An intelligent assembly robot and method for mechanical component production

Abstract

The application discloses an intelligent assembling robot and method for mechanical part production and relates to the technical field of mechanical assembly. The mechanical arm is provided with a clamping driving element at one end, and further comprises an assembling mechanism. The application wraps the top of the part through a pneumatic mechanism, cooperates with the inflation adhesion of the adsorbing soft bag and the liquid soft bag, constructs an omnidirectional flexible constraint field, and the variable frictional resistance generated by the liquid soft bag can not only assist in fixing the part, but also actively absorbs the axial reaction force and vibration energy generated in the assembling process, offsets the impact force caused by the assembling deviation, prevents the part from deviating or bouncing under high-pressure assembling, and ensures the centering precision and process stability of the precise assembling.

Description

Technical Field

[0001] This invention relates to the field of mechanical assembly technology, and in particular to an intelligent assembly robot and method for the production of mechanical parts. Background Technology

[0002] Mechanical components are prone to surface damage and stress concentration under high-pressure assembly conditions using rigid fixtures. Furthermore, poor contact, uneven force distribution, and slippage occur during the clamping of irregularly shaped or non-planar parts. During assembly, reaction forces, vibrations, and positional deviations cause parts to shift and bounce, making it difficult to guarantee alignment accuracy. Therefore, this invention provides an intelligent assembly robot and method for the production of mechanical components to meet these requirements. Summary of the Invention

[0003] The purpose of this application is to provide an intelligent assembly robot and method for the production of mechanical parts, which can effectively solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this application provides the following technical solution: an intelligent assembly robot for the production of mechanical parts, comprising a robotic arm and a bundled air tube, wherein one end of the robotic arm is provided with a clamping drive component, and further comprising:

[0005] An assembly mechanism includes a support component, a pressure control component, and a force control component. The pressure control component and the force control component are both disposed on the support component and are staggered along the movement direction of the clamping drive component. The force control component is movable relative to the support component to hold the part to be assembled when it is inflated. The pressure control component is configured to apply a preset pressure to the part to be assembled in response to the holding state of the force control component.

[0006] A pneumatic mechanism, comprising an adsorption soft bag and a liquid soft bag, wherein the liquid soft bag is fitted to the bottom of the adsorption soft bag, and a plurality of rubber particles are distributed on the outer surface of the liquid soft bag, the rubber particles protruding from the surface of the liquid soft bag to form a friction interface.

[0007] The pneumatic mechanism further includes a support member and a limiting rod. The support member is connected to the clamping drive member. An air guide pipe is provided at the upper end of the support member and is connected to the bundled air pipe. The limiting rod extends vertically inside the support member.

[0008] The locking component is slidably sleeved on the limiting rod, and a spring elastically connects the locking component and the supporting component.

[0009] The first airbag is located inside the card and is connected to the air duct via a hose.

[0010] The liquid soft capsule is fixedly connected to the bottom of the first airbag.

[0011] The liquid soft capsule has several elastic ribs extending horizontally on both sides, the elastic ribs are evenly spaced, and the outer surface of the elastic ribs is provided with several triangular support plates evenly spaced.

[0012] Each of the aforementioned triangular support plates is provided with a second airbag on one side, and a connecting pipe and a flexible hose are provided on one side of the second airbag.

[0013] The adsorption soft capsule includes several rubber capsules stacked vertically, and the rubber capsules are fixed to the side of the triangular support plate away from the second airbag.

[0014] The rubber bladder and the second air bladder are arranged alternately on the horizontal projection plane.

[0015] The support assembly includes a diverter tube and a support frame. The support frame has several mounting slots inside and is fixedly installed at the bottom of the clamping drive component. One end of the diverter tube extends into the interior of the bundled air tube.

[0016] The pressure control component includes a first mounting shell, which is fixedly installed inside a mounting groove. The first mounting shell has multiple pneumatic push rods distributed at equal intervals inside, and each pneumatic push rod has an adsorption plate at one end. The adsorption plate has a suction hose inside, and the bottom of the suction hose is connected to a suction pipe. One end of the suction pipe and the pneumatic push rod both extend into the interior of the diversion pipe and are connected to the ventilation pipe inside the diversion pipe.

[0017] The adsorption plate is made of rubber, and a pressure monitor is installed in the middle of the adsorption plate.

[0018] The force control component includes a rubber airbag, which is fixedly installed inside the support frame. A second mounting shell is provided on one side of the rubber airbag. A plurality of connecting rods are provided inside the second mounting shell, and a support block is rotatably mounted on the outer surface of the connecting rods. A friction plate is provided on one side of the support block.

[0019] The force control component further includes a spacer airbag, which is disposed between two adjacent friction plates, and several of the spacer airbags are interconnected through a common air tube.

[0020] The air pressure tube has one end connected to the bundled air tube and the other end connected to the rubber airbag and the common air tube, respectively, so as to synchronously control the inflation and deflation of the rubber airbag and the spacer airbag.

[0021] A method for assembling mechanical parts, the specific assembly method is as follows:

[0022] S1, control the clamping drive to drive the support assembly to move, so that the force control assembly first contacts the part to be assembled, and inflate the force control assembly to expand it, so as to adjust the friction force between it and the part to be assembled according to the expansion displacement;

[0023] S2, with the force control component holding the part to be assembled, inflate the pressure control component to make the pressure control component hold the part to be assembled, and adjust the clamping pressure of the pressure control component according to the feedback signal of the force control component so that the surface of the part to be assembled is subjected to uniform force.

[0024] S3 controls the pneumatic mechanism to wrap around the top of the parts to be assembled, inflating the adsorption soft bag and the liquid soft bag, so that the liquid soft bag adheres to the surface of the parts to be assembled and generates frictional resistance to absorb the reaction force during the assembly process.

[0025] In summary, the technical effects and advantages of this invention are as follows:

[0026] 1. This invention constructs an omnidirectional flexible constraint field by wrapping the top of the part with a pneumatic mechanism and combining it with the inflated and fitted adsorption soft bag and liquid soft bag. The variable frictional resistance generated by the liquid soft bag not only helps to fix the part, but more importantly, it can actively absorb the axial reaction force and vibration energy generated during the assembly process, offset the impact force caused by assembly deviation, prevent the part from shifting or bouncing under high pressure assembly, and ensure the alignment accuracy and process stability of precision assembly.

[0027] 2. This invention utilizes a clamping drive and a support frame to achieve rapid mechanical pre-positioning of the friction plate, shortening the idle travel time and avoiding blind searching. The rubber airbag provides a stable basic normal clamping force, while the spacer airbag drives the support block to rotate around the connecting rod, giving the friction plate multi-degree-of-freedom angle adaptive capability, enabling it to accurately conform to the surface of non-planar or inclined parts. Finally, the rubber strip design on the surface of the friction plate achieves continuous compression and embedding of the part surface during the angle adaptive adjustment process, which not only greatly increases the effective contact area, but also significantly improves the friction force and anti-slip stability through the deformation interlocking effect, solving the problems of poor contact, uneven force and easy slippage when rigid clamps clamp irregular parts.

[0028] 3. This invention utilizes spacer airbags and rubber airbags to monitor their internal air pressure values ​​and accurately calculate the initial stress state of the parts. Secondly, based on the clustered air tube supplying and regulating air pressure to the air pressure push rod, linearization and dynamic adjustment of the clamping force are achieved. Combined with the real-time feedback from the pressure monitor built into the adsorption plate, the clamping force can be instantly optimized according to the assembly conditions, avoiding damage to parts due to over-clamping or loosening caused by insufficient clamping force. Finally, through the air extraction tube and hose, while providing controllable normal pressure, a strong tangential adsorption force is generated by negative pressure. Through multi-dimensional constraint methods, the risk of part displacement caused by reaction force or vibration during assembly is completely eliminated. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 A first-person perspective 3D structural diagram of an intelligent assembly robot for the production of mechanical parts;

[0031] Figure 2 A second-view 3D structural diagram of an intelligent assembly robot for the production of mechanical parts;

[0032] Figure 3 A third-person perspective stereoscopic connection structure diagram of an intelligent assembly robot for the production of mechanical parts;

[0033] Figure 4 A partial first-person perspective 3D connection structure diagram of an intelligent assembly robot for the production of mechanical parts;

[0034] Figure 5 A partial second-view three-dimensional connection structure diagram of an intelligent assembly robot for the production of mechanical parts;

[0035] Figure 6 This is a schematic diagram of the three-dimensional connection structure of the pneumatic mechanism;

[0036] Figure 7 This is an exploded view of the three-dimensional connection structure of the pneumatic mechanism;

[0037] Figure 8 This is a schematic diagram of a partial three-dimensional connection structure of the pneumatic mechanism;

[0038] Figure 9 A schematic diagram of the three-dimensional connection structure between the second airbag and the triangular support plate;

[0039] Figure 10 A schematic diagram of the three-dimensional connection structure of the rubber capsule and the absorbent soft capsule;

[0040] Figure 11 A schematic diagram of the three-dimensional connection structure of the clamping drive component and the assembly mechanism;

[0041] Figure 12 This is a schematic diagram of the three-dimensional connection structure of the assembly mechanism;

[0042] Figure 13 This is a schematic diagram of the three-dimensional connection structure of the assembly mechanism;

[0043] Figure 14 This is a schematic diagram of a partial three-dimensional connection structure of the assembly mechanism;

[0044] Figure 15 A schematic diagram of the three-dimensional connection structure supporting the components;

[0045] Figure 16 This is a schematic diagram of the three-dimensional connection structure of the pressure control component;

[0046] Figure 17 A three-dimensional cross-sectional view of the connection structure of the pressure control component;

[0047] Figure 18 This is a partial three-dimensional connection structure cross-sectional view of the pressure control component;

[0048] Figure 19 A schematic diagram of the three-dimensional connection structure of the force control component;

[0049] Figure 20 This is a schematic diagram of a partial three-dimensional connection structure of the force control component;

[0050] Figure 21 This is an exploded view of the 3D connection structure of the force control component.

[0051] In the diagram: 1. Robotic arm; 2. Bundled air tube; 3. Clamping drive component; 4. Assembly mechanism; 41. Support assembly; 411. Diverter tube; 412. Support frame; 413. Mounting slot; 42. Pressure control assembly; 421. First mounting shell; 422. Pneumatic push rod; 423. Suction tube; 424. Adsorption plate; 425. Suction hose; 426. Pressure monitor; 43. Force control assembly; 431. Pneumatic tube; 432. Rubber airbag; 43 3. Second mounting shell; 434. Friction plate; 435. Spacer airbag; 436. Support block; 437. Connecting rod; 5. Pneumatic mechanism; 51. Air guide tube; 52. Support component; 53. Limiting rod; 54. Spring; 55. Hose; 56. Clip; 57. First airbag; 58. Liquid soft bag; 59. Rubber bag; 511. Adsorption soft bag; 512. Rubber particles; 513. Triangular support plate; 514. Elastic rib; 515. Second airbag. Detailed Implementation

[0052] 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.

[0053] Example 1, Reference Figures 1 to 21 The intelligent assembly robot shown includes a robotic arm 1 and a bundled air tube 2. One end of the robotic arm 1 is equipped with a clamping drive component 3, and the robot also includes:

[0054] Assembly mechanism 4 includes a support component 41, a pressure control component 42, and a force control component 43. The pressure control component 42 and the force control component 43 are both disposed on the support component 41 and are staggered along the movement direction of the clamping drive component 3. The force control component 43 can move relative to the support component 41 to hold the parts to be assembled when inflated. The pressure control component 42 is configured to apply a preset pressure to the parts to be assembled in response to the holding state of the force control component 43.

[0055] The pneumatic mechanism 5 includes an adsorption soft bag 511 and a liquid soft bag 58. The liquid soft bag 58 is attached to the bottom of the adsorption soft bag 511. Several rubber particles 512 are distributed on the outer surface of the liquid soft bag 58. The rubber particles 512 protrude from the surface of the liquid soft bag 58 to form a friction interface.

[0056] It is worth noting that the control clamping drive 3 drives the support assembly 41 to move, so that the force control assembly 43 first contacts the part to be assembled, and inflates the force control assembly 43 to expand it, so as to adjust the friction force between it and the part to be assembled according to the expansion displacement.

[0057] Among them, by controlling the driving force control component 43 of the clamping drive component 3 to contact the part first, the friction force is dynamically adjusted by the displacement generated by the inflation expansion, and a buffer pad is established between the robotic arm and the part. This not only eliminates the risk of collision damage that may occur when the rigid clamp moves at high speed, but also automatically adjusts the contact state according to the micro-morphology of the part surface, ensuring that there is sufficient static friction before formal pressure is applied to prevent the part from sliding.

[0058] With the force control component 43 holding the part to be assembled, air is injected into the pressure control component 42 so that the pressure control component 42 holds the part to be assembled, and the clamping pressure of the pressure control component 42 is adjusted according to the feedback signal of the force control component 43 so that the surface of the part to be assembled is subjected to uniform force.

[0059] When the force control component 43 is in the holding state, it is used as a sensor feedback signal to dynamically adjust the inflation pressure of the pressure control component 42, so that the clamping force is no longer a fixed preset value, but can respond in real time according to the changes in the shape, material and assembly resistance of the part. This solves the problem of local stress concentration, deformation or damage caused by uneven force during the assembly of irregular or vulnerable parts, and improves the assembly yield.

[0060] The pneumatic control mechanism 5 is wrapped around the top of the parts to be assembled, and inflates the adsorption soft bag 511 and the liquid soft bag 58, so that the liquid soft bag 58 adheres to the surface of the parts to be assembled and generates frictional resistance to absorb the reaction force during the assembly process.

[0061] The pneumatic mechanism 5 wraps around the top of the part, and together with the inflated soft bag 511 and the liquid soft bag 58, it creates an omnidirectional flexible constraint field. The variable frictional resistance generated by the liquid soft bag 58 not only helps to fix the part, but more importantly, it can actively absorb the axial reaction force and vibration energy generated during the assembly process, offset the impact force caused by the assembly deviation, prevent the part from shifting or bouncing under high pressure assembly, and ensure the centering accuracy and process stability of precision assembly.

[0062] Example 2: This example provides a further technical solution for the pneumatic mechanism 5.

[0063] The pneumatic mechanism 5 also includes a support member 52 and a limiting rod 53. The support member 52 is connected to the clamping drive member 3. An air guide pipe 51 is provided at the upper end of the support member 52, and the air guide pipe 51 is connected to the bundled air pipe 2. The limiting rod 53 extends vertically inside the support member 52.

[0064] The locking element 56 is slidably sleeved on the limiting rod 53, and a spring 54 is elastically connected between the locking element 56 and the support element 52.

[0065] The first airbag 57 is located inside the clip 56 and is connected to the air duct 51 via the hose 55.

[0066] The liquid soft capsule 58 is fixedly connected to the bottom of the first airbag 57.

[0067] Several elastic ribs 514 are provided on both sides of the liquid soft capsule 58 in a horizontal direction. The elastic ribs 514 are evenly distributed. Several triangular support plates 513 are evenly distributed on the outer surface of the elastic ribs 514.

[0068] Each of the several triangular support plates 513 has a second airbag 515 on one side, and a connecting pipe and a flexible hose 55 are provided on one side of the second airbag 515.

[0069] The adsorption soft capsule 511 includes several rubber capsules 59 stacked in a vertical direction. The rubber capsules 59 are fixed to the side of the triangular support plate 513 away from the second air capsule 515.

[0070] Among them, the rubber bladder 59 and the second airbag 515 are arranged alternately on the horizontal projection plane.

[0071] It is worth noting that in this embodiment, the clamping drive 3 drives the support 52 to move downward, thereby causing the liquid soft bag 58 to come into contact with the upper surface of the component. The liquid soft bag 58 is filled with a fluid medium, which can be a magnetorheological fluid or a Newtonian fluid. When the filling medium is a magnetorheological fluid, an electromagnetic coil can also be set to regulate its rheological properties. During the contact process, the liquid soft bag 58 is deformed under pressure and thus wraps around the surface of the component. At the same time, the first air bag 57 is inflated and expanded to push the liquid soft bag 58 downward to ensure that it can fit tightly against the complex surface of the component.

[0072] Furthermore, as the support member 52 continues to apply pressure, the liquid soft bag 58 is squeezed and adhered to the surface of the part. At this time, the reaction force is transmitted to the clamp 56, which forces the clamp 56 to compress the spring 54 and slide along the limit rod 53. This can effectively absorb assembly stroke errors and ensure that the liquid soft bag 58 is always tightly attached to the surface of the part without generating rigid impact.

[0073] When clamping and fitting the parts, the hose 55 draws air from the inside of the second airbag 515 through the connecting pipe, causing the second airbag 515 to contract and collapse. Since the triangular support plate 513 is made of elastic rubber and is supported by elastic ribs 514, when the second airbag 515 contracts, the elastic ribs 514 and the triangular support plate 513 undergo elastic deformation simultaneously, which in turn causes the rubber bladder 59 and the adsorption soft bladder 511 to deform together to wrap the upper surface of the parts. The rubber bladder 59 and the adsorption soft bladder 511 are both filled with air, and the adsorption soft bladder 511 is made of rubber, which allows it to adaptively contact and wrap the surface of parts with different geometric shapes.

[0074] In summary, when the assembly mechanism 4 clamps the parts for assembly, the adsorption soft bag 511 and the liquid soft bag 58 together form a flexible assembly interface. Even if pressure is continuously applied during the assembly process, or if there is a deviation in the assembly position of the parts or deformation of the parts themselves, the flexible buffering and adaptive wrapping characteristics of the liquid soft bag 58 and the adsorption soft bag 511 can ensure that the assembled parts and mechanical equipment will not be subjected to rigid damage or stress concentration damage.

[0075] Among them, the liquid soft capsule 58 filled with magnetorheological fluid or Newtonian fluid, in conjunction with the active ejection of the first air capsule 57, achieves high-fidelity initial bonding to the complex surface of the parts, and the controllable rheological properties of the magnetorheological fluid further enhance the interface adaptability.

[0076] Secondly, a floating buffer mechanism consisting of a clamp 56, a spring 54, and a limiting rod 53 is introduced to absorb assembly stroke errors and eliminate rigid impacts, ensuring that the parts remain in close contact without damage under continuous pressure. Moreover, the negative pressure drives the triangular support plate 513 and the elastic rib 514 to deform in tandem, driving the adsorption soft bag 511 and the rubber bag 59 to achieve adaptive omnidirectional wrapping of parts with different geometric shapes, greatly expanding the versatility of the fixture. When faced with assembly position deviations, part deformations, or high-pressure conditions, it can completely avoid rigid damage or stress concentration damage to parts and mechanical equipment through flexible buffering and stress dispersion.

[0077] Example 3: This example provides further technical solutions for the support component 41, pressure control component 42, and force control component 43 in the assembly mechanism 4.

[0078] The support assembly 41 includes a diversion pipe 411 and a support frame 412. The support frame 412 has several mounting slots 413 inside. The support frame 412 is fixedly installed at the bottom of the clamping drive component 3. One end of the diversion pipe 411 extends into the interior of the bundled air pipe 2.

[0079] The force control component 43 includes a rubber airbag 432, which is fixedly installed inside the support frame 412. A second mounting shell 433 is provided on one side of the rubber airbag 432. A plurality of connecting rods 437 are provided inside the second mounting shell 433, and a support block 436 is rotatably mounted on the outer surface of the connecting rods 437. A friction plate 434 is provided on one side of the support block 436.

[0080] The force control component 43 also includes a spacer airbag 435, which is disposed between two adjacent friction plates 434, and several spacer airbags 435 are interconnected through a common air tube.

[0081] The air pressure tube 431 has one end connected to the bundled air tube 2 and the other end connected to the rubber airbag 432 and the common air tube, respectively, so as to synchronously control the inflation and deflation of the rubber airbag 432 and the spacer airbag 435.

[0082] It is worth noting that when the clamping drive 3 pushes the support frame 412 to move, the support frame 412 drives the rubber airbag 432 and the second mounting shell 433 connected to it to move synchronously, so that the friction plate 434 initially approaches or contacts the surface of the component. Subsequently, the airflow pipe inside the bundled air pipe 2 synchronously inflates the rubber airbag 432 and the spacer airbag 435.

[0083] On the one hand, the rubber airbag 432 expands to generate thrust, which further pushes the second mounting shell 433 and friction plate 434 to tightly abut against the surface of the part, providing basic clamping force;

[0084] On the other hand, the expansion of the spacer airbag 435 drives the support block 436 to rotate around the outer surface of the connecting rod 437, thereby causing the friction plate 434 to deflect at an angle to adaptively fit the surface of the part.

[0085] Because the surface of the friction plate 434 is provided with rubber strips, as the friction plate 434 rotates and adjusts, the rubber strips on its surface can continuously squeeze the parts, thereby significantly increasing the effective contact area between the friction plate 434 and the parts, and improving the stability and friction of clamping.

[0086] The friction plate 434 is rapidly and mechanically pre-positioned using the clamping drive 3 and the support frame 412, which shortens the idle travel time and avoids blind searching. The rubber airbag 432 provides a stable basic normal clamping force, while the spacer airbag 435 drives the support block 436 to rotate around the connecting rod 437, giving the friction plate 434 a multi-degree-of-freedom angle adaptive capability, enabling it to accurately fit the non-planar or inclined surface of the part. Finally, the rubber strip design on the surface of the friction plate 434 achieves continuous compression and embedding of the part surface during the angle adaptive adjustment process, which not only greatly increases the effective contact area, but also significantly improves the friction and anti-slip stability through the deformation interlocking effect, solving the problems of poor contact, uneven force and easy slippage when the rigid clamp is clamping irregular parts.

[0087] The pressure control assembly 42 includes a first mounting shell 421, which is fixedly installed inside the mounting groove 413. The first mounting shell 421 is provided with a plurality of pneumatic push rods 422 that are evenly distributed inside the first mounting shell 421, and one end of each pneumatic push rod 422 is provided with an adsorption plate 424. The adsorption plate 424 is provided with an air suction hose 425, and the bottom of the air suction hose 425 is connected to an air suction pipe 423. One end of the air suction pipe 423 and the pneumatic push rod 422 extends into the interior of the diversion pipe 411 and is connected to the ventilation pipe inside it.

[0088] The adsorption plate 424 is made of rubber, and a pressure monitor 426 is installed in the middle of the adsorption plate 424.

[0089] It is worth noting that after the spacer airbag 435 and the rubber airbag 432 inflate and press against the surface of the component, the system calculates the stress state of the component in real time based on the internal air pressure values ​​of both. Subsequently, the airflow pipe inside the cluster air pipe 2 delivers controlled air pressure to the pneumatic push rod 422, driving the pneumatic push rod 422 to move the adsorption plate 424 against the surface of the component. By precisely adjusting the air pressure value input to the pneumatic push rod 422, the pressing pressure of the adsorption plate 424 against the surface of the component can be linearly changed, thereby achieving dynamic adjustment of the clamping force.

[0090] During the parts assembly process, a pressure monitor 426 installed inside the adsorption plate 424 provides real-time feedback on the assembly force data. Based on this feedback and the actual assembly conditions of the parts, the control system dynamically adjusts the output pressure of the pneumatic push rod 422 to apply an appropriate clamping force. Simultaneously, air is drawn from the suction hose 425 through the suction pipe 423, creating a negative pressure inside the adsorption plate 424 and firmly adhering the parts to the surface. The synergistic effect of pneumatic pushing and vacuum adsorption effectively ensures that the parts do not shift position during assembly, improving assembly accuracy.

[0091] Among them, the initial stress state of the parts is accurately calculated by monitoring the internal air pressure values ​​of the spacer airbag 435 and the rubber airbag 432. Secondly, the control air pressure is delivered to the air pressure push rod 422 based on the cluster air pipe 2, realizing the linearization and dynamic adjustment of the clamping force. With the real-time feedback of the pressure monitor 426 built into the adsorption plate 424, the clamping force can be optimized instantly according to the assembly conditions, avoiding damage to the parts due to over-clamping or loosening due to insufficient clamping force.

[0092] Finally, through the extraction pipe 423 and the extraction hose 425, while providing controllable normal pressure, a strong tangential adsorption force is generated by using negative pressure. Through multi-dimensional constraint, the risk of part displacement caused by reaction force or vibration during the assembly process is completely eliminated.

[0093] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent assembly robot for the production of mechanical parts, comprising a robotic arm (1) and a bundled air tube (2), wherein one end of the robotic arm (1) is provided with a clamping drive component (3), characterized in that, Also includes: Assembly mechanism (4), the assembly mechanism (4) includes a support component (41), a pressure control component (42) and a force control component (43). The pressure control component (42) and the force control component (43) are both disposed on the support component (41) and are staggered along the movement direction of the clamping drive (3). The force control component (43) can move relative to the support component (41) to hold the parts to be assembled when inflated. The pressure control component (42) is configured to apply a preset pressure to the parts to be assembled in response to the holding state of the force control component (43). The pneumatic mechanism (5) includes an adsorption soft bag (511) and a liquid soft bag (58). The liquid soft bag (58) is attached to the bottom of the adsorption soft bag (511). A number of rubber particles (512) are distributed on the outer surface of the liquid soft bag (58). The rubber particles (512) protrude from the surface of the liquid soft bag (58) to form a friction interface.

2. The intelligent assembly robot for the production of mechanical parts according to claim 1, characterized in that: The pneumatic mechanism (5) also includes a support member (52) and a limiting rod (53). The support member (52) is connected to the clamping drive member (3). An air guide pipe (51) is provided at the upper end of the support member (52), and the air guide pipe (51) is connected to the bundled air pipe (2). The limiting rod (53) extends vertically inside the support member (52). The clip (56) is slidably sleeved on the limiting rod (53), and the clip (56) and the support (52) are elastically connected by a spring (54). The first airbag (57) is located inside the clip (56) and is connected to the air duct (51) through the hose (55); The liquid soft capsule (58) is fixedly connected to the bottom of the first airbag (57).

3. The intelligent assembly robot for the production of mechanical parts according to claim 2, characterized in that: The liquid soft capsule (58) has several elastic ribs (514) extending horizontally on both sides. The elastic ribs (514) are evenly distributed, and the outer surface of the elastic ribs (514) is provided with several triangular support plates (513) evenly distributed. Each of the aforementioned triangular support plates (513) is provided with a second airbag (515) on one side, and a connecting pipe and a flexible tube (55) are provided on one side of the second airbag (515).

4. The intelligent assembly robot for the production of mechanical parts according to claim 3, characterized in that: The adsorption soft capsule (511) includes a plurality of rubber capsules (59) stacked in a vertical direction, and the rubber capsules (59) are fixed to the side of the triangular support plate (513) away from the second airbag (515). The rubber bladder (59) and the second airbag (515) are arranged alternately on the horizontal projection plane.

5. The intelligent assembly robot for the production of mechanical parts according to claim 1, characterized in that: The support assembly (41) includes a diversion pipe (411) and a support frame (412). The support frame (412) has several mounting slots (413) inside. The support frame (412) is fixedly installed at the bottom of the clamping drive (3). One end of the diversion pipe (411) extends into the interior of the bundled air pipe (2).

6. The intelligent assembly robot for the production of mechanical parts according to claim 5, characterized in that: The pressure control component (42) includes a first mounting shell (421), which is fixedly installed inside the mounting groove (413). The first mounting shell (421) is provided with a plurality of pneumatic push rods (422) distributed at equal intervals. Each pneumatic push rod (422) has an adsorption plate (424) at one end. The adsorption plate (424) is provided with a suction hose (425). The bottom of the suction hose (425) is connected to a suction pipe (423). One end of the suction pipe (423) and the pneumatic push rod (422) both extend into the interior of the diversion pipe (411) and are connected to the ventilation pipe inside it.

7. The intelligent assembly robot for the production of mechanical parts according to claim 6, characterized in that: The adsorption plate (424) is made of rubber, and a pressure monitor (426) is provided in the middle of the adsorption plate (424).

8. The intelligent assembly robot for the production of mechanical parts according to claim 7, characterized in that: The force control component (43) includes a rubber airbag (432), which is fixedly installed inside the support frame (412). A second mounting shell (433) is provided on one side of the rubber airbag (432). A plurality of connecting rods (437) are provided inside the second mounting shell (433) in an equally spaced manner. A support block (436) is rotatably mounted on the outer surface of the connecting rod (437). A friction plate (434) is provided on one side of the support block (436).

9. The intelligent assembly robot for the production of mechanical parts according to claim 8, characterized in that: The force control component (43) also includes a spacer airbag (435), which is disposed between two adjacent friction plates (434), and several of the spacer airbags (435) are interconnected through a common air tube. The air pressure tube (431) is connected at one end to the bundled air tube (2) and at the other end to the rubber airbag (432) and the common air tube, respectively, so as to synchronously control the inflation and deflation of the rubber airbag (432) and the spacer airbag (435).

10. A method for assembling mechanical parts, employing the intelligent assembly robot for mechanical parts production as described in any one of claims 1-9, characterized in that, The specific assembly method is as follows: S1, control the clamping drive (3) to drive the support assembly (41) to move, so that the force control assembly (43) first contacts the part to be assembled, and inflate the force control assembly (43) to expand it, so as to adjust the friction force between it and the part to be assembled according to the expansion displacement; S2, while the force control component (43) is holding the part to be assembled, inflate the pressure control component (42) so that the pressure control component (42) holds the part to be assembled, and adjust the clamping pressure of the pressure control component (42) according to the feedback signal of the force control component (43) so that the surface of the part to be assembled is subjected to uniform force. S3, control the pneumatic mechanism (5) to wrap around the top of the parts to be assembled, inflate the adsorption soft bag (511) and the liquid soft bag (58) so that the liquid soft bag (58) adheres to the surface of the parts to be assembled and generates frictional resistance to absorb the reaction force during the assembly process.

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