Multi-station self-adaptive non-standard component assembling robot

Abstract

The invention relates to the field of non-standard machining, and discloses a multi-station self-adaptive non-standard part assembling robot which comprises a self-adaptive adjusting mechanism located on a positioning driving mechanism, and the self-adaptive adjusting mechanism is matched with a belt conveying assembly and a positioning guide rail to form a self-adaptive non-standard part multi-shape clamping structure. The multi-point output mechanism is located on the side rotary table and used for forming a large arm part of the assembly structure. And the tail end clamping mechanism is positioned on the positioning driving mechanism. By means of the fact that traditional automatic equipment is difficult to cope with non-standard parts with different shapes and variable assembly processes, two sets of peripheral fixed rods are driven to synchronously move in the opposite direction or the reverse direction through a set of ingenious gear-rack linkage mechanism (a center gear and a pushing rack), automatic switching between a peripheral fixed rod inner clamp and an embedded fixed rod outer clamp is achieved in combination with a transmission rod, and the automatic switching of the peripheral fixed rod inner clamp and the embedded fixed rod outer clamp is achieved. The system can provide stable and reliable positioning and clamping, the limitation that a traditional clamp is designed for a single workpiece is thoroughly broken through, and multiple purposes are achieved through one machine.

Description

Technical Field

[0001] This invention relates to the field of non-standard processing technology, specifically to a multi-station adaptive non-standard component assembly robot. Background Technology

[0002] Non-standard components refer to parts that are custom-designed and manufactured according to specific needs or special application scenarios. Unlike general-purpose standard parts, they have unique structures, dimensions, materials, or functions. These components are typically used to solve problems related to complex processes, adaptation to special equipment, and the realization of personalized functions. For example, in automated production lines, it may be necessary to customize irregularly shaped connectors, special fixtures, or sensor brackets according to equipment layout or workpiece characteristics. The core advantage of non-standard components lies in their flexible adaptability, which can overcome the limitations of standard parts and directly meet the needs of performance optimization, space constraints, and efficient integration. However, their reliability must be ensured through rigorous design, precision machining, and strict verification.

[0003] Traditional assembly equipment is mostly specialized, with fixtures, molds, and programs designed for specific workpieces. If the workpiece's shape, size, or assembly process changes, the machine must be stopped, the fixtures redesigned and replaced, or even the entire equipment mechanically modified. This makes the equipment unsuitable for multi-variety, small-batch non-standard production models, resulting in long changeover cycles and extremely high costs. Traditional rigid fixtures are prone to scratches, deformation, or indentations on the workpiece surface when clamping irregularly shaped, fragile, or precision-machined non-standard parts due to minor positioning errors or improper clamping force control, leading to scrap. Furthermore, heavy workpieces are prone to wobbling during transport and rotation, affecting assembly accuracy. The assembly of many non-standard parts still heavily relies on skilled workers. Workers need to manually handle workpieces, operate equipment, change tools, and assemble. This is not only labor-intensive and inefficient, but also makes product quality highly dependent on worker condition and experience, hindering standardization and large-scale production. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a multi-station adaptive non-standard component assembly robot, which solves the three major pain points of traditional non-standard component assembly equipment: rigid specialization, easy damage to workpieces, and low degree of automation. These problems lead to difficulties in production changeover, high costs, difficulty in ensuring yield, low efficiency, and difficulty in standardization.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a multi-station adaptive non-standard component assembly robot, comprising: The bottom-mounted tray is used to fix the structure of the robot assembling non-standard parts. The side mounting platform is located on the bottom tray and is used for inputting non-standard parts and components; The side-mounted turntable is located on the bottom plate frame and is used to support the assembly structure of non-standard components; The positioning drive mechanism is located on the bottom plate frame and is used to form a traction structure for multi-directional conversion; The adaptive adjustment mechanism is located on the positioning drive mechanism and works with the belt conveyor assembly and positioning guide rail to form an adaptive multi-shaped clamping structure for non-standard parts. The multi-point output mechanism is located on the side turntable and is used to form the upper arm part of the assembly structure; The end clamping mechanism is located on the positioning drive mechanism and works with the second fixing frame to form the end output part of the assembly structure.

[0006] Preferably, the side fixing platform is fixed to the side wall of the bottom plate frame, the side turntable is fixed to the side wall of the bottom plate frame away from the side fixing platform, the input roller group is fixed on the top of the side fixing platform, the positioning drive mechanism is disposed on the bottom plate frame, the adaptive adjustment mechanism is disposed on the positioning drive mechanism, the multi-point output mechanism is mounted on the side turntable, and the end clamping mechanism is disposed at the output end of the multi-point output mechanism.

[0007] Preferably, the positioning drive mechanism includes a fixed bearing seat and a reversing output assembly. The fixed bearing seat is fixed to the top center of the bottom plate frame. A support shaft is fixed to the inner ring of the fixed bearing seat. The support shaft rotates on the bottom plate frame through the fixed bearing seat. A bearing ring is fixed to the top of the support shaft. A top bearing plate is fixed to the top of the bearing ring. An opposing bearing frame is fixed to the top of the top bearing plate. A linkage gear is fixed to the outer wall of the support shaft. A belt conveyor assembly is fixed to the inner side wall of the opposing bearing frame. A pressure plate is fixed to the inner side wall of the opposing bearing frame and extends into the belt conveyor assembly. The input wheels of the belt conveyor assembly are connected by a linkage rod. A positioning guide rail is fixed to the top center of the top bearing plate. Stable casters with uniform circumferential distribution are fixed to the bottom of the top bearing plate. The reversing output assembly is mounted on the bottom plate frame.

[0008] Preferably, the adaptive adjustment mechanism includes a linkage fixing frame, a belt clamp, and a flexible contact component. A sliding arm is fixed to the bottom wall of the linkage fixing frame, and the linkage fixing frame slides on the positioning guide rail via the sliding arm. The belt clamp is fixed to the linkage fixing frame and simultaneously fixed to the belt end of the belt conveyor assembly. A limit slide is fixed in the middle of the linkage fixing frame. Symmetrical peripheral fixed rods slide on the outer side of the limit slide, and symmetrical embedded fixed rods slide on the inner side of the limit slide. A transmission rod is provided between adjacent embedded fixed rods and peripheral fixed rods. The belt conveyor assembly is positioned on top of the embedded fixed rods and peripheral fixed rods. A central gear rotates on the bottom wall of the linkage fixing frame, and a push rack is fixed to the bottom wall of the embedded fixed rod. The push rack meshes with the key end of the central gear.

[0009] Preferably, the multi-point output mechanism includes a hydraulic lifting component, which is fixed to the top of the side-mounted turntable. A fixing frame is fixed to the bottom telescopic end of the hydraulic lifting component. A stabilizing guide rod is rotatably distributed on one side of the fixing frame. A hydraulic drive component is rotatably located on one side of the fixing frame adjacent to the stabilizing guide rod.

[0010] Preferably, the end clamping mechanism includes a rotating shaft and a switching motor. The rotating shaft rotates inside the second fixed frame, and the switching motor is fixed to the top of the second fixed frame. The motor end of the switching motor is driven by a keyway at one end of the rotating shaft. A multi-station end frame is fixed to the bottom end of the rotating shaft, and a vacuum bit is provided on the outer ring of the multi-station end frame.

[0011] Preferably, the reversing output assembly includes a traction frame, which is fixed to the top of the bottom plate frame. A hydraulic drive assembly is fixed to the outer side of the top of the traction frame. A traction clip is fixed to the output end of the hydraulic drive assembly. An output rack is fixed to the inner end of the traction clip. An output rack slides on the inner side of the top of the traction frame. An output rack is fixed to the inner end of the traction clip. The key end of the output rack meshes with the key end of the linkage gear.

[0012] Preferably, the flexible contact assembly includes an output cylinder, which is evenly distributed and fixed to the top of the outer fixed rod and the inner fixed rod. The output cylinder is a frame structure with an opening on one side, and an elastic deformation part is provided inside the output cylinder. A contact block slides on the side wall of the opening part of the output cylinder.

[0013] Preferably, the top outer side of the linkage fixing frame is fixed with symmetrical guide plates, the bottom of the linkage fixing frame is fixed with a hydraulic output element, and the hydraulic telescopic end of the hydraulic output element is fixed to the side wall of the outer fixed rod.

[0014] Preferably, the telescopic end of the hydraulic drive component rotates at the end of the stabilizing guide rod away from the fixed frame.

[0015] This invention provides a multi-station adaptive non-standard component assembly robot. It has the following beneficial effects: 1. This invention possesses extreme flexibility and high adaptability: Through a clever gear-rack linkage mechanism (central gear, push rack), two sets of peripheral fixed rods are driven to move synchronously in opposite directions. Combined with the transmission rod, the automatic switching between inner clamping of peripheral fixed rods and outer clamping of embedded fixed rods is realized. This system can adapt to the inner and outer contours of non-standard parts. Whether it is a ring-shaped part that needs to be tightened from the inside or an irregularly shaped part that needs to be held from the outside, this system can provide stable and reliable positioning and clamping, completely breaking the limitations of traditional fixtures designed for a single workpiece and realizing multi-purpose functionality.

[0016] 2. This invention features an active compliance and damage protection mechanism: A flexible contact component is provided at the end of the clamping unit. Its core is an internal elastic deformation element (such as a high-strength spring or polyurethane material). When the contact block touches the workpiece, it can buffer and adapt to the contact force by compressing the elastic element, effectively avoiding hard collisions and scratches caused by micro-positioning errors or uneven workpiece surfaces. This is crucial for protecting workpieces with high surface treatment requirements, fragile materials, or those that have been coated. It significantly reduces the defect rate in the production process. The assembly robot arm adopts a multi-degree-of-freedom design (hydraulic lifting component, hydraulic drive component), enabling the end effector to move flexibly and be precisely positioned in three-dimensional space.

[0017] 3. This invention features a high degree of integration and automation: By constructing an input roller group, belt clamps, positioning guide rails, a top-mounted support plate, and an output roller group, a closed-loop material transfer path is built, realizing the full-process automation of workpieces from loading, positioning, assembly to unloading. No manual intervention is required for handling and turnover, which not only significantly reduces labor costs but also eliminates quality fluctuations and production rhythm instability caused by human factors. It provides the hardware foundation for realizing a lights-out factory. The mechanism of hydraulic drive components, output rack and pinion, and linkage gears drives the entire top-mounted support plate to rotate. The bottom is supported by stable casters to ensure smooth rotation, allowing the workpiece to be precisely adjusted 360 degrees steplessly during assembly. Operators or vision systems do not need to move around the workpiece. The robotic arm can complete all assembly processes at the most comfortable and efficient angle, greatly improving assembly accuracy and efficiency.

[0018] 4. This invention has the ability to quickly change tools and integrate multiple functions: The end effector adopts a multi-station end frame, and by switching the motor to drive the rotating shaft, different sizes of vacuum bits can be quickly changed, realizing one arm for multiple uses. At the same station, different tools can be automatically switched according to process requirements to complete the multi-step assembly of complex parts. This reduces downtime caused by changing tools and compresses the production cycle. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of the main structure of the present invention. Figure 1 ; Figure 2 This is a three-dimensional schematic diagram of the main structure of the present invention. Figure 2 ; Figure 3 This is a three-dimensional schematic diagram of the main structure of the present invention. Figure 3 ; Figure 4 This is a schematic diagram of the top structure assembly of the bottom-mounted tray frame of the present invention; Figure 5 This is a schematic diagram of the positioning drive mechanism of the present invention; Figure 6This is a schematic diagram of the internal structure of the positioning drive mechanism of the present invention; Figure 7 This is a schematic diagram of the main structure of the adaptive adjustment mechanism of the present invention. Figure 1 ; Figure 8 This is a schematic diagram of the main structure of the adaptive adjustment mechanism of the present invention. Figure 2 ; Figure 9 This is a schematic diagram of the main structure of the adaptive adjustment mechanism of the present invention. Figure 3 ; Figure 10 This is a schematic diagram of the internal structure of the output cylinder of the present invention; Figure 11 This is a schematic diagram of the multi-point output mechanism and the end clamping mechanism of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the multi-point output mechanism and the end clamping mechanism of the present invention. Figure 2 .

[0020] The components include: 1. Bottom plate frame; 2. Side fixed platform; 3. Side turntable; 4. Positioning drive mechanism; 5. Adaptive adjustment mechanism; 6. Multi-point output mechanism; 7. End clamping mechanism; 41. Fixed bearing seat; 42. Support shaft column; 43. Bearing ring; 44. Top bearing plate; 45. Linkage gear; 46. Traction frame; 47. Hydraulic drive assembly; 48. Output rack; 49. Traction clip; 410. Opposing bearing frame; 411. Belt conveyor assembly; 412. Positioning guide rail; 51. Linkage fixing... 52. Frame; 53. Sliding arm; 54. Belt clamp; 55. Limiting slide; 56. Outer fixed rod; 57. Inner fixed rod; 58. Guide plate; 59. Output cylinder; 50. Elastic deformation type; 510. Contact block; 511. Transmission rod; 512. Central gear; 513. Push rack; 61. Hydraulic lifting component; 62. Fixed frame one; 63. Stabilizing guide rod; 64. Hydraulic drive component; 65. Fixed frame two; 71. Rotating shaft; 72. Switching motor; 73. Multi-station end frame; 74. Vacuum screwdriver bit. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0022] Please see the appendix Figure 1 -Appendix Figure 3This invention provides a multi-station adaptive non-standard component assembly robot, comprising: a base plate 1 for fixing the non-standard component assembly robot structure; a side fixing platform 2 located on the base plate 1 for inputting non-standard component elements; a side turntable 3 located on the base plate 1 for supporting the non-standard component assembly structure; the side fixing platform 2 fixed to the side wall of the base plate 1; the side turntable 3 fixed to the side wall of the base plate 1 away from the side fixing platform 2; an input roller group fixed to the top of the side fixing platform 2; a positioning drive mechanism 4 disposed on the base plate 1; an adaptive adjustment mechanism 5 disposed on the positioning drive mechanism 4; a multi-point output mechanism 6 mounted on the side turntable 3; and an end clamping mechanism 7 disposed at the output end of the multi-point output mechanism 6. This equipment is mainly for the assembly and transfer of non-standard irregular components. The non-standard components are placed on the top of the linkage fixing frame 51 and transferred to the top of the top support plate 44 by the input roller group mounted on the top of the side fixing platform 2. After assembly, they are output by the input roller group mounted on the top of the side fixing platform 2.

[0023] Please see the appendix Figure 1 -Appendix Figure 6The positioning drive mechanism 4 is located on the bottom plate frame 1 and is used to form a multi-directional conversion traction structure. The positioning drive mechanism 4 includes a fixed bearing seat 41 and a reversing output assembly. The fixed bearing seat 41 is fixed to the top center of the bottom plate frame 1. A support shaft column 42 is fixed to the inner ring of the fixed bearing seat 41. The support shaft column 42 rotates on the bottom plate frame 1 through the fixed bearing seat 41. A bearing ring 43 is fixed to the top of the support shaft column 42. A top bearing plate 44 is fixed to the top of the bearing ring 43. An opposing bearing frame 410 is fixed to the top of the top bearing plate 44. A linkage gear 45 is fixed to the outer wall of the support shaft column 42. A belt conveyor assembly 411 is fixed to the inner wall of the 410. A pressure plate is fixed to the inner wall of the opposing bearing frame 410 and extends into the belt conveyor assembly 411. The input wheels of the belt conveyor assembly 411 are connected by a linkage rod. A positioning guide rail 412 is fixed to the center of the top of the top bearing plate 44. Stable casters with uniform circumferential distribution are fixed to the bottom of the top bearing plate 44. The reversing output assembly is set on the bottom plate frame 1. The reversing output assembly includes a traction frame 46, which is fixed to the top of the bottom plate frame 1. A hydraulic drive assembly 47 is fixed to the outer side of the top of the traction frame 46. The output end of the hydraulic drive assembly 47 is... A traction clip 49 is fixed, and an output rack 48 is fixed to the inner end of the traction clip 49. An output rack 48 slides on the inner side of the top of the traction frame 46. The output rack 48 is fixed to the inner end of the traction clip 49. The key end of the output rack 48 meshes with the key end of the linkage gear 45. When the non-standard part reaches the top of the side turntable 3, the two sets of belt conveyor assemblies 411 start operating simultaneously. The belt clamp 53 installed on the top belt end of the belt conveyor assembly 411, under the action of the belt conveyor assembly 411, drags and transports the non-standard part along the positioning guide rail 412 to the top bearing plate 44. At the same time, the pressure plate and the stabilizer... Casters support non-standard components. The hydraulic drive assembly 47 pulls the output rack 48 to slide along the upper part of the traction frame 46, while simultaneously driving the linkage gear 45 meshing with the key end of the output rack 48, as well as the support shaft column 42 and the top bearing plate 44 fixed to the linkage gear 45 to rotate. This allows the conveying start mechanism and non-standard components installed on the top bearing plate 44 to be adjusted according to the specific angle of rotation required during the assembly of the non-standard components, thereby enabling free switching of the assembly angle. The stabilizing casters installed at the bottom of the top bearing plate 44 provide a stable rotational support effect for the top bearing plate 44, ensuring the correct assembly position of the subsequent non-standard components.

[0024] Please see the appendix Figure 1 -Appendix Figure 10The adaptive adjustment mechanism 5 is located on the positioning drive mechanism 4 and works with the belt conveyor assembly 411 and the positioning guide rail 412 to form an adaptive non-standard multi-shaped clamping structure. The adaptive adjustment mechanism 5 includes a linkage fixing frame 51, a belt clamp 53, and a flexible contact assembly. A sliding arm 52 is fixed to the bottom wall of the linkage fixing frame 51, and the linkage fixing frame 51 slides on the positioning guide rail 412 through the sliding arm 52. The belt clamp 53 is fixed on the linkage fixing frame 51 and also fixed to the belt end of the belt conveyor assembly 411. A limit slide 54 is fixed in the middle of the linkage fixing frame 51. Symmetrical peripheral fixed rods 55 slide on the outer side of the limit slide 54, and symmetrical embedded fixed rods 56 slide on the inner side of the limit slide 54. Adjacent embedded fixed rods A transmission rod 511 is connected between the inner fixed rod 56 and the outer fixed rod 55. A belt conveyor assembly 411 is installed on the top of the inner fixed rod 56 and the outer fixed rod 55. A central gear 512 rotates on the bottom wall of the linkage fixing frame 51. A push rack 513 is fixed on the bottom wall of the inner fixed rod 56. The push rack 513 meshes with the key end of the central gear 512. The flexible contact assembly includes an output cylinder 58. The output cylinders 58 are evenly distributed and fixed on the top of the outer fixed rod 55 and the inner fixed rod 56. The output cylinder 58 is a frame structure with one side opening. An elastic deformation type 59 is provided inside the output cylinder 58. A contact block 510 slides on the side wall of the opening part of the output cylinder 58. Symmetrical guide plates 57 are fixed on the outer side of the top of the linkage fixing frame 51. The bottom of the linkage fixing frame 51 is fixed. A hydraulic output element is provided, with its hydraulic telescopic end fixed to the side wall of the outer fixed rod 55. Activating the hydraulic output element located on the bottom wall of the linkage fixing frame 51 generates an output thrust that pushes a set of outer fixed rods 55 to slide along the limiting slide rail 54 installed on the linkage fixing frame 51. Simultaneously, the push rack 513 installed at its bottom operates, causing the central gear 512 located at the center of the bottom of the linkage fixing frame 51 to rotate. This rotation is transmitted from the central gear 512 to the push rack 513 on the other side and the outer fixed rods 55, enabling the two sets of outer fixed rods 55 to clamp non-standard parts using the flexible contact assembly 27 installed on their tops. The fixed rod 55 and the embedded fixed rod 56 on its outer side transmit force through the added transmission rod 511. When the outer fixed rod 55 moves outward, it can clamp the non-standard part on the inner side. When the outer fixed rod 55 moves inward, the embedded fixed rod 56 will generate clamping force from the outside to clamp the non-standard part on the inner and outer sides. At the same time, the output cylinder 58 included in the flexible contact component 27 is provided with an elastic deformable part 59 that can undergo elastic deformation and shape recovery. When the contact block 510 inside the output cylinder 58 contacts the workpiece, it will slide inward along the output cylinder 58 to squeeze the elastic deformable part 59 to achieve the effect of flexible clamping.

[0025] Please see the appendix Figure 1 -Appendix Figure 11 The multi-point output mechanism 6 is located on the side turntable 3 and is used to form the boom portion of the assembly structure. The multi-point output mechanism 6 includes a hydraulic lifting component 61, which is fixed to the top of the side turntable 3. A fixing frame 62 is fixed to the bottom telescopic end of the hydraulic lifting component 61. The side of the fixing frame 62 has parallel stabilizing guide rods 63 that rotate. A hydraulic drive component 64 is rotated on the side of the fixing frame 62 and adjacent to the stabilizing guide rods 63. The telescopic end of the hydraulic drive component 64 rotates at the end of the stabilizing guide rod 63 away from the fixing frame 62. The activation of the hydraulic lifting component 61 included in the multi-point output mechanism 6 drives the fixed frame 62 installed at its output end to rotate. By activating the two sets of hydraulic drive components 64, the two sets of hydraulic drive components 64 pull the stabilizing guide rod 63 installed at its output end to rotate along the fixed frame 62 as the origin. The other set of stabilizing guide rods 63 also moves in conjunction with the first set of stabilizing guide rods 63, so that the fixed frame 65 can rise. Alternatively, by activating the hydraulic drive component 64, the fixed frame 65 can be lowered, driving the end clamping mechanism 7 to automatically approach the non-standard component.

[0026] Please see the appendix Figure 1 -Appendix Figure 12 The end clamping mechanism 7 is located on the positioning drive mechanism 4 and works with the second fixing frame 65 to form the end output part of the assembly structure. The end clamping mechanism 7 includes a rotating shaft 71 and a switching motor 72. The rotating shaft 71 rotates inside the second fixing frame 65, and the switching motor 72 is fixed to the top of the second fixing frame 65. The motor end of the switching motor 72 is driven by a keyway at one end of the rotating shaft 71. A multi-station end head frame 73 is fixed to the bottom end of the rotating shaft 71. A vacuum bit 74 is provided on the outer ring of the multi-station end head frame 73. The end clamping mechanism 7 includes... It includes a vacuum adsorption structure, which in turn includes a vacuum bit 74. The vacuum bit 74 is mounted on the rotating shaft 71 via a multi-station end frame 73. Depending on the assembly state, the switching motor 72 can be started to drive the rotating shaft 71, which is fixed at its output end, to rotate inside the fixed frame 65. This drives the multi-station end frame 73 to rotate, thereby switching the vacuum bit 74. Non-standard parts are vacuum adsorbed and lifted for assembly using vacuum bit 74 of different sizes. The assembled parts are output through the input roller group at the top of the side fixed platform 2.

[0027] Working Principle: This equipment is mainly for the assembly and transfer of non-standard and irregularly shaped components. Non-standard components are placed on top of the linkage fixing frame 51 and transferred to the top of the top support plate 44 via input rollers mounted on the top of the side fixing platform 2. After assembly, they are output by the input rollers mounted on the top of the side fixing platform 2. When the non-standard component reaches the top of the side turntable 3, two sets of belt conveyor assemblies 411 start operating simultaneously. Belt clamps 53 mounted on the top of the belt end of the belt conveyor assemblies 411, under the action of the belt conveyor assemblies 411, drag and transport the non-standard component along the positioning guide rail 412 to the top support plate 44. Simultaneously, the pressure plate and stabilizing casters support the non-standard component, and the hydraulic output element located on the bottom wall of the linkage fixing frame 51 is activated. The output thrust pushes a set of peripheral fixed rods 55 to slide along the limiting slide rail 54 installed on the linkage fixing frame 51. Simultaneously, the pushing rack 513 installed at the bottom of the peripheral fixed rods 55 operates. The rotation of the pushing rack 513 causes the central gear 512 located at the bottom center of the linkage fixing frame 51 to rotate, and the rotation is transmitted from the central gear 512 to the pushing rack 513 and peripheral fixed rods 55 on the other side. This allows the two sets of peripheral fixed rods 55 to carry the flexible contact assembly 27 installed on their tops to clamp non-standard parts. The peripheral fixed rods 55 and the embedded fixed rods 56 on their outer sides transmit force through the added transmission rod 511. When the peripheral fixed rods 55 move outwards, the force can be transmitted through the peripheral fixed rods 511... 5. Non-standard parts are clamped from the inside. When the outer fixed rod 55 moves inward, the inner fixed rod 56 generates clamping force from the outside to clamp the parts from the outside and the inside, so as to match the inner and outer surfaces of the non-standard parts. At the same time, the flexible contact component 27 includes an output cylinder 58 with an elastic deformation type 59 that can elastically deform and recover its shape. When the contact block 510 inside the output cylinder 58 contacts the workpiece, it slides inward along the output cylinder 58 to squeeze the elastic deformation type 59 to achieve a flexible clamping effect. The hydraulic drive component 47 pulls the output rack 48 to slide along the upper part of the traction frame 46, and at the same time drives the linkage gear 45 that meshes with the key end of the output rack 48 and the support shaft column fixed to the linkage gear 45. The rotation of 42 and the top support plate 44 allows the conveying start mechanism and non-standard components mounted on the top support plate 44 to be adjusted according to the specific rotation angle required during the assembly of the non-standard components, thereby enabling free switching of the assembly angle. The stabilizing casters mounted at the bottom of the top support plate 44 provide stable rotation support for the top support plate 44, ensuring the correct assembly position of the subsequent non-standard components. The multi-point output mechanism 6 and the end clamping mechanism 7 can automatically adjust to the assembly position and are also activated. The multi-point output mechanism 6 and the end clamping mechanism 7, which make up the assembly robot arm structure, form a universal extension structure. The activation of the hydraulic lifting component 61 included in the multi-point output mechanism 6 drives the fixed frame 62 mounted on its output end to rotate.By activating two sets of hydraulic drive components 64, the two sets of hydraulic drive components 64 pull the stabilizing guide rods 63 installed at their output ends to rotate along the fixed frame 62 as the origin. The other set of stabilizing guide rods 63 also moves in conjunction with the first set of stabilizing guide rods 63, enabling the fixed frame 65 to rise. Alternatively, by activating the hydraulic drive components 64, the fixed frame 65 can be lowered, causing the end clamping mechanism 7 to automatically approach the non-standard parts. The end clamping mechanism 7 includes a vacuum adsorption structure, which includes a vacuum bit 74. The vacuum bit 74 is installed on the rotating shaft 71 via a multi-station end frame 73. Depending on the assembly state, the switching motor 72 can be activated to drive the rotating shaft 71 fixed at its output end to rotate inside the fixed frame 65, thereby driving the multi-station end frame 73 to rotate to switch the vacuum bit 74. The non-standard parts are then vacuum adsorbed and lifted for assembly using vacuum bit 74 of different sizes. The assembled parts are then output through the input roller group at the top of the side fixed platform 2. ,

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-station adaptive non-standard component assembly robot, characterized in that, include: The bottom plate frame (1) is used to fix the structure of the robot for assembling non-standard parts; The side mounting platform (2) is located on the bottom plate frame (1) and is used to input non-standard parts and components; The side turntable (3) is located on the bottom plate frame (1) and is used to support the non-standard component assembly structure; The positioning drive mechanism (4) is located on the bottom plate frame (1) and is used to form a traction structure for multi-directional conversion; The adaptive adjustment mechanism (5) is located on the positioning drive mechanism (4) and works with the belt conveyor assembly (411) and the positioning guide rail (412) to form an adaptive non-standard part multi-shaped clamping structure. The multi-point output mechanism (6) is located on the side turntable (3) and is used to form the upper arm part of the assembly structure; The end clamping mechanism (7) is located on the positioning drive mechanism (4) and works with the second fixing frame (65) to form the end output part of the assembly structure.

2. The multi-station adaptive non-standard component assembly robot according to claim 1, characterized in that, The side fixing platform (2) is fixed to the side wall of the bottom plate frame (1), the side turntable (3) is fixed to the side wall of the bottom plate frame (1) away from the side fixing platform (2), the top of the side fixing platform (2) is fixed with an input roller group, the positioning drive mechanism (4) is set on the bottom plate frame (1), the adaptive adjustment mechanism (5) is arranged on the positioning drive mechanism (4), the multi-point output mechanism (6) is mounted on the side turntable (3), and the end clamping mechanism (7) is set at the output end of the multi-point output mechanism (6).

3. The multi-station adaptive non-standard component assembly robot according to claim 1, characterized in that, The positioning drive mechanism (4) includes a fixed bearing seat (41) and a reversing output assembly. The fixed bearing seat (41) is fixed to the top center of the bottom plate frame (1). A support shaft column (42) is fixed to the inner ring of the fixed bearing seat (41). The support shaft column (42) rotates on the bottom plate frame (1) through the fixed bearing seat (41). A bearing ring (43) is fixed to the top of the support shaft column (42). A top bearing plate (44) is fixed to the top of the bearing ring (43). An opposing bearing frame (410) is fixed to the top of the top bearing plate (44). A linkage gear (45) is fixed on the outer wall of the support column (42), a belt conveyor assembly (411) is fixed on the inner wall of the opposing bearing frame (410), a pressure plate is fixed on the inner wall of the opposing bearing frame (410) and extends into the belt conveyor assembly (411), the input wheels of the belt conveyor assembly (411) are connected by a linkage rod, a positioning guide rail (412) is fixed at the top center of the top bearing plate (44), and a uniformly circumferentially distributed stabilizing casters are fixed at the bottom of the top bearing plate (44), and the reversing output assembly is set on the bottom plate frame (1).

4. The multi-station adaptive non-standard component assembly robot according to claim 1, characterized in that, The adaptive adjustment mechanism (5) includes a linkage fixing frame (51), a belt clamp (53), and a flexible contact component. A sliding arm (52) is fixed to the bottom wall of the linkage fixing frame (51). The linkage fixing frame (51) slides on the positioning guide rail (412) through the sliding arm (52). The belt clamp (53) is fixed on the linkage fixing frame (51) and also fixed to the belt end of the belt conveyor assembly (411). A limit slide (54) is fixed in the middle of the linkage fixing frame (51). A symmetrical sliding section slides on the outer side of the limit slide (54). The outer fixed rod (55) has mutually symmetrical inner fixed rods (56) sliding inside the limiting slide (54). There is a transmission rod (511) between the adjacent inner fixed rod (56) and the outer fixed rod (55). The belt conveyor assembly (411) is set on the top of the inner fixed rod (56) and the outer fixed rod (55). The bottom wall of the linkage fixing frame (51) has a central gear (512) rotating. The bottom wall of the inner fixed rod (56) has a push rack (513) fixed. The push rack (513) meshes with the key end of the central gear (512).

5. The multi-station adaptive non-standard component assembly robot according to claim 1, characterized in that, The multi-point output mechanism (6) includes a hydraulic lifting component (61), which is fixed on the top of the side turntable (3). A fixed frame (62) is fixed at the bottom telescopic end of the hydraulic lifting component (61). A stabilizing guide rod (63) is rotatably distributed on the side of the fixed frame (62). A hydraulic drive component (64) is rotatably distributed on the side of the fixed frame (62) and adjacent to the stabilizing guide rod (63).

6. The multi-station adaptive non-standard component assembly robot according to claim 1, characterized in that, The end clamping mechanism (7) includes a rotating shaft (71) and a switching motor (72). The rotating shaft (71) rotates inside the second fixed frame (65). The switching motor (72) is fixed to the top of the second fixed frame (65). The motor end of the switching motor (72) is driven by a keyway at one end of the rotating shaft (71). A multi-station end frame (73) is fixed at the bottom of the rotating shaft (71). A vacuum bit (74) is provided on the outer ring of the multi-station end frame (73).

7. The multi-station adaptive non-standard component assembly robot according to claim 3, characterized in that, The reversing output assembly includes a traction frame (46), which is fixed to the top of the bottom plate frame (1). A hydraulic drive assembly (47) is fixed to the outer side of the top of the traction frame (46). A traction clip (49) is fixed to the output end of the hydraulic drive assembly (47). An output rack (48) is fixed to the inner end of the traction clip (49). An output rack (48) slides on the inner side of the top of the traction frame (46). An output rack (48) is fixed to the inner end of the traction clip (49). The key end of the output rack (48) meshes with the key end of the linkage gear (45).

8. The multi-station adaptive non-standard component assembly robot according to claim 4, characterized in that, The flexible contact assembly includes an output cylinder (58), which is evenly distributed and fixed on the top of the outer fixed rod (55) and the inner fixed rod (56). The output cylinder (58) is a frame structure with an opening on one side. An elastic deformation type (59) is provided inside the output cylinder (58). A contact block (510) slides on the side wall of the opening portion of the output cylinder (58).

9. A multi-station adaptive non-standard component assembly robot according to claim 4, characterized in that, The top outer side of the linkage fixing frame (51) is fixed with symmetrical guide plates (57), and the bottom of the linkage fixing frame (51) is fixed with a hydraulic output element. The hydraulic extension end of the hydraulic output element is fixed to the side wall of the outer fixed rod (55).

10. A multi-station adaptive non-standard component assembly robot according to claim 5, characterized in that, The telescopic end of the hydraulic drive (64) rotates at the end of the stabilizing guide rod (63) away from the fixed frame (62).

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