing sufficient space for both test components.

[0315] like Figure 32 and Figure 34 As shown, in this embodiment, the power-on testing component 1040 includes multiple test boards 1041, each with a contact 1043. Each test board 1041 is used to perform power-on testing on multiple single-joint components. Through the above-described configuration, this embodiment allows the power-on testing component 1040 to simultaneously test each single-joint component. Thus, when the tenth handling robot 1030 places a single-joint component on a test board 1041 for testing, during the power-on testing of that single-joint component, the tenth handling robot 1030 can continue to move the next single-joint component to another test board 1041, and so on, enabling multiple single-joint components to be tested simultaneously, thereby significantly improving testing efficiency.

[0316] In this embodiment, the test plate 1041 is arranged in a horizontal and vertical array, with multiple layers. Each layer also has multiple test plates 1041 arranged horizontally along the left and right sides of the tenth transport robot 1030. This array arrangement of the test plates 1041 on one side of the tenth transport robot 1030 allows the tenth transport robot 1030 to cover all the test plates 1041. Furthermore, the test plates 1041 in this embodiment are staggered between layers. In two adjacent layers of test plates 1041, the upper layer avoids the direct overhead position of the lower layer, creating a stepped arrangement. This arrangement prevents the upper layer test plate 1041 from excessively obstructing the space directly above the lower layer test plate 1041, allowing the single-joint assembly to be stably placed on the test plate 1041 without being affected by the test plate 1041 above it, thus avoiding interference.

[0317] like Figure 34 As shown, the power-on test assembly 1040 of this embodiment includes a test board 1041 and a power-on / off mechanism 1042. The test board 1041 has a power-on placement position. The power-on / off mechanism 1042 is disposed on the upper surface of the test board 1041 and located at the power-on placement position. The top of the power-on / off mechanism 1042 has a contact 1043. When the single joint assembly is placed in the power-on placement position, the power-on / off mechanism 1042 is electrically connected to the single joint assembly and supplies power to the single joint assembly. By setting the power-on / off mechanism 1042, when the single joint assembly is not placed in the power-on placement position, the power-on / off mechanism 1042 is in a de-energized state, thereby avoiding accidental electric shock. When the single joint assembly is placed in the power-on placement position, the single joint assembly contacts the contact 1043, thereby triggering the power-on / off mechanism 1042, which then supplies power to the single joint assembly, realizing the power-on test of the single joint assembly.

[0318] Optionally, the power-on / off mechanism 1042 can take various forms, such as contact type, magnetic type, or inductive type, to adapt to different types of single-joint components and achieve more flexible and extensive testing capabilities. In this embodiment, the power-on / off mechanism 1042 adopts a conductive probe structure, with the tip of the conductive probe exposed and serving as a contact 1043. When the single-joint component is placed in the power-on position, the contact point on the single-joint component can contact and engage with the tip of the conductive probe, and the conductive probe can be pressed down a short distance to achieve stable and reliable electrical contact between the conductive probe and the single-joint component.

[0319] In this embodiment, the power-on testing component 1040 further includes a positioning element 1044, which is used to position and cooperate with the positioning structure on the single joint component. The specific structural form of the positioning element 1044 can be set as needed, as long as it can cooperate with the positioning structure. For example, when the positioning structure is a slot, the positioning element 1044 can be a positioning post or a positioning pin, which protrudes from the upper surface of the power-on placement position, so that when the single joint component is placed, the positioning element 1044 can extend into the positioning structure, thereby achieving the positioning function of the single joint component, making the position of the single joint component accurate and stable, and avoiding the situation of power failure due to skew. Of course, the positioning element 1044 can also adopt other positioning methods such as magnetic positioning or mechanical locking.

[0320] In addition to the positioning component 1044 ensuring the stability of the single joint component's energized placement position, the energized test component 1040 of this embodiment also includes a position detection component 1045. The position detection component 1045 can be a proximity sensor or other components. The position detection component 1045 is used to detect the placement status at the energized placement position. When the single joint component is placed at the energized placement position, the position detection component 1045 can be triggered to determine that the single joint component is in place. In this embodiment, the position detection element 1045 is electrically connected to the power-on / off mechanism 1042, forming an electrical connection between them. When the single joint component is placed in the power-on position, the single joint component triggers the position detection element 1045. After the position detection element 1045 detects that the single joint component has been placed in place, it sends a detection signal to the controller or the power-on / off mechanism 1042. The power-on / off mechanism 1042 can then supply power to the single joint component for power-on detection. When the position sensor does not detect the single joint component, the power-on / off mechanism 1042 will not supply power to the conductive probe. In this way, by associating the position detection element 1045 with the power-on / off mechanism 1042, automated power-on testing is achieved, and stability and safety can be guaranteed.

[0321] like Figure 32 and Figure 33 As shown, the silent testing assembly 1050 includes a housing 1051 and a sound insulation layer. The housing 1051 has multiple test chambers. The sound insulation layer is disposed on the inner wall of the test chambers and hinders sound transmission between test chambers and between the test chambers and the outside of the housing 1051. By providing multiple independent test chambers, the housing 1051 enables the silent testing assembly 1050 to simultaneously perform silent tests on multiple single-joint components, thereby significantly improving testing efficiency. The sound insulation layer covering the inner wall of each test chamber suppresses sound transmission, ensuring that the accuracy of the test results is not affected by external noise. The presence of the sound insulation layer not only isolates the sound between the test chambers but also effectively isolates the noise of the external environment of the housing 1051, creating a good silent testing environment and ensuring the test results.

[0322] like Figure 33 As shown, in this embodiment, the silent test assembly 1050 further includes a telescopic mechanism 1052. The telescopic mechanism 1052 is telescopically disposed within the test cavity. At least a portion of the telescopic mechanism 1052 can extend out of the test cavity to receive the single-joint assembly and can retract into the test cavity to drive the single-joint assembly into the test cavity. The telescopic mechanism 1052 can adopt a structure of a telescopic arm and a telescopic plate. The telescopic arm can be bent, and the telescopic plate is connected to the telescopic arm. When the telescopic arm is bent, the telescopic plate can be moved laterally out or into the test cavity. When it is necessary to place the single-joint assembly, the telescopic arm drives the telescopic plate to move laterally and extend out of the test cavity. At this time, the tenth handling robot 1030 can place the single-joint assembly on the telescopic plate, and then the telescopic arm retracts to drive the telescopic plate into the test cavity for silent testing. In this way, the tenth handling robot 1030 only needs to place the single-joint assembly on the telescopic plate and does not need to extend into the test cavity, thereby avoiding collision and interference with the housing 1051.

[0323] The usage process of the single-joint testing device 1000 in this embodiment is as follows:

[0324] 1. The tenth handling robot 1030 picks up a single-joint component and places it onto the test board 1041.

[0325] 2. The single joint assembly has a probe, which, when placed, will press against the power-on / off mechanism 1042, and the two are electrically connected.

[0326] 3. Positioning component 1044 and position detection component 1045 are used for positioning and detection to ensure that the single joint assembly is placed stably.

[0327] 4. The test program will start automatically after power is applied.

[0328] 5. After the test is completed, the tenth handling robot 1030 will place the single joint component into the silent test component 1050.

[0329] 6. The telescopic mechanism 1052 sends the single joint assembly into the test chamber to test whether the noise level is good.

[0330] 7. After the test is completed, the telescopic mechanism 1052 will send out the single joint component, and the tenth handling robot 1030 will put the single joint component back onto the tenth conveying component 1020.

[0331] 8. If the test fails, the tenth handling robot 1030 will place the single-joint component in the defective product placement area for manual processing.

[0332] It should be noted that "multiple" in the above embodiments refers to at least two.

[0333] As can be seen from the above description, the embodiments of the present invention achieve the following technical effects:

[0334] 1. It solves the problem of low assembly efficiency of robots in existing technologies;

[0335] 2. The entire process can achieve fully automated assembly of single joint components, thus requiring minimal manual intervention and significantly improving assembly efficiency.

[0336] 3. Through automated control and detection systems, various parameters during the assembly process can be monitored in real time to ensure the consistency of assembly accuracy and quality;

[0337] 4. The data upload system facilitates subsequent recording and traceability, significantly improving the automation level and production efficiency of robot assembly.

[0338] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention.

[0339] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0340] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0341] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot final assembly process, characterized by, The robot assembly process comprises: stator and housing assembly, a first handling robot (130) carries a stator and a housing to a housing assembly assembly device (100), the housing assembly assembly device (100) assembles the stator and the housing into a housing assembly; reducer and rotor assembly, a second handling robot (230) carries the reducer and the rotor to a reducer assembly assembly device (200), the reducer assembly assembly device (200) assembles the reducer and the rotor into a reducer assembly; nested assembly, a third handling robot (350) carries the housing assembly to a nested assembly device (300), the nested assembly device (300) assembles a nested to the housing assembly; overall assembly, a fourth handling robot (430) carries the housing assembly and the reducer assembly to an overall assembly device (400), the overall assembly device (400) assembles the reducer assembly into the housing assembly to form a semi-finished product assembly; brake mechanism assembly, a fifth handling robot (550) carries a brake mechanism and the semi-finished product assembly to a brake mechanism assembly device (500), the brake mechanism assembly device (500) assembles the brake mechanism to the semi-finished product assembly.

2. The robotic system of claim 1, wherein, The robot assembly process further comprises: servo encoder assembly, a sixth handling robot (650) carries a servo encoder and the semi-finished product assembly to a servo encoder assembly device (600), the servo encoder assembly device (600) assembles the servo encoder to the semi-finished product assembly; electromagnet assembly, a seventh handling robot (760) carries the semi-finished product assembly to an electromagnet assembly device (700), the electromagnet assembly device (700) assembles an electromagnet to the semi-finished product assembly; power-on test, an eighth handling robot (830) carries the semi-finished product assembly with assembled electromagnet to a power-on test device (800), the power-on test device (800) performs power-on test on at least one of the brake mechanism, the servo encoder, and the electromagnet; semi-automatic encoder assembly, a ninth handling robot (960) carries a semi-automatic encoder and the semi-finished product assembly to a semi-automatic encoder assembly device (900), the semi-automatic encoder assembly device (900) assembles the semi-automatic encoder to the semi-finished product assembly; single-joint test, a tenth handling robot (1030) carries the semi-finished product assembly with assembled semi-automatic encoder to a single-joint test device (1000), the single-joint test device (1000) performs overall power-on test and mute test on the semi-finished product assembly.

3. The robotic system of claim 1, wherein, The stator and housing assembly comprises: the first handling robot (130) carries a housing to a first assembly station of a first moving mechanism (180); the first handling robot (130) carries a stator to a first glue applying station of a first rotating mechanism (140), the first rotating mechanism (140) rotates the stator, and a first glue applying mechanism (150) applies glue to the stator; The first conveying robot (130) conveys the stator after gluing to the first assembly station; The first moving mechanism (180) moves the shell and the stator to be directly below the first pressure assembly (170), and the first pressure assembly (170) grabs the stator away from the first assembly station; The first moving mechanism (180) moves the shell to the heating assembly (160), and the heating assembly (160) heats the shell; After heating, the first moving mechanism (180) moves the shell to be directly below the first pressure assembly (170), and the first pressure assembly (170) pressure-welds the stator into the shell to form the shell assembly.

4. The robotic system of claim 3, wherein, The stator and shell assembly further comprises: When the first conveying robot (130) grabs the shell, the first conveying robot (130) conveys the shell to the appearance detection assembly (190), and the appearance detection assembly (190) detects the appearance of the shell; After the appearance detection of the shell, the first conveying robot conveys the shell to the marking mechanism, and the marking mechanism marks the shell; After the first gluing mechanism (150) glues the stator, the first conveying robot (130) conveys the stator to the first gluing detection assembly, and the first gluing detection assembly detects the amount of glue on the stator; After the pressure-welding assembly is completed, the first conveying robot (130) conveys the pressure-welded shell assembly to the first quality detection assembly (1110), and the first quality detection assembly (1110) detects the assembly quality of the shell assembly.

5. The robotic system of claim 1, wherein, The reducer and rotor assembly comprises: The second conveying robot (230) conveys the reducer to the second gluing station of the second rotating mechanism (240), the second rotating mechanism (240) rotates the reducer, and the second gluing mechanism (250) glues the central shaft of the reducer; The second conveying robot (230) conveys the rotor to the second gluing station of the second rotating mechanism (240), the second rotating mechanism (240) rotates the rotor, and the second gluing mechanism (250) glues the rotor; The second conveying robot (230) conveys the reducer and the rotor after gluing to the second assembly station of the second moving mechanism (270); The second conveying robot (230) conveys and places the pad outside the central shaft of the reducer; The second moving mechanism (270) moves the reducer and the rotor to be directly below the second pressure assembly (260), and the second pressure assembly (260) grabs the rotor and pressure-welds the rotor onto the reducer to form the reducer assembly.

6. The robotic system of claim 5, wherein, The reducer and rotor assembly further comprises: When the second transfer robot (230) grabs the reducer, an identification mechanism (280) identifies the mark on the reducer, and then the second transfer robot (230) transfers the reducer to the second gluing station; When the second transfer robot (230) grabs the rotor, the identification mechanism (280) identifies the mark on the rotor, and then the second transfer robot (230) transfers the rotor to the second gluing station; After the second gluing mechanism (250) glues the central shaft of the reducer, a second gluing detection assembly detects the amount of glue on the reducer; After the second gluing mechanism (250) glues the rotor, the second gluing detection assembly detects the amount of glue on the rotor; After the crimping assembly is completed, the second transfer robot (230) transfers the crimped reducer assembly to a second quality detection assembly (290), and the second quality detection assembly (290) detects the assembly quality of the reducer assembly.

7. The robotic system of claim 1, wherein, The overall assembly includes: The fourth transfer robot (430) transfers the housing assembly and the reducer assembly to a first limiting assembly (450) of an assembly assembly (440); A dispensing assembly (460) dispenses glue onto the housing assembly; The assembly assembly (440) grabs the reducer assembly, the first limiting assembly (450) moves the housing assembly to below the reducer assembly, and the assembly assembly (440) descends to assemble the reducer assembly into the housing assembly to form a preliminary assembly assembly; The fourth transfer robot (430) transfers the preliminary assembly assembly to a second limiting assembly (480) of a first locking assembly (470), and a pressing mechanism (4110) descends and presses the reducer assembly and the housing assembly together; After pressing, a via detection assembly (4100) detects the positional relationship between a first via on the rotatable part of the reducer and a second via outside the reducer. When the first via and the second via are not aligned, the second limiting assembly (480) and the reducer assembly drive together and adjust the positional relationship between the first via and the second via to align the first via and the second via. The first locking assembly (470) locks the reducer assembly to the housing assembly by locking screws.

8. The robotic system of claim 7, wherein the robotic system is configured to: The overall assembly also includes: Before the dispensing assembly (460) dispenses glue onto the housing assembly, a dispensing detection assembly (490) detects the position of the housing assembly and determines the dispensing position according to the detection result, and then the dispensing assembly (460) dispenses glue at the dispensing position; After the first locking assembly (470) is locked, the fourth transfer robot (430) transfers the locked preliminary assembly assembly to a fourth quality detection assembly (4120), and the fourth quality detection assembly (4120) detects the assembly quality of the preliminary assembly assembly. When the assembly assembly (440) assembles the reducer assembly into the housing assembly, a pressure detection assembly detects a pressing force of the assembly assembly (440), and the assembly assembly (440) controls the pressing force according to the detection result of the pressure detection assembly.

9. A robotic assembly system, characterized by, Comprise: A rack; A conveying assembly connected with the rack and having a conveying carrier for conveying components; A housing assembly assembly device (100) provided on the rack and having a first carrying robot (130) for carrying a stator and a housing, the housing assembly assembly device (100) being used for assembling the stator and the housing into a housing assembly; A reducer assembly assembly device (200) provided on the rack and located on a downstream side of the housing assembly assembly device (100), the reducer assembly assembly device (200) having a second carrying robot (230) for carrying a reducer and a rotor, the reducer assembly assembly device (200) being used for assembling the reducer and the stator into a reducer assembly; A nesting assembly device (300) provided on the rack and located on a downstream side of the reducer assembly assembly device (200), the nesting assembly device (300) having a third carrying robot (350) for carrying the housing assembly, the nesting assembly device (300) being used for assembling a nest to the housing assembly; An integrated assembly device (400) provided on the rack and located on a downstream side of the nesting assembly device (300), the integrated assembly device (400) having a fourth carrying robot (430) for carrying the housing assembly and the reducer assembly, the integrated assembly device (400) being used for assembling the reducer assembly and the housing assembly into a semi-finished product assembly; A brake mechanism assembly device (500) provided on the rack and located on a downstream side of the integrated assembly device (400), the brake mechanism assembly device (500) having a fifth carrying robot (550) for carrying a brake mechanism and the semi-finished product assembly, the brake mechanism assembly device (500) being used for assembling the brake mechanism to the semi-finished product assembly.

10. The robotic assembly system of claim 9, wherein, The robot assembly system further comprises: A servo encoder assembly device (600) provided on the rack and located on a downstream side of the integrated assembly device (400), the servo encoder assembly device (600) having a sixth carrying robot (650) for carrying the semi-finished product assembly, the servo encoder assembly device (600) being used for assembling a servo encoder to the semi-finished product assembly; An electromagnet assembling device (700) is arranged on the rack and located at the downstream side of the integral assembling device (400), the electromagnet assembling device (700) has a seventh carrying robot (760) for carrying the semi-finished product assembly, and the electromagnet assembling device (700) is used for assembling electromagnets on the semi-finished product assembly; A power-on testing device (800) is arranged on the rack and located at the downstream side of the brake mechanism assembling device (500), the servo encoder assembling device (600) and the electromagnet assembling device (700), the power-on testing device (800) has an eighth carrying robot (830) for carrying the semi-finished product assembly, and the power-on testing device (800) is used for power-on testing at least one of the brake mechanism, the servo encoder and the electromagnet; A semi-automatic encoder assembling device (900) is arranged on the rack and located at the downstream side of the power-on testing device (800), the semi-automatic encoder assembling device (900) has a ninth carrying robot (960) for carrying a semi-automatic encoder, and the semi-automatic encoder assembling device (900) is used for assembling the semi-automatic encoder on the semi-finished product assembly to form a single-joint assembly; A single-joint testing device (1000) is arranged on the rack and located at the downstream side of the semi-automatic encoder assembling device (900), the single-joint testing device (1000) has a tenth carrying robot (1030) for carrying the single-joint assembly, and the single-joint testing device (1000) is used for whole-machine power-on testing and mute testing of the single-joint assembly.

11. The robotic assembly system of claim 9, wherein, The shell assembly assembling device (100) further comprises: A first rotating mechanism (140) connected with the rack, the first rotating mechanism (140) has a first gluing station, and a rotating shaft for driving the stator to rotate is arranged at the first gluing station; A first gluing mechanism (150) located at the first gluing station and used for gluing the stator at the first gluing station; A heating assembly (160) connected with the rack, the heating assembly (160) has a heating cavity for heating the shell; A first pressure bonding assembly (170) connected with the rack and having a first pressure bonding end arranged in a lifting manner, the first pressure bonding end can be lowered to grab the glued stator and press bond the stator to the heated shell; A first moving mechanism (180) movably arranged relative to the rack, the first moving mechanism (180) having a first assembly station for placing the stator and the housing, the first moving mechanism (180) having a crimping position located directly below the first crimping assembly (170), a heating position located at the heating assembly (160), and a placing position avoiding the first crimping assembly (170) and the heating assembly (160).

12. The robotic assembly system of claim 11, wherein, The housing assembly assembling device (100) further comprises: An appearance detection assembly (190) connected with the rack, the appearance detection assembly (190) being used for detecting the appearance quality of the housing; A marking mechanism (1100) connected with the rack, the marking mechanism (1100) being used for marking the housing; A first glue coating detection assembly located at the first glue coating station and used for detecting the glue coating amount of the stator; A first quality detection assembly (1110) connected with the rack, the first quality detection assembly (1110) being used for detecting the quality of the housing assembly after the stator and the housing are assembled; A first resting table connected with the rack or the conveying assembly, the first resting table having a first resting station for resting and curing the housing assembly.

13. The robotic assembly system of claim 9, wherein, The speed reducer assembly assembling device (200) further comprises: A second rotating mechanism (240) connected with the rack, the second rotating mechanism (240) having a second glue coating station, the second glue coating station being provided with a rotating shaft for driving the speed reducer and the rotor to rotate; A second glue coating mechanism (250) located at the second glue coating station and used for coating glue on the speed reducer or the rotor at the second glue coating station; A second crimping assembly (260) connected with the rack and having a second crimping end arranged in a lifting manner, the second crimping end being capable of descending and crimping the coated rotor to the speed reducer; A second moving mechanism (270) movably arranged relative to the rack, the second moving mechanism (270) having a second assembly station for placing the coated speed reducer and the rotor, the second moving mechanism (270) having a crimping position located directly below the second crimping assembly (260) and a placing position avoiding directly below the second crimping assembly (260).

14. The robotic assembly system of claim 13, wherein, The speed reducer assembly assembling device (200) further comprises: An identification mechanism (280) connected with the rack or the second carrying robot (230), the identification mechanism (280) being used for identifying the marks on the speed reducer and the rotor; A second gluing detection assembly is arranged at the second gluing station and is configured to detect the amount of glue applied to the rotor and the speed reducer; A second quality detection assembly (290) is connected to the rack, and is configured to detect the quality of the assembled speed reducer assembly of the rotor and the speed reducer; A second resting table is connected to the rack or the conveying assembly, and has a second resting station for curing the speed reducer assembly.

15. The robotic assembly system of claim 9, wherein, The integrated assembly device (400) further comprises: An assembly assembly (440) is arranged to be lifted relative to the rack, and is configured to assemble the speed reducer assembly into the housing assembly; A first limiting assembly (450) is movably arranged below the assembly assembly (440), and is configured to receive the housing assembly and the speed reducer assembly, and to drive the housing assembly to move below the liftable part of the assembly assembly (440); A dispensing assembly (460) is arranged at the assembly assembly (440) and is configured to dispense glue to the housing assembly on the first limiting assembly (450); A first locking assembly (470) is arranged to be lifted relative to the rack, and is configured to lock the speed reducer assembly to the housing assembly; A second limiting assembly (480) is arranged at the first locking assembly (470), and is configured to receive the preliminarily assembled assembly, and is drivably connected to the speed reducer assembly and is configured to drive the rotating shaft of the speed reducer assembly to rotate; A via detection assembly (4100) is connected to the first locking assembly (470), and is configured to detect the positional relationship between the first via of the speed reducer assembly and the second via outside the speed reducer assembly.

16. The robotic assembly system of claim 15, wherein, The integrated assembly device (400) further comprises: A dispensing detection assembly (490) is arranged at the dispensing end of the dispensing assembly (460) and moves synchronously with the dispensing assembly (460), and is configured to detect the dispensing position of the housing assembly when the first limiting seat moves to the dispensing end; A pressing mechanism (4110) is connected to the first locking assembly (470), and has a liftable pressing end configured to press the speed reducer assembly and the housing assembly together; A fourth quality detection assembly (4120) is arranged at the first locking assembly (470), and is configured to detect the assembly quality of the preliminary assembly assembly; A pressure detection assembly is arranged at the assembly assembly (440), and is configured to detect the pressure of the assembly assembly (440).

17. The robotic assembly system of claim 9, wherein, The nested assembly device (300) further comprises: A third limiting assembly (330) connected to the rack, the third limiting assembly (330) having a placement position for placing the shell assembly; A nested feeding mechanism (340) connected to the rack, the nested feeding mechanism (340) having a feeding channel, and the nested feeding mechanism (340) being capable of feeding the nested feeding mechanism (340) from one end of the feeding channel to the other end of the feeding channel under the action of air flow; A nested crimping assembly (360) arranged relative to the third limiting assembly (330) and capable of being lifted, the nested crimping assembly (360) having a suction part for sucking the nested feeding mechanism (340) at the placement position and carrying the nested feeding mechanism (340) to the placement position, and at least a part of the nested crimping assembly (360) being capable of being lowered and crimping the nested feeding mechanism (340) to the shell assembly.

18. The robotic assembly system of claim 9, wherein, The brake mechanism assembly device (500) further comprises: A brake part feeding mechanism (530) connected to the rack, and the brake part feeding mechanism (530) being configured to store the parts of the brake mechanism; A fifth limiting assembly (540) connected to the rack, the fifth limiting assembly (540) having a placement position for placing the semi-finished product assembly; A brake mechanism crimping assembly (560) arranged relative to the fifth limiting assembly (540) and capable of being lifted, at least a part of the brake mechanism crimping assembly (560) being capable of being lowered and crimping the parts of the brake mechanism to the semi-finished product assembly.

19. The robotic assembly system of claim 10, wherein, The servo encoder assembly device (600) further comprises: A sixth limiting assembly (630) connected to the rack, the sixth limiting assembly (630) having a placement position for placing the semi-finished product assembly; A plurality of servo encoder feeding mechanisms (640) connected to the rack, and each of the servo encoder feeding mechanisms (640) being configured to store each part of the servo encoder; The servo encoder locking assembly (660) comprises a servo encoder moving mechanism (661) connected with the rack, at least a part of the servo encoder moving mechanism (661) being movably arranged relative to the rack, and a plurality of servo encoder locking pieces (662) each movably connected with the servo encoder moving mechanism (661) and used for cooperating with different locking screws and locking the parts to the semi-finished product assembly through the locking screws.

20. The robotic assembly system of claim 10, wherein, The electromagnet assembling device (700) further comprises: A seventh limiting assembly (730) connected with the rack, the seventh limiting assembly (730) having a placing position for placing the semi-finished product assembly; An electromagnet feeding mechanism (740) connected with the rack, the electromagnet feeding mechanism (740) being used for storing parts of an electromagnet; A pre-assembly mechanism (750) connected with the rack and used for pre-assembling the parts into an electromagnet; A pressure locking assembly (770) arranged in a liftable manner relative to the seventh limiting assembly (730), at least a part of the pressure locking assembly (770) being capable of descending and locking the assembled electromagnet and the semi-finished product assembly together.

21. The robotic assembly system of claim 10, wherein, The energization testing device (800) further comprises: An eighth limiting assembly (840) connected with the rack, the eighth limiting assembly (840) having a placing position for placing the semi-finished product assembly; A clamping assembly (850) connected with the rack and having a clamping end for clamping a wire on the semi-finished product assembly, the clamping end being movably arranged relative to the rack; An energization assembly (860) having a movably arranged energization terminal (861), the energization terminal (861) being located on one side of the placing position and being capable of moving towards the semi-finished product assembly and being in contact with a contact on the semi-finished product assembly.

22. The robotic assembly system of claim 10, wherein, The semi-automatic encoder assembling device (900) further comprises: A ninth limiting assembly (930) connected with the rack, the ninth limiting assembly (930) having a placing position for placing the semi-finished product assembly; A semi-automatic encoder feeding mechanism (940) connected with the rack, the semi-automatic encoder feeding mechanism (940) being used for storing parts of a semi-automatic encoder; A position detecting assembly (950) connected with the rack and used for detecting mounting hole positions on the semi-finished product assembly and mounting hole positions on the parts, the position detecting assembly (950) having a detecting position; A ninth carrying robot (960) connected with the rack, used for carrying the parts of the semi-automatic encoder to the detection position of the position detection assembly (950) and the ninth limiting assembly (930); A semi-automatic encoder locking assembly (970) movably connected with the rack, used for locking the parts on the semi-finished product assembly.

23. The robotic assembly system of claim 10, wherein, The single-joint testing device (1000) further comprises: A power-on testing assembly (1040) connected with the rack, having a power-on placement position with a contact (1043) at the power-on placement position, and the single-joint assembly is electrically connected with the contact (1043) when placed at the power-on placement position; A mute testing assembly (1050) connected with the rack, having a testing cavity, and the tenth carrying robot (1030) can carry the single-joint assembly to the testing cavity for mute testing.

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