A smart toy assembly robot

Abstract

This invention relates to an intelligent toy assembly robot, belonging to the technical field of assembly robot technology. The intelligent toy assembly robot includes an electrical box and controller, a feeding mechanism, two sets of loading mechanisms, a picking mechanism, and an assembly mechanism. Through the design of the top-loading component, this invention enables the top-loading component to adaptively adjust its top-loading state according to the working status of the picking and assembly mechanisms. Furthermore, during top-loading, only one part is lifted at a time, avoiding the need to grab multiple parts at once during picking, thus ensuring assembly efficiency and ease of use. It also prevents parts from being completely exposed to the environment and thus protecting them from damage when the picking and assembly mechanisms are not in operation, extending their service life. In addition, the push plate ensures that the clamping force applied to the parts by the picking and assembly mechanisms is horizontal, reducing the probability of part displacement due to clamping force deviation, thereby improving assembly accuracy.

Description

Technical Field

[0001] This invention belongs to the field of assembly robot technology, and specifically relates to an intelligent toy assembly robot. Background Technology

[0002] A toy assembly robot is used to assemble various parts of a toy into a whole. The robot mainly consists of three parts: the actuator, the drive mechanism, and the control system. The actuator is used to grasp the workpiece (or tool), and its structure varies depending on the shape, size, weight, material, and operational requirements of the object being grasped, such as clamping, supporting, and adsorption types. The drive mechanism enables the actuator to perform various rotational (swinging), moving, or combined movements to achieve the specified actions and change the position and posture of the grasped object. The independent motion modes of the drive mechanism, such as lifting, extending, and rotating, are called the robot's degrees of freedom. To grasp objects at any position and orientation in space, six degrees of freedom are required. Degrees of freedom are a key parameter in robot design; the more degrees of freedom, the greater the robot's flexibility and versatility, but also the more complex its structure. Generally, specialized robots have 2-3 degrees of freedom. The control system controls the motors of each degree of freedom of the robot to complete specific actions; it also receives information from sensor feedback to form a stable closed-loop control.

[0003] Currently, when assembling toys, one part is usually assembled with another. However, when existing robotic arms grasp parts, due to the small size of toy parts, the robotic arm may grasp multiple parts at once. This can lead to an excessive number of identical parts being assembled. Furthermore, although the robotic arm controls the assembly accuracy through sensors, the misalignment of parts during the grasping process can still affect the assembly accuracy. Based on this, an intelligent toy assembly robotic arm is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a reasonably designed intelligent toy assembly robot to solve the above-mentioned problems.

[0005] The present invention achieves the above objectives through the following technical solutions: A smart toy assembly robot includes an electrical box and a controller fixedly connected to the top of the electrical box. A feeding mechanism is fixedly connected to the top of the electrical box, two sets of loading mechanisms are fixedly connected to the top of the electrical box, a picking mechanism and an assembly mechanism are fixedly connected to the top of the electrical box, the two sets of loading mechanisms respectively convey two types of toy parts to the picking mechanism and the assembly mechanism, a pressing mechanism is fixedly connected to the top of the electrical box for fixing the two types of toy parts, and an unloading mechanism is fixedly connected to the top of the electrical box for unloading the assembled and fixed toy parts. The material handling mechanism includes a material handling robot fixedly connected to the top of the electrical box. A double-headed material handling cylinder is fixedly connected to the free end of the material handling robot. Two grippers are fixedly connected to the output end of the double-headed material handling cylinder. Water bags with deformation function are fixedly connected to the adjacent surfaces of the two grippers.

[0006] As a further optimization of the present invention, the feeding mechanism includes a vibratory feeder fixedly connected to the top of the electrical box, a fixed plate fixedly connected to the top of the electrical box, the discharge end of the vibratory feeder fixedly connected to the fixed plate, a material picking plate fixedly connected to the fixed plate, a material picking groove provided on the material picking plate, the material picking groove being positioned directly opposite the discharge end of the vibratory feeder, and a top material assembly fixedly connected to the fixed plate.

[0007] As a further optimization of the present invention, the top material assembly includes a first oil pipe fixedly connected to the bottom of a fixed plate, a second oil pipe fixedly connected to the bottom of the fixed plate, the second oil pipe being fixedly connected to the first oil pipe through a connecting pipe, a piston rod being slidably and sealed inside the first oil pipe, a push plate being fixedly connected to the top of the piston rod, a return spring being fixedly connected to the bottom of the push plate, the return spring being sleeved on the piston rod, and a material picking column being slidably and sealed inside the second oil pipe.

[0008] As a further optimization of the present invention, the reset spring is fixedly connected to the top of the fixed plate, the piston rod passes through the fixed plate and is slidably connected to the fixed plate, the material picking column passes through the fixed plate and the material picking disk and is slidably connected to the fixed plate and the material picking disk, and the top of the material picking column is convex.

[0009] As a further optimization of the present invention, the assembly mechanism includes an assembly robot fixedly connected to the top of the electrical box, a double-headed assembly cylinder fixedly connected to the free end of the assembly robot, an assembly claw fixedly connected to the output end of the double-headed assembly cylinder, and a straightening component fixedly connected to one side of the double-headed assembly cylinder.

[0010] As a further optimization of the present invention, the straightening component includes a limiting plate fixedly connected to the double-headed assembly cylinder, a straightening head fixedly connected to the limiting plate, a straightening bag fixedly connected to the end of the straightening head, a positioning plate fixedly connected to the bottom of the straightening bag, a sliding groove provided on the straightening head, and the positioning plate and the sliding groove being sealed and slidably connected.

[0011] As a further optimization of the present invention, the pressing mechanism includes a fixed frame fixedly connected to the top of the electrical box, a pressing cylinder fixedly connected to the fixed frame, a pressing rod fixedly connected to the output end of the pressing cylinder, a connecting spring fixedly connected to the pressing rod, a protective sleeve fixedly connected to the bottom of the connecting spring, the protective sleeve being fitted onto the pressing rod, and a pressing head fixedly connected to the end of the pressing rod.

[0012] As a further optimization of the present invention, the unloading mechanism includes a fixed base fixedly connected to the top of the electrical box, an unloading manipulator fixedly connected to the top of the fixed base, an unloading assembly fixedly connected to the free end of the unloading manipulator, and an unloading electric slide fixedly connected to the free end of the unloading manipulator. Two unloading claws are installed on the unloading electric slide, and unloading bags are fixedly connected to the adjacent sides of the two unloading claws.

[0013] As a further optimization of the present invention, the feeding mechanism includes a stepper motor fixedly connected to the top of the electrical box, a gearbox fixedly connected to the output end of the stepper motor, a feeding tray fixedly connected to the output end of the gearbox, an assembly tray fixedly connected to the feeding tray, and a positioning column fixedly connected to the center of the assembly tray.

[0014] The beneficial effects of this invention are as follows: 1. This invention, through the setting of the top-feeding component, enables the top-feeding component to adaptively adjust its top-feeding state according to the working state of the picking mechanism and the assembly mechanism. Furthermore, during top-feeding, only one part is lifted at a time, avoiding the grabbing of multiple parts at once during picking, thus ensuring assembly efficiency and ease of use. Simultaneously, it prevents parts from being completely exposed to the environment and thus avoiding damage when the picking and assembly mechanisms are not in operation, providing excellent protection for the parts and extending their service life. In addition, the push plate ensures that the clamping force applied to the parts by the picking and assembly mechanisms is horizontal, reducing the probability of part displacement due to clamping force deviation, thereby improving assembly accuracy.

[0015] 2. By using a water bag, the present invention will cause the water bag to deform and wrap around the outer surface of the part. Since the liquid cannot be compressed, the water bag can fully wrap around the outer surface of the part, ensuring the clamping force on the part, thereby realizing the clamping and material handling operation of parts of different shapes.

[0016] 3. This invention, through the setting of the straightening bag, when picking up the second part, the picking column will push the positioning plate upward, causing the positioning plate to squeeze the straightening bag, causing the straightening bag to deform and fit against the top of the second part. Then, the double-headed assembly cylinder is activated to move the assembly claw inward until the assembly claw fits against the outer surface of the picking column. At this time, the second part is located in the arc-shaped surface of the inner surface of the assembly claw, and is completely fitted with the arc-shaped surface of the inner surface of the assembly claw under the action of the straightening bag. This ensures that the second part is flat at the top of the picking column, preventing deviation between the second part and the picking column from causing large friction between the second part and the picking column, which could lead to damage to the second part. This provides good protection for the second part.

[0017] 4. The present invention, through the setting of the pressing mechanism, avoids the situation where parts break during pressing and assembly, thus preventing damage to the equipment. Then, the pressing cylinder continues to work, causing the pressing rod to move downward. During this process, the limiting block will fall on the upper surface of the first part, and the pressing head will be completely in contact with the upper surface of the second part. This ensures that the pressing cylinder applies the same squeezing force to all parts of the second part, avoiding excessive local pressure that could damage the parts. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall frontal three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the overall side three-dimensional structure of the present invention; Figure 3 This is a three-dimensional structural diagram of the assembly disk of the present invention; Figure 4 This is a three-dimensional structural diagram of the feeding mechanism and the unloading mechanism of the present invention; Figure 5 This is a schematic diagram of the cross-sectional structure of the feeding mechanism of the present invention. Figure 6 This is a schematic diagram of the three-dimensional structure of the gripper of the present invention; Figure 7 This is a three-dimensional structural diagram of the assembly mechanism of the present invention; Figure 8 This is a three-dimensional structural diagram of the assembly claw of the present invention; Figure 9 This is a schematic diagram of the installation position of the straightening head of the present invention; Figure 10 This is a schematic diagram of the cross-sectional structure of the centering head of the present invention; Figure 11 This is a three-dimensional structural diagram of the pressing mechanism of the present invention; Figure 12 This is a schematic diagram of the cross-sectional structure of the pressing head of the present invention; Figure 13 This is a three-dimensional structural diagram of the unloading mechanism of the present invention.

[0019] In the diagram: 1. Electrical box; 2. Controller; 3. Feeding mechanism; 31. Stepper motor; 32. Gearbox; 33. Feeding tray; 34. Assembly tray; 35. Positioning column; 4. Loading mechanism; 41. Vibratory feeder; 42. Fixing plate; 43. Picking tray; 44. Picking trough; 45. First oil pipe; 46. Piston rod; 47. Push plate; 48. Return spring; 49. Connecting pipe; 410. Second oil pipe; 411. Picking column; 5. Picking mechanism; 51. Picking robot; 52. Double-headed picking cylinder; 53. 54. Gripper; 6. Water bag; 7. Assembly mechanism; 81. Assembly robot; 92. Double-headed assembly cylinder; 10. Assembly claw; 11. Limiting plate; 12. Straightening head; 13. Straightening bag; 14. Positioning plate; 15. Slide groove; 26. Pressing mechanism; 17. Fixing frame; 18. Pressing cylinder; 19. Pressing rod; 20. Connecting spring; 21. Protective sleeve; 22. Pressing head; 33. Unloading mechanism; 44. Fixed base; 55. Unloading robot; 66. Unloading electric slide; 77. Unloading claw; 88. Unloading bag. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0021] Example: Figure 1-13 As shown, an intelligent toy assembly robot includes an electrical box 1 and a controller 2 fixedly connected to the top of the electrical box 1. The controller 2 is used to control the operation of the assembly robot. A feeding mechanism 3 is fixedly connected to the top of the electrical box 1. The feeding mechanism 3 includes a stepper motor 31 fixedly connected to the top of the electrical box 1. The output end of the stepper motor 31 is connected to a gearbox 32 through a synchronous belt and a synchronous pulley. A feeding tray 33 is fixedly connected to the output end of the gearbox 32. An assembly tray 34 is fixedly connected to the feeding tray 33. A positioning post 35 is fixedly connected to the middle of the assembly tray 34. Two sets of feeding mechanisms 4 are fixedly connected to the top of the electrical box 1. A picking mechanism 5 and an assembly mechanism 6 are fixedly connected to the top of the electrical box 1. The two sets of feeding mechanisms 4 respectively transport two kinds of toy parts to the picking mechanism 5 and the assembly mechanism 6. A pressing mechanism 7 is fixedly connected to the top of the electrical box 1. The pressing mechanism 7 is used to fix the two kinds of toy parts. An unloading mechanism 8 is fixedly connected to the top of the electrical box 1. The unloading mechanism 8 is used to unload the assembled and fixed toy parts.

[0022] In use, two sets of feeding mechanisms 4 are activated to transport two different toy parts. When the first part reaches directly below the picking mechanism 5, the picking mechanism 5 removes the first part from the first set of feeding mechanisms 4 and places it on the assembly tray 34. Then, the stepper motor 31 is activated, causing the stepper motor 31 to drive the feeding tray 33 to rotate through the gearbox 32, so that the assembly tray 34 containing the first part rotates to directly below the assembly mechanism 6. When the second part reaches directly below the assembly mechanism 6, the assembly mechanism 6 is activated to grab the second part and place it directly above the first part. Then, the stepper motor 31 is activated again, causing the assembly tray 34 containing two parts to rotate to directly below the pressing mechanism 7. Then, the pressing mechanism 7 is activated to press the two parts, so that the two parts are fixedly assembled together. At this time, the stepper motor 31 is activated again to rotate the fixedly assembled parts to the position of the unloading mechanism 8. Activating the unloading mechanism 8 will remove the two fixedly assembled parts from the assembly tray 34.

[0023] like Figure 1 , Figure 2 , Figure 4 and Figure 5 As shown, the feeding mechanism 4 includes a vibratory feeder 41 (the vibratory feeder 41 is a mature existing technology) fixedly connected to the top of the electrical box 1. A fixed plate 42 is fixedly connected to the top of the electrical box 1. The discharge end of the vibratory feeder 41 is fixedly connected to the fixed plate 42. A material receiving plate 43 is fixedly connected to the fixed plate 42. A material receiving groove 44 is provided on the material receiving plate 43. The material receiving groove 44 is set directly opposite the discharge end of the vibratory feeder 41. A top material assembly is fixedly connected to the fixed plate 42. The top material assembly includes a first oil pipe 45 fixedly connected to the bottom of the fixed plate 42. A second oil pipe 410 is fixedly connected to the bottom of the fixed plate 42. The second oil pipe 410 is connected to the first oil pipe through a connecting pipe 49. 45 is fixedly connected. Both the second oil pipe 410 and the first oil pipe 45 are filled with hydraulic oil. A piston rod 46 is sealed and slidably connected inside the first oil pipe 45. A push plate 47 is fixedly connected to the top of the piston rod 46. A return spring 48 is fixedly connected to the bottom of the push plate 47. The return spring 48 is sleeved on the piston rod 46 and fixedly connected to the top of the fixed plate 42. The piston rod 46 passes through the fixed plate 42 and is slidably connected to the fixed plate 42. A material picking column 411 is sealed and slidably connected inside the second oil pipe 410. The material picking column 411 slides through the fixed plate 42 and the material picking disc 43. The top of the material picking column 411 is convex, which facilitates material picking.

[0024] In use, the two types of parts to be assembled are poured into the vibratory feeders 41 of the two sets of feeding mechanisms 4, and then the two vibratory feeders 41 are started to transport the two types of parts respectively, so that the two types of parts enter the two picking troughs 44 respectively, at which time the parts are directly above the picking column 411.

[0025] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, the material handling mechanism 5 includes a material handling robot 51 fixedly connected to the top of the electrical box 1 (the material handling robot 51 is prior art and can perform X-axis and Y-axis movements). A double-headed material handling cylinder 52 is fixedly connected to the free end of the material handling robot 51. Two grippers 53 are fixedly connected to the output end of the double-headed material handling cylinder 52. Water bags 54 with deformation function are fixedly connected to the adjacent surfaces of the two grippers 53.

[0026] In use, the material handling robot 51 moves the double-headed material handling cylinder 52 to the top of the push plate 47. Then, the material handling robot 51 causes the double-headed material handling cylinder 52 to move downward, which in turn pushes the piston rod 46 along the inner surface of the first oil pipe 45 downward through the push plate 47. This forces the hydraulic oil in the first oil pipe 45 into the second oil pipe 410 through the connecting pipe 49. This causes the material handling column 411 to move upward under the action of the hydraulic oil, pushing the part out of the material handling groove 44. The part in the material handling groove 44 then enters between the two grippers 53. The double-headed material handling cylinder 52 can then be activated so that the grippers 53 clamp the part through the water bag 54. Due to the setting of the water bag 54, the water bag 54 will deform and wrap around the outer surface of the part. Since the liquid cannot be compressed, the water bag 54 can fully wrap around the outer surface of the part, ensuring the clamping force on the part. This enables the clamping and material handling operation of parts of different shapes. After the material is picked up, the picking robot 51 works to make the double-headed picking cylinder 52 move upward, which in turn makes the picking column 411 reset under the action of the return spring 48. This ensures that only one part is sent out each time a part is delivered, avoiding the need to grab multiple parts at once, thus ensuring assembly efficiency and ease of use.

[0027] like Figure 1 , Figure 2 , Figure 7 , Figure 8 , Figure 9 and Figure 10As shown, the assembly mechanism 6 includes an assembly robot 61 (which is prior art and capable of X-axis and Y-axis movement) fixedly connected to the top of the electrical box 1. A double-headed assembly cylinder 62 is fixedly connected to the free end of the assembly robot 61. An assembly claw 63 is fixedly connected to the output end of the double-headed assembly cylinder 62. The inner surface of the assembly claw 63 is arc-shaped. A straightening component is fixedly connected to one side of the double-headed assembly cylinder 62. The straightening component includes a limiting plate 64 fixedly connected to the double-headed assembly cylinder 62. A straightening head 65 is fixedly connected to the limiting plate 64. A straightening bag 66 is fixedly connected to the end of the straightening head 65. The straightening bag 66 is filled with water and is normally attached to the inner surface of the assembly claw 63. A positioning plate 67 is fixedly connected to the bottom of the straightening bag 66. A sliding groove 68 is provided on the straightening head 65. The positioning plate 67 and the sliding groove 68 are in a sealed sliding connection.

[0028] In operation, when the first part reaches directly below the assembly mechanism 6, the assembly robot 61 operates, moving the double-headed assembly cylinder 62 directly above the second feeding mechanism 4. Then, the assembly robot 61 is activated, causing the double-headed assembly cylinder 62 to move downwards. This, in turn, pushes the push plate 47 downwards via the assembly claw 63. The push plate 47 then pushes the piston rod 46 downwards along the inner surface of the first oil pipe 45, forcing the hydraulic oil in the first oil pipe 45 into the second oil pipe 410 through the connecting pipe 49. This causes the picking column 411 to move upwards under the action of the hydraulic oil, pushing the part out of the picking groove 44. The part in the picking groove 44 then enters between the two assembly claws 63. During this process, the picking column 411... This will push the positioning plate 67 upward, causing the positioning plate 67 to squeeze the straightening bag 66, causing the straightening bag 66 to deform and adhere to the top of the second part. Then, the double-headed assembly cylinder 62 is activated, causing the assembly claw 63 to move inward until the assembly claw 63 adheres to the outer surface of the picking column 411. At this time, the second part is located in the arc surface of the inner surface of the assembly claw 63, and it is completely adhered to the arc surface of the inner surface of the assembly claw 63 under the action of the straightening bag 66. This ensures that the second part is flat on the top of the picking column 411, preventing the second part from being out of center on the picking column 411, which would cause large friction between the second part and the picking column 411 and thus damage the second part. This provides good protection for the second part. Then, the assembly robot 61 can be activated to move the assembly claw 63 upward with the double-headed assembly cylinder 62, removing the second part from the picking column 411. After removal, the straightening bag 66 will ensure that the second part is always in contact with the inner surface of the assembly claw 63, and that the second part is always in a vertical position. Then, the assembly robot 61 is driven to place the second part directly above the first part for assembly. During assembly, the double-headed assembly cylinder 62 is activated to make the assembly claw 63 slide to both sides at the same time, so that the second part falls vertically above the first part under the action of the straightening bag 66, ensuring the assembly accuracy.

[0029] like Figure 1 , Figure 2 , Figure 11 and Figure 12 As shown, the pressing mechanism 7 includes a fixed frame 71 fixedly connected to the top of the electrical box 1. A pressing cylinder 72 is fixedly connected to the fixed frame 71. A pressing rod 73 is fixedly connected to the output end of the pressing cylinder 72. A connecting spring 74 is fixedly connected to the pressing rod 73. A protective sleeve 75 is fixedly connected to the bottom of the connecting spring 74. The protective sleeve 75 is fitted onto the pressing rod 73. A pressing head 76 is fixedly connected to the end of the pressing rod 73. The pressing head 76 is filled with water. The pressing head 76 is in contact with the inner surface of the protective sleeve 75. This arrangement ensures that the pressing head 76 can only deform downwards, so that the pressing head 76 can be in contact with the upper surface of the part, thereby ensuring that the pressure on each part of the part is uniform.

[0030] When the two assembled parts reach directly below the pressing mechanism 7, the pressing cylinder 72 is activated, causing the pressing rod 73 to move the protective sleeve 75 downwards via the connecting spring 74. This allows the protective sleeve 75 to first cover the outer surfaces of the two parts, preventing the parts from breaking and causing damage to the machine when pressing the assembled parts. Then, the pressing cylinder 72 continues to work, causing the pressing rod 73 to move downwards. During this process, the pressing head 76 will completely fit against the upper surface of the second part, ensuring that the pressing cylinder 72 applies the same squeezing force to all parts of the second part, avoiding excessive local pressure that could damage the parts.

[0031] like Figure 1 , Figure 2 and Figure 13 As shown, the unloading mechanism 8 includes a fixed base 81 fixedly connected to the top of the electrical box 1. An unloading robot 82 is fixedly connected to the top of the fixed base 81. An unloading assembly is fixedly connected to the free end of the unloading robot 82. The unloading assembly includes an unloading electric slide 83 (which is a mature prior art) fixedly connected to the free end of the unloading robot 82. Two unloading claws 84 are installed on the unloading electric slide 83. Unloading bags 85 are fixedly connected to the adjacent sides of the two unloading claws 84. The unloading bags 85 are filled with water.

[0032] After assembly, when the assembled parts reach the position of the unloading mechanism 8, the unloading robot 82 is activated so that the unloading claw 84 is placed around the assembled parts. Then, the unloading electric slide 83 is activated so that the unloading claw 84 clamps the parts through the unloading bag 85 and places the parts into the corresponding finished product box.

[0033] The specific working principle of this invention is as follows: In use, the corresponding assembly tray 34 is replaced according to the type of parts to be assembled. Then, the two sets of feeding mechanisms 4 are activated to transport two different toy parts. When the first part reaches directly below the picking mechanism 5, the picking robot 51 moves the double-headed picking cylinder 52 to the top of the push plate 47. Then, the picking robot 51 causes the double-headed picking cylinder 52 to move downward, which in turn pushes the piston rod 46 downward along the inner surface of the first oil pipe 45 through the push plate 47, squeezing the hydraulic oil in the first oil pipe 45 into the second oil pipe 410 through the connecting pipe 49. The picking column 411 moves upward under the action of hydraulic oil, pushing the parts in the picking groove 44 out, so that the parts in the picking groove 44 enter between the two grippers 53. Then, the double-head picking cylinder 52 can be activated to make the grippers 53 clamp the parts through the water bag 54. Due to the setting of the water bag 54, the water bag 54 will deform and wrap around the outer surface of the parts. Since the liquid cannot be compressed, the water bag 54 can fully wrap around the outer surface of the parts, ensuring the clamping force on the parts, thereby realizing the clamping and picking operation of parts of different shapes. After the material is picked up, the picking robot 51 works to make the double-headed picking cylinder 52 move upward, which in turn makes the picking column 411 reset under the action of the return spring 48. This ensures that only one part is sent out each time, avoiding the picking of multiple parts at once, thus ensuring assembly efficiency and ease of use. Then the picking robot 51 works to make the first part reach the top of the assembly plate 34 and place the part on the assembly plate 34, so that the positioning column 35 is located inside the first part. Then, the stepper motor 31 can be started, causing the stepper motor 31 to drive the feeding tray 33 to rotate through the gearbox 32. This causes the assembly tray 34 containing the first part to rotate directly below the assembly mechanism 6. When the second part reaches directly below the assembly mechanism 6, the assembly robot 61 works, moving the double-headed assembly cylinder 62 directly above the second feeding mechanism 4. Then, the assembly robot 61 is started, causing the double-headed assembly cylinder 62 to move downward. This, in turn, pushes the push plate 47 downward through the assembly claw 63. The push plate 47 then pushes the piston rod 46 downward along the inner surface of the first oil pipe 45, forcing the hydraulic oil in the first oil pipe 45 into the second oil pipe 410 through the connecting pipe 49. This causes the picking column 411 to move upward under the action of the hydraulic oil, pushing the part out of the picking slot 44. The part inside 4 enters between the two assembly claws 63. During this process, the picking column 411 will push the positioning plate 67 to move upward, so that the positioning plate 67 squeezes the straightening bag 66, causing the straightening bag 66 to deform and stick to the top of the second part. Then, the double-headed assembly cylinder 62 is activated to move the assembly claws 63 inward until the assembly claws 63 stick to the outer surface of the picking column 411. At this time, the second part is located in the arc surface of the inner surface of the assembly claw 63 and is completely stick to the arc surface of the inner surface of the assembly claw 63 under the action of the straightening bag 66. This ensures that the second part is flat on the top of the picking column 411, preventing the second part from being out of center on the picking column 411, which would cause large friction between the second part and the picking column 411 and thus damage the second part. This provides good protection for the second part. Then, the assembly robot 61 can be activated to make the double-headed assembly cylinder 62 drive the assembly claw 63 to move upward, and remove the second part from the picking column 411. After removal, due to the setting of the straightening bag 66, the second part will always be in contact with the inner surface of the assembly claw 63, and the second part will always be in a vertical state. Then, drive the assembly robot 61 to place the second part directly above the first part and assemble the two parts. During assembly, simply activate the double-headed assembly cylinder 62 to make the assembly claw 63 slide to both sides at the same time, so that the second part can fall vertically directly above the first part under the action of the straightening bag 66, ensuring the assembly accuracy. Then, the stepper motor 31 can be started, which drives the feeding tray 33 to rotate through the gearbox 32. This causes the assembly tray 34 containing the second part to rotate to the position directly below the pressing mechanism 7. When the two assembled parts reach the position directly below the pressing mechanism 7, the pressing cylinder 72 is activated, causing the pressing rod 73 to move the protective sleeve 75 downward through the connecting spring 74. The protective sleeve 75 first covers the outer surface of the two parts to prevent the parts from breaking during pressing and assembling, thus avoiding damage to the machine. Then, the pressing cylinder 72 continues to work, causing the pressing rod 73 to move downward. During this process, the pressing head 76 will completely fit against the upper surface of the second part, ensuring that the pressing cylinder 72 applies the same pressure to all parts of the second part, avoiding excessive local pressure that could damage the parts. The stepper motor 31 is restarted to transport the assembled parts to the unloading mechanism 8. Once the parts reach the unloading mechanism 8, the unloading robot 82 is started so that the unloading claws 84 are positioned around the assembled parts. Then, the unloading electric slide 83 is started so that the unloading claws 84 can grip the parts through the unloading bag 85 and place the parts into the corresponding finished product box.

[0034] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A smart toy assembly robot, comprising an electrical box (1) and a controller (2) fixedly connected to the top of the electrical box (1), characterized in that, The top of the electrical box (1) is fixedly connected to a feeding mechanism (3), the top of the electrical box (1) is fixedly connected to two sets of loading mechanisms (4), the top of the electrical box (1) is fixedly connected to a picking mechanism (5) and an assembly mechanism (6), the two sets of loading mechanisms (4) respectively transport two kinds of toy parts to the picking mechanism (5) and the assembly mechanism (6), the top of the electrical box (1) is fixedly connected to a pressing mechanism (7), the pressing mechanism (7) is used to fix the two kinds of toy parts, the top of the electrical box (1) is fixedly connected to a unloading mechanism (8), the unloading mechanism (8) is used to unload the toy parts after assembly and fixing; The material handling mechanism (5) includes a material handling robot (51) fixedly connected to the top of the electrical box (1). A double-headed material handling cylinder (52) is fixedly connected to the free end of the material handling robot (51). Two grippers (53) are fixedly connected to the output end of the double-headed material handling cylinder (52). A water bag (54) with deformation function is fixedly connected to the adjacent surfaces of the two grippers (53). The feeding mechanism (4) includes a vibratory feeder (41) fixedly connected to the top of the electrical box (1). A fixed plate (42) is fixedly connected to the top of the electrical box (1). The discharge end of the vibratory feeder (41) is fixedly connected to the fixed plate (42). A material picking plate (43) is fixedly connected to the fixed plate (42). A material picking groove (44) is provided on the material picking plate (43). The material picking groove (44) is set directly opposite the discharge end of the vibratory feeder (41). A top material assembly is fixedly connected to the fixed plate (42). The top material assembly includes components fixedly connected to the bottom of the fixed plate (42). The first oil pipe (45) is fixedly connected to the bottom of the fixed plate (42) and the second oil pipe (410) is fixedly connected to the first oil pipe (45) through the connecting pipe (49). The first oil pipe (45) is sealed and slidably connected to the piston rod (46). The top of the piston rod (46) is fixedly connected to the push plate (47). The bottom of the push plate (47) is fixedly connected to the return spring (48). The return spring (48) is sleeved on the piston rod (46). The second oil pipe (410) is sealed and slidably connected to the material pick-up column (411). The assembly mechanism (6) includes an assembly robot (61) fixedly connected to the top of the electrical box (1), a double-headed assembly cylinder (62) fixedly connected to the free end of the assembly robot (61), an assembly claw (63) fixedly connected to the output end of the double-headed assembly cylinder (62), and a straightening component fixedly connected to one side of the double-headed assembly cylinder (62). The pressing mechanism (7) includes a fixed frame (71) fixedly connected to the top of the electrical box (1), a pressing cylinder (72) fixedly connected to the fixed frame (71), a pressing rod (73) fixedly connected to the output end of the pressing cylinder (72), a connecting spring (74) fixedly connected to the pressing rod (73), a protective sleeve (75) fixedly connected to the bottom of the connecting spring (74), the protective sleeve (75) being sleeved on the pressing rod (73), and a pressing head (76) fixedly connected to the end of the pressing rod (73). The straightening assembly includes a limiting plate (64) fixedly connected to a double-headed assembly cylinder (62), a straightening head (65) fixedly connected to the limiting plate (64), a straightening bag (66) fixedly connected to the end of the straightening head (65), a positioning plate (67) fixedly connected to the bottom of the straightening bag (66), a sliding groove (68) provided on the straightening head (65), and the positioning plate (67) and the sliding groove (68) being sealed and slidably connected.

2. The intelligent toy assembly robot according to claim 1, characterized in that: The reset spring (48) is fixedly connected to the top of the fixed plate (42), the piston rod (46) passes through the fixed plate (42) and is slidably connected to the fixed plate (42), the picking column (411) passes through the fixed plate (42) and the picking plate (43) and is slidably connected to the fixed plate (42) and the picking plate (43), and the top of the picking column (411) is convex.

3. The intelligent toy assembly robot according to claim 1, characterized in that: The unloading mechanism (8) includes a fixed base (81) fixedly connected to the top of the electrical box (1). The top of the fixed base (81) is fixedly connected to an unloading robot (82). The free end of the unloading robot (82) is fixedly connected to an unloading assembly. The unloading assembly includes an unloading electric slide (83) fixedly connected to the free end of the unloading robot (82). Two unloading claws (84) are installed on the unloading electric slide (83). Unloading bags (85) are fixedly connected to the adjacent sides of the two unloading claws (84).

4. The intelligent toy assembly robot according to claim 1, characterized in that: The feeding mechanism (3) includes a stepper motor (31) fixedly connected to the top of the electrical box (1), a gearbox (32) fixedly connected to the output end of the stepper motor (31), a feeding tray (33) fixedly connected to the output end of the gearbox (32), an assembly tray (34) fixedly connected to the feeding tray (33), and a positioning column (35) fixedly connected to the middle of the assembly tray (34).

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