An adaptive assembly robot for hardware machining

Abstract

The application relates to the technical field of hardware machining and assembling, and specifically relates to a self-adaptive assembling robot for hardware machining, which comprises a main shell, a connecting shaft and a mechanical arm. An inner shell is arranged in the cavity of the main shell. Four positioning sleeves are circumferentially arranged on the outer side wall of the inner shell. An L-shaped sliding rod is slidably connected in the cavity of each positioning sleeve. A screw driver is arranged at one end of the L-shaped sliding rod. A pushing structure is arranged in the cavity of the inner shell and can push the four L-shaped sliding rods to move synchronously in the radial direction. Four equidistantly distributed connecting frames are further fixedly connected to the outer side wall of the inner shell. The motor is used as a single power source. The central shaft is driven to rotate through the driving gear and the large gear, thereby synchronously driving the L-shaped sliding rods to adjust the assembling diameter, rotating the seat to switch the hole number mode and aligning the push disc with the empty slot. The electric push rod pushes the screw driver at the working position to complete the assembling, and the reset spring and the spring drive the components to automatically reset.

Description

Technical Field

[0001] This invention relates to the field of hardware processing and assembly technology, specifically to an adaptive assembly robot for hardware processing. Background Technology

[0002] In the hardware processing and production process, the screw assembly of circular hardware parts such as flanges, pump body valve covers, and bearing seats is a key process. Currently, the industry generally adopts either single-station screw driving or fixed tooling multi-station screw driving. The former has extremely low assembly efficiency and cannot meet the needs of mass production; the latter requires changing the corresponding tooling fixtures for hardware parts with different hole numbers and diameters, which results in long changeover time, high tooling costs, and the inability to achieve rapid adaptive switching, which seriously restricts the flexible production capacity of the production line. Therefore, developing a robot that can adapt to the assembly requirements of screws for circular hardware parts of different specifications has significant engineering application value. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive assembly robot for metal parts processing, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an adaptive assembly robot for hardware processing, comprising a main shell, a connecting shaft, and a robotic arm. An inner shell is provided inside the cavity of the main shell, and four positioning sleeves are circumferentially arrayed on the outer side wall of the inner shell. An L-shaped slide rod is slidably connected inside the cavity of each positioning sleeve. A screw driver is installed at one end of the L-shaped slide rod. A pushing structure is provided inside the cavity of the inner shell, which can push the four L-shaped slide rods to move synchronously in the radial direction. Four equidistant connecting frames are fixed to the outer side wall of the inner shell, and the other end of the connecting frame is fixed to the inner wall of the main shell. A protective shell is fixed to the side wall of the connecting frame away from the inner shell. A rotating seat is fixed to the lower end of the protective shell. A rotating rod is rotatably connected between the protective shell and the rotating seat. A rotating seat is fixed to the lower end of the rotating rod. Screw drivers are installed on both sides of the rotating seat. The included angles in the circumferential direction between the L-shaped sliding rod and two adjacent screw drivers on the rotating seat are equal. A rotating structure is provided inside the protective shell, which can drive the rotating rod and the rotating seat to rotate around their own axis.

[0005] Preferably, the pushing structure includes a positioning disk, which is fixedly connected to the cavity of the inner shell. The upper surface of the positioning disk has four radially extending positioning grooves, which are arranged in a circumferential array. Each L-shaped slide bar has a positioning rod fixedly connected to the end away from the screw driver, and each positioning rod is slidably connected to the cavity of the corresponding positioning groove.

[0006] Preferably, the upper surface of the positioning disk is rotatably connected to a rotating disk, and the upper surface of the rotating disk is provided with four arc-shaped arrayed pushing grooves, and each pushing groove is movably connected to a positioning rod at a corresponding position. A central shaft is fixed at the center of the rotating disk, and the central shaft extends through to the outer side of the upper surface of the inner shell.

[0007] Preferably, the rotating structure includes a worm gear, which is fixedly connected to the outer wall of the rotating rod inside the protective shell cavity. A worm is meshed on one side of the worm gear and is rotatably connected inside the protective shell cavity. A rotating rod is fixedly connected to one end of the worm and is inserted through the inner shell. A pinion is fixedly connected to the end of the rotating rod away from the worm. A turntable is fixedly connected to the outer wall of the central shaft and is positioned between the pinion and the turntable. Four upper tooth sets are circumferentially arranged at the edge of the upper surface of the turntable, and each upper tooth set can mesh with the pinion at the corresponding position for transmission.

[0008] Preferably, a large gear is fixedly connected to the outer wall of the upper end of the central shaft, a motor is provided in the main housing cavity, a support frame is fixedly connected between the motor and the inner wall of the main housing, and a drive gear is fixedly connected to the output end of the motor, and the drive gear meshes with the large gear.

[0009] Preferably, the screw driver includes a sleeve, a push rod is slidably connected inside the cavity of the sleeve, and the push rod passes through the upper and lower ends of the sleeve. A return spring is fixedly connected to the outer wall of the push rod, and the lower end of the return spring abuts against the bottom surface of the inner cavity of the sleeve. An electric bolt gun is fixedly connected to the lower end of the push rod. Four idle slots are arranged in a circumferential array on the outer wall of the main shell, and each idle slot can allow the push rod on the corresponding rotating seat to slide into.

[0010] Preferably, a push plate is provided above the upper surface of the inner shell, which can abut against the upper end of the push rod, and the push plate is slidably connected in the cavity of the main shell. The upper surface of the push plate is provided with four sets of slots, and each slot can be axially aligned with the screw driver on the corresponding rotating seat, so that the push plate no longer abuts against the push rod at the corresponding position when it moves down. A rotating ring is rotatably connected to the end of the push plate away from the inner shell. A connecting plate is fixedly connected to the end of the rotating ring away from the push plate. An electric push rod is fixedly connected to the end of the connecting plate away from the rotating ring, and the electric push rod is fixedly connected to the inner wall of the main shell.

[0011] Preferably, a drive disk is provided above the upper surface of the inner shell, and the drive disk is fixedly connected to the central shaft. A driven disk is provided circumferentially on the outer side of the drive disk, and the driven disk can perform circumferential abutment transmission with the drive disk. Two symmetrically positioned positioning seats are fixedly connected to the upper surface of the inner shell. An arc-shaped rod is fixedly connected to the side surface of the positioning seat. A sliding seat is slidably connected to the outer wall of the arc-shaped rod away from the positioning seat, and the sliding seat is fixedly connected to the driven disk. A return spring is also provided between the sliding seat and the positioning seat, and the return spring is sleeved on the outer wall of the arc-shaped rod. Two symmetrically positioned vertical sliding rods are fixedly connected to the upper end of the driven disk, and the vertical sliding rods are slidably connected to the push plate along the axial direction.

[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. Multi-specification adaptive assembly is achieved: Driven by a single motor, the radial position adjustment of the screw driver and the angle switching of the rotating seat can be completed simultaneously. It can quickly adapt to the assembly needs of ring hardware screws with different numbers of holes, such as twelve holes, eight holes, and four holes, and different diameters, without the need to change any tooling fixtures.

[0013] 2. Significantly improved assembly efficiency: Multiple screws can be driven in simultaneously, which improves assembly efficiency compared to the traditional method of driving screws in one by one, meeting the needs of mass production.

[0014] 3. Compact structure and simple control: It uses a single power source to achieve multi-action linkage, which reduces the number of driving components, lowers equipment cost and failure rate, and simplifies the design of the control system.

[0015] 4. High positioning accuracy and good reliability: The self-locking characteristics of the worm gear drive and the precise guidance of the positioning groove ensure the positional accuracy and movement stability of the screw driver, effectively improving the pass rate of screw assembly. Attached Figure Description

[0016] The present invention will be further explained below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the main shell structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the main shell of the present invention; Figure 4 This is a schematic diagram of the structure of the present invention after the pusher plate is removed; Figure 5 For the present invention Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the internal structure of the protective shell of the present invention; Figure 7This is a cross-sectional view of the sleeve of the present invention; Figure 8 This is a schematic diagram of the disassembled structure of the rotating disk and the positioning disk of the present invention; Figure 9 For the present invention Figure 8 Enlarged view of point B in the middle; Figure 10 This is a cross-sectional view of the central axis of the present invention. Figure 11 This is a schematic diagram of the internal structure of the inner shell of the present invention; Figure 12 This is a schematic diagram of another position of the L-shaped slide bar and rotating seat of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Main shell; 2. Inner shell; 3. Positioning sleeve; 4. L-shaped slide bar; 5. Screw driver; 6. Connecting frame; 7. Protective shell; 8. Rotary seat; 9. Rotating rod; 10. Rotating seat; 11. Worm gear; 12. Worm; 13. Rotating rod; 14. Pinion; 15. Turntable; 16. Upper gear set; 17. Positioning rod; 18. Positioning disc; 19. Positioning groove; 20. Turntable; 21. Push groove; 22. Central shaft; 23. Push plate; 23 1. Empty slot; 24. Drive plate; 25. Driven plate; 26. Positioning seat; 27. Arc rod; 28. Spring; 29. ​​Sliding seat; 30. Vertical sliding rod; 31. Large gear; 32. Motor; 33. Drive gear; 34. Rotating ring; 35. Connecting plate; 36. Electric push rod; 37. Connecting shaft; 38. Robotic arm; 39. Sleeve; 40. Push rod; 41. Return spring; 42. Electric bolt gun; 43. Support frame; 44. Empty slot. Detailed Implementation

[0018] The technical solutions of 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.

[0019] Please see Figures 1-12 The present invention provides a technical solution: an adaptive assembly robot for hardware processing, including a main shell 1, a connecting shaft 37 and a robotic arm 38. An inner shell 2 is provided inside the cavity of the main shell 1. Four positioning sleeves 3 are installed in a circumferential array on the outer side wall of the inner shell 2. An L-shaped slide rod 4 is slidably connected inside the cavity of each positioning sleeve 3. A screw driver 5 is installed at one end of the L-shaped slide rod 4. The inner shell 2 has a push structure inside, which can push four L-shaped slide rods 4 to move synchronously in the radial direction. The outer side wall of the inner shell 2 is also fixed with four equidistant connecting frames 6, and the other end of the connecting frame 6 is fixed to the inner wall of the main shell 1. The side wall of the connecting frame 6 away from the inner shell 2 is fixed with a protective shell 7. The lower end of the protective shell 7 is fixed with a rotating seat 8. A rotating rod 9 is rotatably connected between the protective shell 7 and the rotating seat 8. The lower end of the rotating rod 9 is fixed with a rotating seat 10. Screw drivers 5 are installed on both sides of the rotating seat 10, and the included angles in the circumferential direction between the L-shaped slide rod 4 and two adjacent screw drivers 5 on the rotating seat 10 are equal. The interior of the protective shell 7 has a rotating structure that can drive the rotating rod 9 and the rotating seat 10 to rotate around their own axis.

[0020] For details, please refer to Figure 4 The included angle between two adjacent screw drivers 5 in the circumferential direction is 30°. Therefore, all screw drivers 5 are evenly distributed on the circumference. When it is necessary to assemble a ring-shaped hardware part with twelve screws, such as a flange, pump body valve cover and bearing seat, the twelve holes can be installed synchronously at the same time, which greatly improves the assembly efficiency. refer to Figure 12 When screws need to be installed on hardware parts with eight threaded holes, the rotating structure can drive the rotating rod 9 and the rotating seat 10 to rotate 90°. This causes one of the screw drivers 5 at both ends of the rotating seat 10 to rotate through the outer empty slot 44 of the main shell 1 and not participate in the screw installation operation, while the other screw driver 5 moves to the side closer to the inner shell 2. At the same time, the L-shaped slide rod 4 will synchronously drive the screw driver 5 at its end to move towards the inner shell 2. This makes the screw driver 5 at one end of the L-shaped slide rod 4 and the screw driver 5 at one end of the adjacent rotating seat 10 form an equidistant octagonal distribution, and the circumferential angle between adjacent screw drivers 5 is adjusted to 45°. At the same time, the overall assembly diameter is reduced to adapt to the diameter variation requirements of hardware parts with fewer holes. If four screws need to be driven in, the rotating seat 10 will remain in the position after rotating 90° and will not move. Then, the four L-shaped slide bars 4 will move further towards the inner shell 2, further reducing the overall assembly diameter, thereby enabling the screw driving operation of smaller-sized four-hole hardware parts. With the above structure, by simply controlling the rotation angle of the central shaft 22, the assembly mode switching of three commonly used specifications of ring hardware parts with twelve holes, eight holes, and four holes can be completed quickly without changing any tooling, and the changeover time is shortened to less than ten seconds.

[0021] In the second embodiment, the rotating seat 10 can be replaced by a structure that can freely extend and retract to both ends, making the technical solution more applicable to a wider range of scenarios. Specifically, the rotating seat 10 is replaced by a gear seat, the rotation power is a self-locking servo motor, and the gear seat has racks with opposite positions installed on both sides, with one end of each rack fixed to a screw driver 5. After the assembly mode of the eight-hole hardware is switched, the diameter of the octagon formed by the screw driver 5 can be continuously and steplessly adjusted through the bidirectional telescopic structure of the rotating seat 10 and the radial movement of the L-shaped slide bar 4. This allows the equipment to adapt to more eight-hole hardware with different diameter specifications, further improving the equipment's versatility and applicability, and meeting the assembly needs of more non-standard hardware.

[0022] In this embodiment, the pushing structure includes a positioning disk 18, which is fixedly connected to the cavity of the inner shell 2. The upper surface of the positioning disk 18 has four radially extending positioning grooves 19, which are arranged in a circumferential array. Each L-shaped slide rod 4 has a positioning rod 17 fixedly connected to one end away from the screw driver 5, and each positioning rod 17 is slidably connected to the cavity of the corresponding positioning groove 19. A rotating disk 20 is rotatably connected to the upper surface of the positioning disk 18. The upper surface of the rotating disk 20 has four arc-shaped array pushing grooves 21, which are movably connected to the corresponding positioning rod 17. A central shaft 22 is fixedly connected to the center of the rotating disk 20, and the central shaft 22 extends through to the outer side of the upper surface of the inner shell 2.

[0023] For details, please refer to Figure 8 , Figure 9 and Figure 11 When the rotating disk 20 rotates inside the inner shell 2, the side wall of its arc-shaped push groove 21 will force the positioning rod 17 to move. The positioning rod 17 is simultaneously restricted by the positioning sleeve 3 and the positioning groove 19, and can only move laterally along the radial trajectory. Therefore, during the rotation of the rotating disk 20, the four positioning rods 17 and the L-shaped slide rod 4 will be pushed to move radially inward or outward, thereby realizing the synchronous radial position adjustment of the screw driver 5 at the ends of the four L-shaped slide rods 4. This push structure adopts a pure mechanical linkage method, and the moving distance of the four screw driver 5 is completely consistent, ensuring the concentricity of the assembly circumference and effectively avoiding the problem of screw stripping or incomplete assembly caused by position deviation.

[0024] In this embodiment, the rotating structure includes a worm gear 11, which is fixedly connected to the outer wall of the rotating rod 9 inside the cavity of the protective shell 7. A worm 12 is meshed on one side of the worm gear 11, and the worm 12 is rotatably connected inside the cavity of the protective shell 7. A rotating rod 13 is fixedly connected to one end of the worm 12, and the rotating rod 13 is inserted through and inserted into the interior of the inner shell 2. A pinion 14 is fixedly connected to the end of the rotating rod 13 away from the worm 12. A turntable 15 is fixedly connected to the outer wall of the central shaft 22, and the turntable 15 is disposed on the pinion 14. Between wheel 14 and rotating disk 20, four upper tooth sets 16 are circumferentially arranged at the edge of the upper surface of rotating disk 15, and each upper tooth set 16 can mesh with the corresponding small gear 14 for transmission. A large gear 31 is fixedly connected to the outer wall of the upper end of the central shaft 22. A motor 32 is installed in the cavity of the main shell 1. A support frame 43 is fixedly connected between the motor 32 and the inner wall of the main shell 1. A drive gear 33 is fixedly connected to the output end of the motor 32, and the drive gear 33 meshes with the large gear 31.

[0025] Specifically, the motor 32 drives the drive gear 33 to rotate, which in turn drives the large gear 31 to rotate, thereby causing the central shaft 22 to rotate. This, on the one hand, drives the push structure to achieve synchronous radial movement of the four L-shaped slide rods 4, and on the other hand, drives the turntable 15 to rotate synchronously. (Refer to...) Figure 8 and Figure 9 During the rotation of the turntable 15, the upper tooth set 16 on it will move accordingly. When the upper tooth set 16 meshes with the pinion 14, it will drive the pinion 14 to rotate. The pinion 14 drives the worm 12 to rotate through the rotating rod 13. The worm 12 then drives the worm wheel 11 to rotate, so that the rotating rod 9, together with the rotating seat 10 and the screw drivers 5 at both ends, rotate together. The number of teeth of each set of upper tooth sets 16 is precisely designed so that it can only drive the rotating seat 10 to rotate precisely 90° around the rotating rod 9. When the central shaft 22 further drives the turntable 15 to rotate, the upper tooth set 16 disengages from the pinion 14. The rotating seat 10 will be stably stopped at the position after rotating 90° under the self-locking action of the worm wheel and worm. Therefore, when the pushing structure is driven by the central shaft 22 to move the L-shaped slide bar 4 to the position that satisfies the eight-hole hardware assembly, if it is necessary to switch to the four-hole hardware assembly mode, the continued rotation of the central shaft 22 will only drive the L-shaped slide bar 4 and the screw driver 5 at its end to move further inward, while the screw driver 5 at both ends of the rotating seat 10 will remain in the same position. When the central shaft 22 rotates counterclockwise, the L-shaped slide bar 4 will start to move away from the inner shell 2. When the upper tooth set 16 contacts the pinion 14 again, the pinion 14 will start to rotate in the opposite direction, driving the rotating seat 10 to rotate 90° in the opposite direction, thereby automatically switching back to the twelve-hole hardware assembly state. This rotating structure uses a single power source to achieve linkage control with the pushing structure, without the need to add an additional drive motor, simplifying the equipment structure. At the same time, the self-locking characteristic of the worm gear transmission ensures the stability of the position of the rotating seat 10 and will not shift during the assembly process.

[0026] In this embodiment, the screw driver 5 includes a sleeve 39, a push rod 40 is slidably connected inside the cavity of the sleeve 39, and the push rod 40 passes through the upper and lower ends of the sleeve 39. A return spring 41 is fixedly connected to the outer wall of the push rod 40, and the lower end of the return spring 41 abuts against the bottom surface of the inner cavity of the sleeve 39. An electric bolt gun 42 is fixedly connected to the lower end of the push rod 40. Four idle slots 44 are circumferentially arranged on the outer wall of the main shell 1, and each idle slot 44 can allow the push rod 40 on the corresponding rotating seat 10 to slide into. A push plate 23 is provided on the upper surface of the inner shell 2, which can abut against the upper end of the push rod 40. The push plate 23 is slidably connected in the cavity of the main shell 1. Four sets of slots 231 are opened through the upper surface of the push plate 23. Each slot 231 can be axially aligned with the screw driver 5 on the corresponding rotating seat 10, so that the push plate 23 no longer abuts against the push rod 40 when it moves down. A rotating ring 34 is rotatably connected to the end of the push plate 23 away from the inner shell 2. A connecting plate 35 is fixedly connected to the end of the rotating ring 34 away from the push plate 23. An electric push rod 36 is fixedly connected to the end of the connecting plate 35 away from the rotating ring 34. The electric push rod 36 is fixedly connected to the inner wall of the main shell 1.

[0027] For details, please refer to Figure 3The electric actuator 36 pushes the connecting plate 35 and the rotating ring 34 downwards. The rotating ring 34 then pushes the push plate 23 downwards axially. The lower surface of the push plate 23 will abut against the upper ends of all the push rods 40 that are not aligned with the slot 231, pushing the push rods 40 downwards. The push rods 40 drive the electric bolt gun 42 to move downwards synchronously, so that the electric bolt gun 42 can smoothly push the screw into the threaded hole of the hardware while driving the screw to rotate. During the process of the push rod 40 being pushed downwards, the return spring 41 will be compressed and stored energy. When the electric bolt gun 42 completes the screw driving operation, the electric actuator 36 drives the push plate 23 to rise upwards, the return spring 41 releases energy, and pushes the push rod 40 and the electric bolt gun 42 to automatically return to the initial position, waiting for the next assembly operation. The setting of the rotating ring 34 allows the push plate 23 to rotate with the driven plate 25 without affecting the fixed installation of the electric actuator 36, ensuring the rationality of the structure and the smoothness of the movement.

[0028] In this embodiment, a drive disk 24 is provided above the upper surface of the inner shell 2, and the drive disk 24 is fixedly connected to the central shaft 22. A driven disk 25 is provided circumferentially on the outer side of the drive disk 24, and the driven disk 25 can perform circumferential contact transmission with the drive disk 24. Two symmetrically positioned positioning seats 26 are fixedly connected to the upper surface of the inner shell 2. An arc-shaped rod 27 is fixedly connected to the side surface of the positioning seat 26. A sliding seat 29 is slidably connected to the outer wall of the arc-shaped rod 27 away from the positioning seat 26, and the sliding seat 29 is fixedly connected to the driven disk 25. A return spring 28 is also provided between the sliding seat 29 and the positioning seat 26, and the return spring 28 is sleeved on the outer wall of the arc-shaped rod 27. Two symmetrically positioned vertical sliding rods 30 are fixedly connected to the upper end of the driven disk 25, and the vertical sliding rods 30 are slidably connected to the push plate 23 along the axial direction.

[0029] Specifically, when the central shaft 22 rotates, causing the rotating seat 10 to switch positions to achieve the eight-hole hardware assembly mode, the rotation angle of the drive plate 24 is less than 50°. At this time, the drive plate 24 will not circumferentially contact the driven plate 25, and the driven plate 25 remains stationary. The empty slot 231 on the push plate 23 is axially aligned with the screw drivers 5 on the rotating seat 10 that are not involved in the operation. When the electric push rod 36 pushes the push plate 23 downward, it only pushes the push rods 40 of the eight screw drivers 5 involved in the operation downward, while the push rods 40 of the four screw drivers 5 that are not involved in the operation will pass through the empty slot 231 and will not be pushed, thus avoiding interference from the unused screw drivers 5 in the assembly operation. When the rotation angle of the central shaft 22 is greater than 50°, the equipment switches from the eight-hole hardware assembly mode to the four-hole hardware assembly mode. When the side wall of the drive disc 24 comes into circumferential contact with the side wall of the driven disc 25, the driven disc 25 is pushed to rotate a certain angle along the arc rod 27. The driven disc 25 drives the push disc 23 to rotate synchronously through the vertical slide rod 30, so that the empty slot 231 on the push disc 23 is aligned with the two screw drivers 5 on the rotating seat 10. At this time, when the electric push rod 36 pushes the push disc 23 to move down, it will only push the push rods 40 of the four screw drivers 5 at the end of the L-shaped slide rod 4 to move down, so as to realize the synchronous assembly of the four-hole hardware. When the central shaft 22 rotates in the opposite direction, the return spring 28 will push the sliding seat 29 and the driven disc 25 to automatically return to the initial position, thereby driving the push disc 23 to reset synchronously. During the rotation of the rotating seat 10, the screw driver 5 at one end that does not participate in the operation will move to the outside of the main shell 1 through the empty slot 44, without interfering with the main shell 1.

[0030] Working principle: The power output by the motor 32 is transmitted to the central shaft 22 via the drive gear 33 and the large gear 31. The central shaft 22 serves as the main power hub, simultaneously driving three independent and linked actuators: The first set is a radial adjustment mechanism, which, through the cooperation of the rotating disk 20 and the positioning disk 18, converts the rotational motion of the central shaft 22 into the synchronous radial linear motion of all L-shaped slide rods 4, realizing the continuous adjustment of the assembly diameter of the screw driver 5; The second set is an angle switching mechanism, which, through the cooperation of the upper tooth set 16 on the rotating disk 15 with the small gear 14, rotating rod 13, worm 12, and worm wheel 11, drives the rotating seat 10 to complete the angle flip when the central shaft 22 rotates to a specific stage, realizing the switching of assembly modes with different hole numbers; The third set is a selective drive mechanism, which, through the circumferential contact transmission between the drive disk 24 and the driven disk 25, drives the push disk 23 to rotate synchronously, so that the empty slot 231 on the push disk 23 is precisely aligned with the screw driver 5 in the non-operating state; During assembly, the electric push rod 36 pushes the push plate 23 downward through the connecting plate 35 and the rotating ring 34, generating axial thrust only on the push rod 40 of the screw driver 5 in the working position that is not aligned with the empty slot 231, thereby driving the electric bolt gun 42 to complete the screw insertion. After the operation is completed, the return spring 41 and the spring 28 drive the corresponding parts to return to their original positions automatically, and the motor 32 reverses to drive the central shaft 22 to return to its initial state, waiting for the next assembly cycle.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An adaptive assembly robot for hardware processing, comprising a main shell (1), a connecting shaft (37), and a robotic arm (38), characterized in that: The main shell (1) is provided with an inner shell (2) inside the cavity. Four positioning sleeves (3) are installed in a circumferential array on the outer side wall of the inner shell (2). Each positioning sleeve (3) is slidably connected with an L-shaped slide rod (4) inside the cavity. A screw driver (5) is installed at one end of the L-shaped slide rod (4). The inner shell (2) is provided with a pushing structure that can push the four L-shaped slide rods (4) to move synchronously in the radial direction. The outer wall of the inner shell (2) is also fixed with four equidistant connecting frames (6), and the other end of the connecting frame (6) is fixed to the inner wall of the main shell (1). The side wall of the connecting frame (6) away from the inner shell (2) is fixed with a protective shell (7). The lower end of the protective shell (7) is fixed with a rotating seat (8). A rotating rod (9) is rotatably connected between the protective shell (7) and the rotating seat (8). The lower end of the rotating rod (9) is fixed with a rotating seat (10). Screw drivers (5) are installed on both sides of the rotating seat (10). The included angles of the L-shaped slide rod (4) and two adjacent screw drivers (5) on the rotating seat (10) are equal in the circumferential direction. The interior of the protective shell (7) is provided with a rotating structure that can drive the rotating rod (9) and the rotating seat (10) to rotate around their own axis.

2. The adaptive assembly robot for hardware processing according to claim 1, characterized in that: The pushing structure includes a positioning disk (18), which is fixedly connected to the cavity of the inner shell (2). The upper surface of the positioning disk (18) is provided with four radially extending positioning grooves (19), and the four positioning grooves (19) are arranged in a circumferential array. Each L-shaped slide bar (4) has a positioning rod (17) fixedly connected to one end away from the screw driver (5), and each positioning rod (17) is slidably connected to the cavity of the corresponding positioning groove (19).

3. The adaptive assembly robot for hardware processing according to claim 2, characterized in that: The upper surface of the positioning disk (18) is rotatably connected to a rotating disk (20). The upper surface of the rotating disk (20) is provided with four arc-shaped arrayed push grooves (21), and each push groove (21) is movably connected to a positioning rod (17) at the corresponding position. A central shaft (22) is fixed at the center of the rotating disk (20), and the central shaft (22) extends through to the outer side of the upper surface of the inner shell (2).

4. The adaptive assembly robot for hardware processing according to claim 3, characterized in that: The rotating structure includes a worm gear (11), which is fixed to the outer wall of the rotating rod (9) inside the cavity of the protective shell (7). A worm (12) is meshed on one side of the worm gear (11), and the worm (12) is rotatably connected inside the cavity of the protective shell (7). A rotating rod (13) is fixed to one end of the worm (12), and the rotating rod (13) is inserted through into the interior of the inner shell (2). A pinion (14) is fixed to one end of the rotating rod (13) away from the worm (12). A turntable (15) is fixed to the outer wall of the central shaft (22), and the turntable (15) is positioned between the pinion (14) and the turntable (20). Four upper tooth sets (16) are circumferentially arranged at the edge of the upper surface of the turntable (15), and each upper tooth set (16) can mesh with the corresponding pinion (14) for transmission.

5. The adaptive assembly robot for hardware processing according to claim 4, characterized in that: A large gear (31) is fixed to the outer wall of the upper end of the central shaft (22). A motor (32) is installed inside the cavity of the main shell (1). A support frame (43) is fixed between the motor (32) and the inner wall of the main shell (1). A drive gear (33) is fixed to the output end of the motor (32), and the drive gear (33) meshes with the large gear (31).

6. The adaptive assembly robot for hardware processing according to claim 3, characterized in that: The screw driver (5) includes a sleeve (39), a push rod (40) is slidably connected inside the cavity of the sleeve (39), and the push rod (40) passes through the upper and lower ends of the sleeve (39). A return spring (41) is fixedly connected to the outer wall of the push rod (40), and the lower end of the return spring (41) abuts against the bottom surface of the inner cavity of the sleeve (39). An electric bolt gun (42) is fixedly connected to the lower end of the push rod (40). Four idle slots (44) are arranged in a circular array on the outer wall of the main shell (1), and each idle slot (44) can allow the push rod (40) on the corresponding rotating seat (10) to slide into.

7. The adaptive assembly robot for hardware processing according to claim 6, characterized in that: The upper surface of the inner shell (2) is provided with a push plate (23) that can abut against the upper end of the push rod (40), and the push plate (23) is axially connected in the cavity of the main shell (1). The upper surface of the push plate (23) is provided with four sets of slots (231), and each slot (231) can be axially aligned with the screw driver (5) on the corresponding rotating seat (10), so that the push plate (23) no longer abuts against the push rod (40) when it moves down. The end of the push plate (23) away from the inner shell (2) is rotatably connected to a rotating ring (34), and the end of the rotating ring (34) away from the push plate (23) is fixedly connected to a connecting plate (35). The end of the connecting plate (35) away from the rotating ring (34) is fixedly connected to an electric push rod (36), and the electric push rod (36) is fixedly connected to the inner wall of the main shell (1).

8. The adaptive assembly robot for hardware processing according to claim 7, characterized in that: A drive disk (24) is provided above the upper surface of the inner shell (2), and the drive disk (24) is fixedly connected to the central shaft (22). A driven disk (25) is provided circumferentially on the outer side of the drive disk (24), and the driven disk (25) can perform circumferential contact transmission with the drive disk (24). Two symmetrically positioned positioning seats (26) are fixedly connected to the upper surface of the inner shell (2). An arc-shaped rod (27) is fixedly connected to the side surface of the positioning seat (26). A sliding seat (29) is slidably connected to the outer wall of the end away from the positioning seat (26), and the sliding seat (29) is fixedly connected to the driven plate (25). A return spring (28) is also provided between the sliding seat (29) and the positioning seat (26), and the return spring (28) is sleeved on the outer wall of the arc-shaped rod (27). Two vertical sliding rods (30) with symmetrical positions are fixedly connected to the upper end of the driven plate (25), and the vertical sliding rods (30) are slidably connected to the push plate (23) along the axial direction.

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