Industrial robot for assembling and taking square nuts of back door buckles

Abstract

The invention discloses a back door buckle square nut assembling and taking industrial robot, and belongs to the technical field of manipulators, the back door buckle square nut assembling and taking industrial robot comprises a supporting arm, the upper surface of the supporting arm is provided with a manipulator, the manipulator drives the supporting arm to rotate, the inner wall of the supporting arm is provided with a plurality of clamping suction heads, and one side of each clamping suction head is provided with a plurality of sleeving suction heads; the sleeve plate is located on one side of the lower portion of the clamping and sucking head, and a storage protection piece is installed on the upper surface of the sleeve plate; and the driving piece is installed on the inner wall of the sleeve plate, a supporting strip is fixed to one end of the sleeve plate, and a butt joint protection piece is arranged on the upper surface of the supporting strip. By means of the storage protection piece and the butt joint protection piece, falling square nuts and buckles can be effectively borne and stored when clamping force fails, the covering pressing piece is started to press the square nuts and the buckles, production interruption, scrapping and equipment damage caused by falling of the square nuts and the buckles are fundamentally avoided, and the production efficiency is improved. And the safety of the industrial robot during taking and using is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an industrial robot for assembling and retrieving square nuts from a rear door latch. Background Technology

[0002] During the assembly and removal of the rear door buckle and square nut, the robotic arm of the industrial robot needs to simultaneously grip both parts. This is mainly to improve production efficiency. Traditional step-by-step gripping requires first removing the buckle and then the nut, and the two gripping actions need to be completed independently. However, simultaneous gripping can complete the gripping of both parts at once, directly shortening the single-process operation time.

[0003] Among the existing publicly available documents, patent publication number CN101176993A discloses a planar multi-joint robot. This technology includes a linkage mechanism, an end effector, and its mounting and adjustment mechanism; the arm assembly is mounted on one end of the column assembly, and it features light weight, good dynamic control performance, and high repeatability. However, this device still has the following drawbacks.

[0004] In the assembly and removal process of the rear door latches and square nuts, although the industrial robot arm can grasp and move parts to a designated area in batches, there are serious safety hazards. If the power source for grasping force unexpectedly disappears or malfunctions during the grasping and moving process, or if the power valve malfunctions, a large number of latches and square nuts will fall off due to gravity. This will not only cause damage to the latches and nuts themselves, increasing production costs and rework rates, but more seriously, the scattered latches and nuts will fall onto other equipment, causing impact damage to other equipment. The safety of using industrial robots for part removal is poor. Summary of the Invention

[0005] Therefore, the present invention provides an industrial robot for assembling and retrieving square nuts for rear door latches, in order to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an industrial robot for assembling and retrieving square nuts for rear door buckles, comprising a support arm, a robotic arm on the upper surface of the support arm, the robotic arm driving the support arm to rotate, and multiple suction heads installed on the inner wall of the support arm, with multiple sleeve suction heads on one side of each suction head; A sleeve plate is located on one side below the suction head, and a storage and protective component is installed on the upper surface of the sleeve plate; A driving component is installed on the inner wall of a sleeve plate. A support strip is fixed to one end of the sleeve plate, and a docking protection component is provided on the upper surface of the support strip. Cover fitting, installed on the outside of the support strip; The driving component is used to drive the sleeve plate so that the storage protective component is located at the bottom of the suction head. The sleeve plate drives the support strip so that the docking protective component is located at the bottom of the suction head. The storage protective component is used to store and protect the falling square nut. The docking protective component is used to receive and protect the falling buckle. The cover is used to cover and press the square nut and buckle.

[0007] Preferably, multiple clamping suction heads and multiple sleeve suction heads are fixedly connected to the support arm, and the upper surface of the sleeve plate and the upper surface of the support strip are on the same horizontal plane.

[0008] Preferably, the storage and protective component includes: Multiple collection frames are fixed to the upper surface of the sleeve plate, and corner blocks are fixed at the top of each collection frame and near its four corners. A fixed column is installed inside the collection frame, and the bottom end of the fixed column is fixedly connected to the sleeve plate; Two ultrasonic sensors are used. One ultrasonic sensor is installed on the upper surface of the sleeve plate and close to the collection frame, while the other ultrasonic sensor is fixed on the upper surface of the support strip and away from the collection frame.

[0009] Preferably, a gap is provided between the two corner blocks, and the upper surface of the ultrasonic sensor is arranged parallel to the upper surface of the corner block.

[0010] Preferably, each corner block has a triangular cross-sectional shape, and the upper surface of the corner block is rounded.

[0011] Preferably, the docking protection component includes: Multiple collection sleeves are fixed to the upper surface of the support strip, and an inner sleeve is installed inside the collection sleeve, which is fixedly connected to the support strip. A guide surface is formed on the upper surface of the collection sleeve, and slots are formed on both sides of the inner wall of the collection sleeve.

[0012] Preferably, the cover clamping member includes: A linkage bar is located outside the sleeve plate, and multiple push bars are fixed on the upper surface of the linkage bar; The push block has one end fixed to one side of the push bar, and the other end of the push block is fixed with a pressure bar. Multiple linkage rods are fixed on the upper surface of the linkage bar away from the push bar, and a pressure groove plate is fixed at the top of each linkage rod. A groove is formed on one side of the inner wall of the pressure plate; A linear servo is installed on one side of the linkage bar. The linear servo is fixedly connected to the support bar and is used to push the linkage bar.

[0013] Preferably, the driving component includes: A push rod is fixed to the inner wall of the support arm, and a slider is fixed to the top of the push rod, and the slider is slidably connected to the support arm; A linkage electric cylinder is installed on one side of the slider. The linkage electric cylinder is fixedly connected to the support arm. A controller is fixed on the outer wall of the support arm. The controller is electrically connected to the linkage electric cylinder.

[0014] Preferably, a negative pressure tube is installed on the outer wall of the suction head, and the multiple suction heads and multiple suction clamps are all connected to the negative pressure tube; A negative pressure pump is installed on one side of the outer wall of the negative pressure pipe, and an electric valve is fixedly connected to the output end of the negative pressure pump.

[0015] Preferably, the robotic arm comprises: A push cylinder is installed on the upper surface of the support arm. The output end of the push cylinder is fixedly connected to the support arm. A rotating arm is fixed to the outer wall of the push cylinder, and a servo motor is installed on the lower surface of the rotating arm. The servo motor is used to drive the rotating arm to rotate.

[0016] The present invention has the following advantages: This invention utilizes a storage and docking protective component to effectively catch and contain falling square nuts and clips when the clamping force fails, preventing parts from falling off and damaging or injuring equipment, thus achieving passive protection. Furthermore, an ultrasonic sensor monitors in real time whether parts have fallen off; if an anomaly is detected, a cover clamp is immediately activated to tighten the square nuts and clips, preventing them from being thrown out, thus achieving active protection. This combination of passive and active protection fundamentally avoids production interruptions, scrap, and equipment damage caused by the falling of square nuts and clips, reducing maintenance costs and operational risks, and significantly improving the safety of industrial robots in handling parts. Attached Figure Description

[0017] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0018] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0019] Figure 1 This is a schematic diagram of the main structure of the industrial robot for assembling and removing the square nut for the rear door buckle according to the present invention. Figure 2 This is a schematic diagram of the partial upward view of the support arm structure of the present invention; Figure 3 This is a partial structural diagram of the connection between the support strip and the collection frame of the present invention; Figure 4 This is a schematic diagram of a partial section of the structure at the connection between the sleeve plate and the fixed column of the present invention; Figure 5 For the present invention Figure 3 Enlarged structural diagram at point A in the middle; Figure 6 This is a partial structural diagram of the connection between the support bar and the linear servo motor of the present invention; Figure 7 This is a partial structural diagram of the connection between the support arm and the linkage electric cylinder of the present invention. Figure 8 This is a partial structural diagram of the connection between the negative pressure pipe and the negative pressure pump of the present invention; In the diagram: 1. Support arm; 2. Gripping suction head; 3. Sleeve suction head; 4. Sleeve plate; 5. Support strip; 6. Collection frame; 7. Fixed column; 8. Corner block; 9. Ultrasonic sensor; 10. Collection sleeve; 11. Guide surface; 12. Inner sleeve; 13. Groove; 14. Linkage bar; 15. Push bar; 16. Push block; 17. Pressure bar; 18. Linkage rod; 19. Pressure groove piece; 20. Snap groove; 21. Linear servo motor; 22. Push rod; 23. Slider; 24. Linkage electric cylinder; 25. Controller; 26. Negative pressure pipe; 27. Negative pressure pump; 28. Electric valve; 29. ​​Push electric cylinder; 30. Rotating arm; 31. Servo motor. Detailed Implementation

[0020] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figure 1 - Figure 8The illustrated industrial robot for assembling and retrieving square nuts with latches on a rear door includes a support arm 1. A robotic arm is mounted on the upper surface of the support arm 1, which drives the support arm 1 to rotate. Multiple gripping heads 2 are installed on the inner wall of the support arm 1, and multiple sleeve heads 3 are provided on one side of the gripping heads 2. A sleeve plate 4 is located below the gripping heads 2, and a storage protective component is installed on the upper surface of the sleeve plate 4. A drive component is installed on the inner wall of the sleeve plate 4, and a support strip 5 is fixed to one end of the sleeve plate 4. A docking protective component is provided on the upper surface of the support strip 5. A cover is installed on the outside of the support strip 5. The drive component drives the sleeve plate 4 so that the storage protective component is located at the bottom of the gripping heads 2, and the sleeve plate 4 drives the support strip 5 so that the docking protective component is located at the bottom of the sleeve heads 3. The storage protective component is used to store and protect the falling square nuts, the docking protective component is used to receive and protect the falling latches, and the cover is used to cover and press the square nuts and latches. Multiple suction heads 2 and multiple suction heads 3 are fixedly connected to the support arm 1, and the upper surface of the sleeve plate 4 and the upper surface of the support strip 5 are at the same level.

[0022] In use, the clamping head 2 positions, clamps, and holds the square nut, while the sleeve suction head 3 clamps and securely holds the buckle. A driving mechanism moves the sleeve plate 4 forward, causing it to position the protective housing at the bottom of the clamping head 2. This protects the square nut from falling. Simultaneously, the sleeve plate 4 moves the support strip 5 forward, positioning the protective housing below the buckle, thus protecting the buckle from falling off. Finally, a cover clamp presses down on the buckle and square nut to prevent them from being thrown out.

[0023] In this embodiment, as Figure 1 - Figure 4 As shown, the storage and protective components include: multiple collection frames 6, all fixed to the upper surface of the sleeve plate 4, with corner blocks 8 fixed at the top of each collection frame 6 and near its four corners; fixed posts 7, installed inside the collection frames 6, with their bottom ends fixedly connected to the sleeve plate 4; and two ultrasonic sensors 9, one of which is installed on the upper surface of the sleeve plate 4 near the collection frame 6, and the other is fixed to the upper surface of the support strip 5 away from the collection frame 6. A gap is provided between the two corner blocks 8, and the upper surfaces of the ultrasonic sensors 9 and the corner blocks 8 are parallel to each other. Each corner block 8 has a triangular cross-sectional shape, and its upper surface is rounded.

[0024] In use, the sleeve 4 moves the collection frame 6 forward, which in turn moves multiple corner blocks 8 forward. The collection frame 6 is positioned directly below the square nut, and the sleeve 4 moves multiple fixed posts 7 forward. When the square nut falls, it detaches from the suction head 2 due to gravity and enters the inner wall of the collection frame 6. The fixed posts 7 position the center of the square nut, and the multiple corner blocks 8 position the four corners of the square nut, thus achieving the storage and protection of the square nut.

[0025] In this embodiment, as Figure 5 As shown, the docking protection component includes: multiple collection sleeves 10, all fixed on the upper surface of the support strip 5, an inner sleeve 12 installed inside the collection sleeve 10, and the inner sleeve 12 is fixedly connected to the support strip 5; a guide surface 11 is opened on the upper surface of the collection sleeve 10, and slots 13 are opened on both sides of the inner wall of the collection sleeve 10.

[0026] When this technology is in use, the support bar 5 moves multiple collection sleeves 10 forward, while the inner sleeve 12 is directly opposite the center point of the bottom of the buckle. The collection sleeve 10 is located directly below the outer edge of the buckle. When the buckle on the suction head 3 accidentally falls off, the buckle is guided into the inside of the collection sleeve 10 along the guide surface 11, so that the bottom of the buckle is docked by the inner sleeve 12, and the slot 13 ensures that the ultrasonic sensor 9 can be unobstructed for sensing.

[0027] In this embodiment, as Figure 3 - Figure 6 As shown, the cover pressing component includes: a linkage bar 14 located outside the sleeve plate 4, with multiple push bars 15 fixed on the upper surface of the linkage bar 14; a push block 16, with one end fixed to one side of the push bar 15, and a pressure bar 17 fixed to the other end of the push block 16; multiple linkage rods 18 fixed on the upper surface of the linkage bar 14 away from the push bar 15, with a pressure groove plate 19 fixed to the top of each linkage rod 18; a retaining groove 20 formed on one side of the inner wall of the pressure groove plate 19; and a linear servo motor 21 installed on one side of the linkage bar 14, with the linear servo motor 21 fixedly connected to the support bar 5, and the linear servo motor 21 used to push the linkage bar 14.

[0028] When this technology is in use, the output end of the linear servo 21 pushes the linkage bar 14 to the left, the push bar 15 causes the push block 16 to move to the left, the lower surfaces of the push block 16 and the pressure bar 17 synchronously press against the upper surface of the square nut, the leftward movement of the linkage bar 14 drives multiple linkage rods 18 to move to the left synchronously, the lower surface of the pressure groove plate 19 presses against the edge of the upper surface of the buckle, and the buckle groove 20 is pressed against the outer wall of the protruding part of the buckle.

[0029] In this embodiment, as Figure 7As shown, the driving component includes: a push rod 22, fixed to the inner wall of the support arm 1, a slider 23 fixed to the top of the push rod 22, and the slider 23 is slidably connected to the support arm 1; a linkage electric cylinder 24, installed on one side of the slider 23, and the linkage electric cylinder 24 is fixedly connected to the support arm 1; a controller 25 is fixed to the outer wall of the support arm 1, and the controller 25 is electrically connected to the linkage electric cylinder 24.

[0030] When this technology is in use, the linkage electric cylinder 24 pushes the slider 23 to move forward along the inner wall of the support arm 1, and the slider 23 drives the push rod 22 to move forward, thus providing a power source for the movement of the sleeve plate 4.

[0031] In this embodiment, as Figure 2 - Figure 8 As shown, a negative pressure pipe 26 is installed on the outer wall of the suction head 2, and multiple suction heads 3 and multiple suction heads 2 are connected to the negative pressure pipe 26; a negative pressure pump 27 is installed on one side of the outer wall of the negative pressure pipe 26, and an electric valve 28 is fixedly connected to the output end of the negative pressure pump 27.

[0032] When this technology is in use, the negative pressure pump 27 generates negative pressure in the negative pressure pipe 26, which causes the sleeve suction head 3 and the clamp suction head 2 to form a negative pressure state. In this way, the clamp suction head 2 is positioned, clamped and sucked in the square nut, while the sleeve suction head 3 is clamped on the buckle and sucked in firmly. At this time, the electric valve 28 can be closed to form a negative pressure state.

[0033] In this embodiment, as Figure 1 - Figure 2 As shown, the robotic arm includes: a push cylinder 29, which is mounted on the upper surface of the support arm 1. The output end of the push cylinder 29 is fixedly connected to the support arm 1. A rotating arm 30 is fixed on the outer wall of the push cylinder 29, and a servo motor 31 is mounted on the lower surface of the rotating arm 30. The servo motor 31 is used to drive the rotating arm 30 to rotate.

[0034] When this technology is in use, the servo motor 31 is started by the controller 25. The servo motor 31 drives the rotating arm 30 to rotate, which in turn drives the electric cylinder 29 to rotate. The electric cylinder 29 drives the support arm 1 to rotate, which facilitates the movement of the support arm 1 to different positions.

[0035] The process of using the industrial robot for assembling and retrieving the square nut with the rear door latch of this invention is as follows: First, when retrieving parts, the present invention uses expansion bolts inserted into holes at the bottom of the servo motor 31 to fix the servo motor 31. Then, the controller 25 activates the electric cylinder 29, which pushes the support arm 1 downwards. The support arm 1 moves multiple suction heads 2 downwards, inserting them onto multiple square nuts. Simultaneously, the support arm 1 moves multiple sleeve suction heads 3 downwards, inserting them onto multiple clips. The controller 25 then activates the negative pressure pump 27, which generates negative pressure in the negative pressure pipe 26. This creates a negative pressure state between the sleeve suction heads 3 and the suction heads 2, allowing the suction heads 2 to position, clamp, and hold the square nuts, while the sleeve suction heads 3 are securely clamped onto the clips. The controller 25 immediately closes the electric valve 28 and stops the negative pressure pump 27, thus maintaining a continuous negative pressure adsorption state on the suction heads 2 and sleeve suction heads 3. At this time, the trays at the bottom of the clamping suction head 2 and the sleeve suction head 3 are lowered and transported out by the lifting machine, and there is a small entry space at the bottom of the clamping suction head 2 and the sleeve suction head 3.

[0036] Secondly, when the present invention performs drive docking, the controller 25 starts the linkage electric cylinder 24, the linkage electric cylinder 24 pushes the slider 23 to move forward along the inner wall of the support arm 1, and at the same time the slider 23 drives the push rod 22 to move forward, the push rod 22 carries the sleeve plate 4 to move forward, the sleeve plate 4 drives the collection frame 6 to move forward, the collection frame 6 drives multiple corner blocks 8 to move forward, and the sleeve plate 4 drives multiple fixed columns 7 to move forward. In this way, the collection frame 6 is located directly below the square nut, and the multiple corner blocks 8 are located in the area directly below the multiple corners of the square nut.

[0037] At the same time, the sleeve plate 4 will drive the support bar 5 to move forward, the support bar 5 will drive multiple collection sleeves 10 to move forward, and the support bar 5 will drive the inner sleeve 12 to move forward. The inner sleeve 12 is directly opposite the bottom center point of the buckle, and the collection sleeve 10 is located directly below the outer edge of the buckle. At this time, the controller 25 will shut down the linkage electric cylinder 24.

[0038] Then, when the present invention is protected, the electric cylinder 29 is pushed to move the support arm 1 upward, and the support arm 1 drives the clamping suction head 2 and the sleeve suction head 3 to move upward synchronously. In this way, the square nut on the clamping suction head 2 moves upward, and at the same time, the buckle on the sleeve suction head 3 moves upward. The servo motor 31 is started by the controller 25, and the servo motor 31 drives the rotating arm 30 to rotate. The rotating arm 30 pushes the electric cylinder 29 to rotate, and pushes the electric cylinder 29 to drive the support arm 1 to rotate. The support arm 1 drives the clamping suction head 2 and the sleeve suction head 3 to rotate synchronously to another placement position.

[0039] When the electric valve 28 is damaged and opens abnormally, or when the electric valve 28 is damaged and leaks abnormally, the power source for the clamping suction head 2 and the sleeve suction head 3 to clamp and suction disappears, or gaps appear in the clamping suction head 2 and the square nut, or wear gaps appear in the clamping suction head 3 and the buckle. This results in insufficient clamping suction force, causing the square nut on the clamping suction head 2 to fall off due to gravity. The square nut is then guided by multiple corner blocks 8 to enter the inner wall of the collection frame 6. The collection frame 6 protects the outer wall of the square nut, while the fixed column 7 positions the center of the square nut. Simultaneously, the multiple corner blocks 8 position the four corners of the square nut. If the buckle on the sleeve suction head 3 accidentally falls off, the buckle is guided by the guide surface 11 into the collection sleeve 10. Simultaneously, the bottom of the buckle is positioned by the inner sleeve 12, allowing the buckle to be stored in the inner sleeve 12 area. At this time, the slot 13 area is blocked by the buckle. At the same time, the horizontal gaps between the slot 13 and the two corner blocks 8 are aligned with each other, so that the ultrasonic sensor 9 can perform ultrasonic sensing. When either the buckle or the square nut blocks the sensing path of the ultrasonic sensor 9, the ultrasonic sensor 9 realizes the sensing signal, and the controller 25 immediately starts the linear servo motor 21.

[0040] Finally, during the pressing process, the linear servo motor 21 outputs a push bar 14 to the left, which in turn moves the push bar 15 to the left. The push bar 15 then moves the push block 16 to the left, and the push block 16 moves the pressure bar 17 to the left. This causes the lower surfaces of the push block 16 and the pressure bar 17 to simultaneously press against the upper surface of the square nut, preventing it from being thrown off during rotation. Simultaneously, the leftward movement of the push bar 14 moves multiple linkage rods 18 to the left, which in turn moves the pressure groove plate 19 to the left. The lower surface of the pressure groove plate 19 presses against the edge of the upper surface of the buckle. At the same time, the pressure groove plate 19 causes the buckle groove 20 to press against the outer wall of the protruding part of the buckle, preventing the buckle from being thrown off. Meanwhile, the display screen of the controller 25 shows the fault, allowing the operator to promptly check for problems with the components on the support arm 1 of the industrial robot.

[0041] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0042] The present invention has been described in detail above with general descriptions and specific embodiments. However, modifications or improvements can be made to the present invention, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An industrial robot for assembling and retrieving square nuts for rear door latches, comprising a support arm (1), wherein a robotic arm is provided on the upper surface of the support arm (1), and the robotic arm drives the support arm (1) to rotate, characterized in that: The inner wall of the support arm (1) is equipped with multiple suction heads (2), and multiple sleeve suction heads (3) are provided on one side of the suction head (2). The sleeve (4) is located on one side below the suction head (2), and a storage protective component is installed on the upper surface of the sleeve (4); A driving component is installed on the inner wall of the sleeve (4). A support strip (5) is fixed at one end of the sleeve (4), and a docking protection component is provided on the upper surface of the support strip (5). The cover is installed on the outside of the support strip (5); The driving component is used to drive the sleeve plate (4) so ​​that the storage protection component is located at the bottom of the suction head (2). The sleeve plate (4) drives the support strip (5) so that the docking protection component is located at the bottom of the suction head (3). The storage protection component is used to store and protect the falling square nut. The docking protection component is used to receive and protect the falling buckle. The cover is used to cover and press the square nut and buckle.

2. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 1, characterized in that: Multiple suction heads (2) and multiple sleeve suction heads (3) are fixedly connected to the support arm (1), and the upper surface of the sleeve plate (4) and the upper surface of the support strip (5) are on the same horizontal plane.

3. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 1, characterized in that: The storage and protective component includes: Multiple collection frames (6) are fixed to the upper surface of the sleeve plate (4), and corner blocks (8) are fixed at the top of the collection frame (6) and near its four corners. A fixed column (7) is installed inside the collection frame (6), and the bottom end of the fixed column (7) is fixedly connected to the sleeve plate (4); Two ultrasonic sensors (9) are provided. One ultrasonic sensor (9) is installed on the upper surface of the sleeve (4) and close to the collection frame (6). The other ultrasonic sensor (9) is fixed on the upper surface of the support strip (5) and away from the collection frame (6).

4. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 3, characterized in that: A gap is provided between the two corner blocks (8), and the upper surface of the ultrasonic sensor (9) is arranged parallel to the upper surface of the corner block (8).

5. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 4, characterized in that: Each corner block (8) has a triangular cross-sectional shape, and the upper surface of the corner block (8) is rounded.

6. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 1, characterized in that: The docking protection component includes: Multiple collection sleeves (10) are fixed on the upper surface of the support strip (5). An inner sleeve (12) is installed inside the collection sleeve (10), and the inner sleeve (12) is fixedly connected to the support strip (5). A guide surface (11) is provided on the upper surface of the collection sleeve (10), and slots (13) are provided on both sides of the inner wall of the collection sleeve (10).

7. The industrial robot for assembling and removing square nuts from rear door latches as described in claim 1, characterized in that: The cover clamp includes: Linkage bar (14) is located outside the sleeve plate (4), and multiple push bars (15) are fixed on the upper surface of the linkage bar (14). The push block (16) has one end fixed to one side of the push bar (15), and the other end of the push block (16) is fixed with a pressure bar (17). Multiple linkage rods (18) are fixed on the upper surface of the linkage bar (14) and at a position away from the push bar (15). Each linkage rod (18) has a pressure groove plate (19) fixed at its top end. A groove (20) is formed on one side of the inner wall of the pressure plate (19); A linear servo (21) is installed on one side of the linkage bar (14). The linear servo (21) is fixedly connected to the support bar (5). The linear servo (21) is used to push the linkage bar (14).

8. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 1, characterized in that: The driving component includes: A push rod (22) is fixed to the inner wall of the support arm (1). A slider (23) is fixed to the top of the push rod (22), and the slider (23) is slidably connected to the support arm (1). A linkage electric cylinder (24) is installed on one side of the slider (23). The linkage electric cylinder (24) is fixedly connected to the support arm (1). A controller (25) is fixed on the outer wall of the support arm (1). The controller (25) is electrically connected to the linkage electric cylinder (24).

9. The industrial robot for assembling and retrieving square nuts for rear door latches as described in claim 1, characterized in that: A negative pressure tube (26) is installed on the outer wall of the suction head (2), and multiple suction heads (3) and multiple suction heads (2) are connected to the negative pressure tube (26); A negative pressure pump (27) is installed on one side of the outer wall of the negative pressure pipe (26), and an electric valve (28) is fixedly connected to the output end of the negative pressure pump (27).

10. The industrial robot for assembling and removing square nuts from rear door latches as described in claim 1, characterized in that: The robotic arm includes: A push cylinder (29) is installed on the upper surface of the support arm (1). The output end of the push cylinder (29) is fixedly connected to the support arm (1). A rotating arm (30) is fixed on the outer wall of the push cylinder (29), and a servo motor (31) is installed on the lower surface of the rotating arm (30). The servo motor (31) is used to drive the rotating arm (30) to rotate.

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