A multi-station robot collaborative assembly system for switch box assembly

Abstract

The application provides a multi-station robot collaborative assembly system for switch box assembly, and relates to the technical field of switch box assembly. The system comprises a transmission rotating column, a base shell rotatably connected to the outer side of the transmission rotating column, a sliding table bolted to the upper side of the base shell, a rotating block welded to the top end of the transmission rotating column, a turnover shell hinged to the outer side of the rotating block, a transposition motor installed on the lower side of the base shell, a drive gear installed on the motor shaft of the transposition motor, a support installed on the outer side of the base shell, and a put bolt industrial robot installed on the upper side of the support. The transposition motor, the drive gear, the transmission rotating column and the rotating block are arranged to realize automatic flow-through continuous switching operation of multi-station robot operation for switch box workpiece alignment feeding, put bolt, wire locking and discharging, and solve the problems of low production efficiency and poor assembly quality caused by single-station manual assembly operation for alignment, put bolt and wire locking in traditional switch box assembly operation.

Description

Technical Field

[0001] This invention belongs to the field of switch box assembly technology, and more specifically, relates to a multi-station robot collaborative assembly system for switch box assembly. Background Technology

[0002] A switch box is a back box installed behind a switch panel, primarily used to secure the panel and provide protective space for the internal wiring. Currently, in the production and assembly of switch boxes, assembly line workers typically assemble the switch back box to the switch panel, aligning the bolt holes on the switch panel with the threaded holes on the switch back box. Then, a fixed number of bolts are manually picked up and placed into the bolt holes on the panel, and finally, a screwdriver is used to screw the bolts into the threaded holes in the switch back box, completing the assembly. As can be seen, the alignment, bolt placement, and screw tightening in traditional switch box assembly are all done manually. The assembly process is tedious and complex, with limited capacity per workstation. Furthermore, prolonged manual assembly can lead to fatigue, slowing down the assembly process and increasing the likelihood of missing screws. This approach is unsuitable for the continuous industrial production demands of switch boxes, increasing labor costs and reducing production efficiency and assembly quality. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides a multi-station robot collaborative assembly system for switch box assembly, which solves the problems of low production efficiency and poor assembly quality in traditional switch box assembly operations, where alignment, bolt placement, and wire locking are all performed manually at a single station.

[0004] This invention provides a multi-station robot collaborative assembly system for assembling switch boxes, including a bracket; a control unit is mounted on the upper side of the bracket, and a base shell is welded to the rear side of the bracket; it also includes the base shell, a weight measuring device, a clamping device, and a transmission column; the clamping device includes a flip shell, a slide, a pressing block, a guide rod, a clamping spring, and a return spring; flip shells are welded to the left and right ends of the guide rod, a return spring is nested on the outer side of the guide rod, a clamping spring is nested on the outer side of the guide rod, and a pressing block is slidably connected to the outer side of the guide rod; the base shell is rotatably connected to the outer side of the transmission column near the bottom end, a slide is bolted to the upper side of the base shell, a rotating block is welded to the top of the transmission column, and a flip shell is hinged to the outer side of the rotating block; a shifting motor is mounted on the lower side of the base shell, and a drive gear is mounted on the motor shaft of the shifting motor.

[0005] Furthermore, the number of weight measuring devices is three sets. Each set of weight measuring devices includes a loading platform, a guide column, a support frame, an audible and visual alarm, and a weighing sensor. An audible and visual alarm is installed on the lower side of the support frame, a guide column is welded to the upper side of the support frame, a weighing sensor is installed at the center of the support frame, and a loading platform is placed on the upper side of the weighing sensor. A screw plate is bolted to the upper side of one set of loading platforms, and a bolt is placed on the upper side of the screw plate. Loading boxes are bolted to the upper sides of the other two sets of loading platforms, and switch boxes and switch panels are placed on the inner sides of the two sets of loading boxes, respectively.

[0006] Furthermore, cylindrical protrusions are provided on the upper side of the loading platform near the four corners. Each set of cylindrical protrusions has a circular through hole at the center of its upper side. The four sets of guide pillars are inserted into the circular through holes of the loading platform, so that the four sets of guide pillars provide horizontal limiting support for the loading platform.

[0007] Furthermore, the rear, left, and right sides of the base shell are all connected to supports by bolts. A bolt-releasing industrial robot is installed on the upper side of the support on the rear side of the base shell, an assembly industrial robot is installed on the upper side of the support on the left side of the base shell, and a screw-tightening machine is installed on the assembly industrial robot. An alignment assembly industrial robot is installed on the upper side of the support on the right side of the base shell.

[0008] Furthermore, the slide is a rectangular cover structure with an opening on the lower side, and a sloping groove structure is provided on the front side of the slide cover structure near the right end.

[0009] Furthermore, a cuboid protrusion is provided at the center of the lower side of the carriage, and a circular through hole is provided at the center of the cuboid protrusion. The guide rod is inserted into the circular through hole of the carriage. A clamping spring is welded to the right side of the cuboid protrusion of the carriage, and a flip shell is welded to the right end of the clamping spring. The upper side of the carriage has a sloping structure.

[0010] Furthermore, the push block has an L-shaped structure. On the right side of the L-shaped structure near the rear end, there are two sets of circular through holes. Two sets of guide rods are inserted into the two sets of circular through holes of the push block. A return spring is welded to the right side of the push block. A flip shell is welded to the right end of the return spring. The left end of the L-shaped structure of the push block has a sloping structure.

[0011] Furthermore, a circular ring plate is provided on the outer side of the transmission column near the bottom end, and an external tooth structure is provided around the outer side of the circular ring plate of the transmission column, and the drive gear is meshed with the external tooth structure of the transmission column.

[0012] Furthermore, there are three sets of supports, each equipped with a vision sensor.

[0013] Furthermore, the upper side of the flip shell is provided with a rectangular protrusion, and the center of the upper side of the flip shell is provided with a rectangular through groove running vertically through the top and bottom. The rectangular protrusion of the carriage is inserted into the rectangular through groove of the flip shell. The front side of the rectangular protrusion of the carriage is attached to the front groove wall of the rectangular through groove of the flip shell, and the rear side of the rectangular protrusion of the carriage is attached to the rear groove wall of the rectangular through groove of the flip shell.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, three independent weight measuring devices are used to independently weigh and detect the switch box, switch panel, and bolts. The weighing sensors collect the remaining weight data of the switch box, switch panel, and bolts. The weight detection module of the control computer compares the standard inventory weight of the materials with the real-time inventory weight, realizing the automated monitoring of the remaining material of the switch box, switch panel, and bolts. When there is insufficient material or the material is exhausted, the weight detection module of the control computer can automatically trigger the audible and visual alarm to provide an early warning, avoiding the idle operation of the assembly industrial robot, bolt release industrial robot, and alignment assembly industrial robot due to the failure to replenish the material in time. This ensures the continuous operation stability of the multi-station robot collaborative assembly production line.

[0015] 2. In this invention, a gear meshing transmission mechanism is formed by a shifting motor driving a drive gear at the outer tooth structure of the circular ring plate of the transmission column. This causes the drive gear to drive the rotating block welded to the top of the transmission column to rotate horizontally. The rotating block then drives four sets of flip shells hinged to the outer side to carry the switch bottom box and switch panel to rotate and change positions sequentially between the alignment assembly industrial robot, the bolt release industrial robot, and the assembly industrial robot. This realizes the automatic and continuous switching operation of the switch box workpiece alignment, bolt release, wire locking, and unloading at multiple stations, replacing the traditional single-station manual assembly operation of switch boxes. This not only reduces labor management costs but also improves the efficiency of batch assembly production of switch boxes. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention.

[0017] Figure 2 This is a front view structural diagram of the present invention.

[0018] Figure 3 This is a schematic diagram of the left-side structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the structure from a bottom side view of the present invention.

[0020] Figure 5 This is a schematic diagram of the right-side view structure of the present invention.

[0021] Figure 6 This is the invention Figure 5Enlarged structural diagram of part C in the middle.

[0022] Figure 7 This is a schematic diagram of the rear side sectional structure of the present invention.

[0023] Figure 8 This is the invention Figure 8 Enlarged structural diagram of part A in the middle.

[0024] Figure 9 This is a schematic diagram of the front side cross-section structure of the present invention.

[0025] Figure 10 This is the invention Figure 9 Enlarged structural diagram of part B in the middle.

[0026] Figure 11 This is a schematic diagram of the weight measuring device of the present invention.

[0027] Figure 12 This is a front view structural schematic diagram of the weight measuring device of the present invention.

[0028] Figure 13 This is a right-side structural schematic diagram of the weight measuring device of the present invention.

[0029] Figure 14 This is a cross-sectional structural diagram of the weight measuring device of the present invention.

[0030] Figure 15 This is a side view of the weight measuring device of the present invention.

[0031] Figure 16 This is a schematic diagram of the clamping device structure of the present invention.

[0032] Figure 17 This is a cross-sectional structural diagram of the clamping device of the present invention.

[0033] Figure 18 This is a front view structural schematic diagram of the clamping device of the present invention.

[0034] Figure 19 This is a block diagram of the control principle system of the present invention.

[0035] Figure label: 1. Bracket; 2. Control unit; 3. Base shell; 4. Support; 5. Screw spool; 6. Assembly industrial robots; 7. Bolt release industrial robot; 8. Alignment and assembly industrial robots; 9. Material container; 10. Vision sensor; 11. Weight measuring device; 1101. Material loading platform; 1102. Guide column; 1103. Support frame; 1104. Audible and visual alarm; 1105. Weighing sensor; 12. Bolts; 13. Screw fastening machine; 14. Slide; 15. Clamping device; 1501. Flipping shell; 1502. Slide; 1503. Pushing block; 1504. Guide rod; 1505. Clamping spring; 1506. Return spring; 16. Switch back box; 17. Switch panel; 18. Transmission column; 19. Transposition motor; 20. Drive gear; 21. Rotating block. Detailed Implementation

[0036] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0037] like Figures 1-19 As shown, this invention provides a multi-station robot collaborative assembly system for assembling switch boxes, including a support 1; a controller 2 is mounted on the upper side of the support 1, and a base shell 3 is welded to the rear side of the support 1; it also includes the base shell 3, a weight measuring device 11, a clamping device 15, and a transmission column 18; the clamping device 15 includes a flip shell 1501, a slide 1502, a pushing block 1503, a guide rod 1504, a clamping spring 1505, and a return spring 1506; the left and right ends of the guide rod 1504 are both welded with the flip shell 1501, and the outer side of the guide rod 1504 is nested with the return spring 1506. 06. A clamping spring 1505 is nested on the outer side of the guide rod 1504. A push block 1503 is slidably connected to the outer side of the guide rod 1504. A base shell 3 is rotatably connected to the outer side of the transmission column 18 near the bottom. A slide table 14 is bolted to the upper side of the base shell 3. A rotating block 21 is welded to the top of the transmission column 18. A flip shell 1501 is hinged to the outer side of the rotating block 21. A shifting motor 19 is installed on the lower side of the base shell 3. A drive gear 20 is installed on the motor shaft of the shifting motor 19.

[0038] In this embodiment of the invention, the number of weight measuring devices 11 is three sets. Each set of weight measuring devices 11 includes a loading platform 1101, a guide column 1102, a support frame 1103, an audible and visual alarm 1104, and a weighing sensor 1105. The audible and visual alarm 1104 is installed on the lower side of the support frame 1103, the guide column 1102 is welded to the upper side of the support frame 1103, the weighing sensor 1105 is installed at the center of the support frame 1103, and the loading platform 1101 is placed on the upper side of the weighing sensor 1105. A screw plate 5 is bolted to the upper side of one set of loading platforms 1101, and a bolt 12 is placed on the upper side of the screw plate 5. The upper sides of the other two sets of loading platforms 1101 are bolted to a loading box 9. The two loading boxes 9 contain... A switch base box 16 and a switch panel 17 are placed on the side respectively. Three sets of weighing sensors 1105 weigh the switch base box 16 and switch panel 17 in the two sets of material boxes 9 on the side of the three sets of material platforms 1101, as well as the bolts 12 in the screw tray 5. When the switch base box 16 and switch panel 17 in the material box 9 or the bolts 12 in the screw tray 5 are insufficient, the three sets of weighing sensors 1105 transmit the weight data of the switch base box 16 and switch panel 17 in the material box 9 and the bolts 12 in the screw tray 5 to the weight detection module of the control machine 2 through wires. The weight detection module of the control machine 2 controls the audible and visual alarm 1104 to issue an audible and visual alarm through wires to remind the assembly personnel to replenish the materials in time and ensure the continuity of multi-station robot collaborative assembly operations.

[0039] In this embodiment of the invention, cylindrical protrusions are provided on the upper side of the loading platform 1101 near the four corners. A circular through hole is provided at the center of the upper side of each set of cylindrical protrusions. Four sets of guide posts 1102 are respectively inserted into the circular through holes of the loading platform 1101, so that the four sets of guide posts 1102 provide horizontal limiting support for the loading platform 1101. This allows the weight of the loading box 9 and the screw plate 5 to push the loading platform 1101 to vertically fit and press the weighing sensor 1105, avoiding the situation where the loading platform 1101 is offset, causing the weighing sensor 1105 to be subjected to force dispersion and resulting in weighing data errors. This ensures the accuracy of the weighing data of the loading box 9 and the screw plate 5 by the weighing sensor 1105.

[0040] In this embodiment of the invention, the rear, left, and right sides of the base shell 3 are all bolted to support 4. A bolt-releasing industrial robot 7 is mounted on the upper side of the support 4 on the rear side of the base shell 3. An assembly industrial robot 6 is mounted on the upper side of the support 4 on the left side of the base shell 3, and a screw-tightening machine 13 is mounted on the assembly industrial robot 6. An alignment assembly industrial robot 8 is mounted on the upper side of the support 4 on the right side of the base shell 3. The alignment assembly control module of the control unit 2 controls the alignment assembly industrial robot 8 to first pick up the switch base box 16 from one set of material boxes 9 and place it on the upper side of the flip shell 1501, and then pick up the switch panel 17 from another set of material boxes 9 and place it on the upper side of the switch base box 16, thus realizing the connection between the switch base box 16 and the switch panel 17. The automatic assembly of switch panel 17 is achieved by the bolt release control module of control machine 2 controlling bolt release industrial robot 7 through wires to pick up the corresponding number of bolts 12 from the upper side of screw tray 5, and then inserting the corresponding number of bolts 12 into the bolt holes of switch panel 17 in sequence, realizing the automatic bolt release of switch base box 16 and switch panel 17. The screw tightening control module of control machine 2 controls assembly industrial robot 6 through wires to move screw tightening machine 13 to the bolt holes of switch panel 17. Screw tightening machine 13 screws the bolts 12 in the bolt holes of switch panel 17 into the threaded holes of switch base box 16, realizing the bolt assembly of switch base box 16 and switch panel 17, replacing the traditional manual assembly method of switch box, saving labor management costs.

[0041] In this embodiment of the invention, the slide table 14 is a rectangular cover structure with an opening on the lower side. The front side of the cover structure of the slide table 14 is provided with a sloping groove structure near the right end. When the rotating block 21 drives the flip shell 1501, which is hinged to the outer side, to rotate and move to the sloping groove structure of the slide table 14, the flip shell 1501 flips downward along the sloping groove structure of the slide table 14, so that the assembled switch box on the flip shell 1501 automatically slides forward by gravity, thus completing the automatic unloading of the switch box.

[0042] In this embodiment of the invention, a cuboid protrusion is provided at the center of the lower side of the slide 1502, and a circular through hole is provided at the center of the cuboid protrusion. The guide rod 1504 is inserted into the circular through hole of the slide 1502. A clamping spring 1505 is welded to the right side of the cuboid protrusion of the slide 1502, and a flip shell 1501 is welded to the right end of the clamping spring 1505. The upper side of the slide 1502 is a sloping structure. When the alignment and assembly industrial robot 8 moves the switch base box 16 downward to be placed on the upper side of the flip shell 1501, the switch base... The right edge of the bottom of the box 16 pushes the inclined structure of the slide 1502, so that the slide 1502 automatically avoids the switch box 16. When the switch box 16 is completely placed on the upper side of the flip shell 1501, the clamping spring 1505 drives the slide 1502 along the guide rod 1504 to cooperate with the convex plate on the upper side of the flip shell 1501 to press the switch box 16 left and right, ensuring that the switch box 16 is stably placed on the upper side of the flip shell 1501 and preventing the switch box 16 from sliding horizontally during the rotation and movement of the flip shell 1501.

[0043] In this embodiment of the invention, the push block 1503 has an L-shaped structure. Two sets of circular through holes are provided on the right side of the L-shaped structure near the rear end. Two sets of guide rods 1504 are respectively inserted into the two sets of circular through holes of the push block 1503. A return spring 1506 is welded to the right side of the push block 1503, and a flip shell 1501 is welded to the right end of the return spring 1506. The left end of the L-shaped structure of the push block 1503 has a sloped structure. When the flip shell 1501 is on the slope of the slide table 14... During the downward flipping process of the groove structure, the upper edge of the left end groove wall of the slide table 14 pushes the inclined structure of the pushing block 1503, so that the pushing block 1503 overcomes the elastic pressure of the return spring 1506 and pushes the cuboid protrusion structure of the slide 1502 to the right, allowing the slide 1502 to automatically detach from the switch box 16 along the guide rod 1504, completing the automatic release of the slide 1502 to the switch box 16, so that the switch box 16 can smoothly slide forward from the top of the tilted flipping shell 1501.

[0044] In this embodiment of the invention, a circular ring plate is provided on the outer side of the transmission column 18 near the bottom. An external tooth structure is provided around the outer side of the circular ring plate of the transmission column 18. The drive gear 20 is meshed with the external tooth structure of the transmission column 18. The shifting motor 19 drives the rotating block 21 welded to the top of the transmission column 18 to rotate through the drive gear 20. The rotating block 21 drives four sets of flip shells 1501 to clamp and carry the switch bottom box 16 and the switch panel 17 to automatically transfer and switch between the assembly industrial robot 6, the bolt release industrial robot 7 and the alignment assembly industrial robot 8. This replaces the traditional manual transfer and single-station assembly operation mode, realizes multi-process parallel continuous assembly line operation, and improves the assembly efficiency of the switch box.

[0045] In this embodiment of the invention, there are three sets of supports 4. Each set of supports 4 is equipped with a vision sensor 10. The vision sensor 10 identifies and detects the bolts 12, switch box 16 and switch panel 17 clamped on the side of the flip shell 1501, thereby identifying abnormal working conditions of the bolts 12, switch box 16 and switch panel 17, avoiding the situation of missing bolts and empty assembly of the switch box by the assembly industrial robot 6, the bolt release industrial robot 7 and the alignment assembly industrial robot 8, thus improving the assembly quality of the switch box.

[0046] In this embodiment of the invention, a rectangular protrusion is provided on the upper side of the flip shell 1501, and a rectangular through groove is provided at the center of the upper side of the flip shell 1501. A cuboid protrusion of the slide 1502 is inserted into the rectangular through groove of the flip shell 1501. The front side of the cuboid protrusion of the slide 1502 is attached to the front groove wall of the rectangular through groove of the flip shell 1501, and the rear side of the cuboid protrusion of the slide 1502 is attached to the rear groove wall of the rectangular through groove of the flip shell 1501. The rectangular through groove of the slide 1502, together with the guide rod 1504, provides horizontal limiting support for the slide 1502, ensuring that the clamping spring 1505 pushes the slide 1502 to stably fit against the right side of the switch box 16 for clamping.

[0047] Specific usage and functions of this invention: In the assembly of the switch box, the switch base box 16 and the switch panel 17 are placed in two sets of material boxes 9 respectively. Then, the operator inputs assembly instructions through the control panel module of the control machine 2. The control panel module of the control machine 2 transmits the assembly instructions to the motor control module, alignment and assembly control module, bolt release control module, and screw tightening control module of the control machine 2 through wires. The alignment and assembly control module of the control machine 2 controls the alignment and assembly industrial robot 8 to pick up the switch base box 16 from the material box 9 through wires. Then, the alignment and assembly industrial robot 8 places the picked-up switch base box 16 on the upper side of the flip shell 1501. At this time, the lower right edge of the switch base box 16 pushes the inclined structure on the upper side of the slide 1502, causing the slide 1502 to move from its position. The robot avoids the switch base box 16 until it is completely placed on the upper side of the flip shell 1501. At this time, the clamping spring 1505, through its own elasticity, drives the slide 1502 to push the switch base box 16 to the right along the guide rod 1504. The slide 1502, together with the rectangular convex plate of the flip shell 1501, squeezes and clamps the switch base box 16. Then, the alignment and assembly control module of the control machine 2 controls the alignment and assembly industrial robot 8 to release the switch base box 16 through the wire. After that, the alignment and assembly control module of the control machine 2 controls the alignment and assembly industrial robot 8 to grab the switch panel 17 from another set of material boxes 9 through the wire. The alignment and assembly industrial robot 8 aligns and assembles the grabbed switch panel 17 and places it on the upper side of the switch base box 16. The alignment and assembly of the control machine 2... The control module sends a connection completion command to the motor control module via a wire. Then, the motor control module of the controller 2 starts the shift motor 19 via a wire. The shift motor 19 drives the drive gear 20 to rotate. Since the drive gear 20 is meshed with the outer tooth structure of the ring plate of the transmission column 18, the drive gear 20 drives the rotating block 21 welded to the top of the transmission column 18 to rotate horizontally. The rotating block 21 then drives the four sets of flip shells 1501 hinged on the outer side to rotate horizontally by 90 degrees. At this time, the flip shell 1501, carrying the switch base box 16 and the switch panel 17, rotates and moves to the working area of ​​the bolt-releasing industrial robot 7. The vision sensor 10 on the rear support 4 of the base shell 3 monitors the switch base box 16 and the switch panel 17 placed on the upper side of the flip shell 1501. During the identification and detection process, when the vision sensor 10 on the rear support 4 of the base shell 3 identifies the switch box 16 and the switch panel 17, the vision sensor 10 transmits the identification and detection data to the material detection module of the control unit 2. The material detection module of the control unit 2 transmits a start command to the bolt release control module of the control unit 2. The bolt release control module of the control unit 2 controls the bolt release industrial robot 7 to pick up the bolt 12 from the screw tray 5 via a wire. Then, the bolt release industrial robot 7 inserts the bolt 12 into the bolt hole of the switch panel 17. Then, the bolt release control module of the control unit 2 sends a bolt release completion command to the motor control module via a wire. Afterwards, the motor control module of the control unit 2 controls the shift motor 19 to start via a wire. The shift motor 19 drives the drive gear 20 to rotate.The drive gear 20 drives the rotating block 21, which is welded to the top of the transmission column 18, to rotate horizontally. The rotating block 21 then drives the four sets of flip shells 1501 hinged on the outer side to rotate horizontally again by 90 degrees. At this time, the flip shells 1501, carrying the bolt 12, switch base box 16, and switch panel 17, rotate and move to the working area of ​​the assembly industrial robot 6. The vision sensor 10 on the left support 4 of the base shell 3 identifies and detects the bolt 12. When the vision sensor 10 on the left support 4 of the base shell 3 identifies the bolt 12, the vision sensor 10 transmits the identification and detection data to the material detection module of the control machine 2. The material detection module of the control machine 2 transmits a start command to the screw tightening control module of the control machine 2. The assembly robot 6, controlled by a wire, moves the screw fastening machine 13 to the bolt 12 at the bolt insertion hole of the switch panel 17. The screw fastening control module of the controller 2 controls the screw fastening machine 13 to rotate and tighten the bolt 12, screwing it into the threaded hole of the switch base box 16. Then, the screw fastening control module of the controller 2 sends an assembly completion command to the motor control module via a wire. Afterward, the motor control module of the controller 2 starts the shift motor 19 via a wire. The shift motor 19 drives the drive gear 20 to rotate, which in turn drives the rotating block 21 welded to the top of the transmission column 18 to rotate horizontally. The rotating block 21 then drives the four sets of flip shells 1501 hinged on the outer side to rotate horizontally again. After rotating 90 degrees, when the flip shell 1501, carrying the assembled switch box, moves to the inclined groove structure position of the slide table 14, the flip shell 1501 tilts downwards along the inclined groove structure of the slide table 14. At this time, the edge of the inclined groove wall of the slide table 14 presses against the inclined surface structure of the push block 1503, causing the L-shaped push block 1503 to overcome the elastic force of the return spring 1506 and slide to the right. The push block 1503 simultaneously pushes the cuboid protrusion of the slide frame 1502, and the push block 1503 drives the slide frame 1502 to move horizontally and disengage from the switch box 16, completing the automatic release of the switch box. At this time, the assembled switch box automatically slides forward along the inclined flip shell 1501 under its own weight, completing the automatic unloading process. Then, the motor control module of the control machine 2 controls the switch box through the inclined flip shell 1501. The wire-controlled transposition motor 19 starts, driving the drive gear 20 to rotate. The drive gear 20 drives the rotating block 21, which is welded to the top of the transmission column 18, to rotate horizontally. The rotating block 21 then drives the four sets of flip shells 1501 hinged on the outer side to rotate horizontally again by 90 degrees. At this time, the flip shells 1501 after unloading are transferred to the working area of ​​the alignment and assembly industrial robot 8. The vision sensor 10 on the right support 4 of the base shell 3 identifies and detects the switch box 16 and switch panel 17 placed on the upper side of the flip shell 1501. When the vision sensor 10 on the right support 4 of the base shell 3 fails to identify the switch box 16 and switch panel 17, the vision sensor 10 transmits the identification and detection data to the material detection module of the control machine 2.The material detection module of control machine 2 transmits a start command to the alignment and assembly control module of control machine 2. The alignment and assembly control module of control machine 2 controls the alignment and assembly industrial robot 8 to pick up the switch base box 16 from the material box 9 through wires, so as to carry out the next set of switch boxes for cyclic assembly. During the assembly process, three sets of weighing sensors 1105 independently weigh the two sets of material boxes 9 and screw trays 5. The weighing sensors 1105 transmit the weight data to the weight detection module of control machine 2 through wires. The weight detection module of control machine 2 compares the real-time weight with the preset standard material inventory weight. When the inventory weight of the switch base box 16, switch panel 17 or bolt 12 inside the material box 9 is insufficient, the weight detection module of control machine 2 controls the audible and visual alarm 1104 installed on the underside of the support frame 1103 through wires to issue an audible and visual warning, reminding the staff to replenish the material in time.

[0048] All the above components are installed, connected, or set up using common mechanical methods, such as welding, threaded connections, and screw connections. Furthermore, the specific structure, model, and coefficient indicators of all components are based on their own technologies. Any method that achieves the desired beneficial effect can be implemented. The control unit 2, screw disc 5, assembly industrial robot 6, bolt release industrial robot 7, alignment assembly industrial robot 8, vision sensor 10, audible and visual alarm 1104, weighing sensor 1105, bolt 12, screw fastening machine 13, switch base box 16, switch panel 17, and transposition motor 19 are all common market components. When purchasing and using them, simply connect them according to the instruction manual purchased with the product; therefore, further details are omitted here.

[0049] The technical solutions of the present invention are not limited to the scope of the embodiments of the present invention, and the technical contents not described in detail in the present invention are all known technologies.

Claims

1. A multi-station robot collaborative assembly system for assembling switch boxes, comprising a support (1); a control unit (2) is mounted on the upper side of the support (1), and a base shell (3) is welded to the rear side of the support (1); characterized in that: It also includes a base shell (3), a weight measuring device (11), a clamping device (15), and a transmission column (18); the clamping device (15) includes a flip shell (1501), a slide (1502), a pressing block (1503), a guide rod (1504), a clamping spring (1505), and a return spring (1506); the left and right ends of the guide rod (1504) are both welded with flip shells (1501), the outer side of the guide rod (1504) is nested with a return spring (1506), the outer side of the guide rod (1504) is nested with a clamping spring (1505), and the guide rod (1504) is nested with a clamping spring (1505). 4) The outer side of the guide rod (1504) is slidably connected to the push block (1503); the outer side of the transmission column (18) is rotatably connected to the base shell (3) near the bottom end; the upper side of the base shell (3) is connected to the slide table (14) by bolts; the top of the transmission column (18) is welded to the rotating block (21); the outer side of the rotating block (21) is hinged to the flip shell (1501); the lower side of the base shell (3) is equipped with the shift motor (19); the motor shaft of the shift motor (19) is equipped with the drive gear (20).

2. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The number of the weight measuring devices (11) is three sets. Each set of weight measuring devices (11) includes a loading platform (1101), a guide column (1102), a support frame (1103), an audible and visual alarm (1104), and a weighing sensor (1105). The audible and visual alarm (1104) is installed on the lower side of the support frame (1103), and the guide column (1102) is welded to the upper side of the support frame (1103). The center of the support frame (1103) is... A weighing sensor (1105) is installed. A material carrier (1101) is placed on the upper side of the weighing sensor (1105). A screw plate (5) is bolted to the upper side of one set of material carriers (1101). A bolt piece (12) is placed on the upper side of the screw plate (5). A material box (9) is bolted to the upper side of the other two sets of material carriers (1101). A switch bottom box (16) and a switch panel (17) are placed on the inner side of the two sets of material boxes (9).

3. The multi-station robot collaborative assembly system for switch box assembly as described in claim 2, characterized in that: The upper side of the loading platform (1101) is provided with cylindrical protrusions near the four corners. Each set of cylindrical protrusions has a circular through hole at the center of the upper side. The four sets of guide pillars (1102) are inserted into the circular through holes of the loading platform (1101) respectively, so that the four sets of guide pillars (1102) provide horizontal limiting support for the loading platform (1101).

4. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The rear side, left side and right side of the base shell (3) are all connected to the support (4) by bolts. A bolt release industrial robot (7) is installed on the upper side of the support (4) on the rear side of the base shell (3). An assembly industrial robot (6) is installed on the upper side of the support (4) on the left side of the base shell (3). A screw fastening machine (13) is installed on the assembly industrial robot (6). An alignment assembly industrial robot (8) is installed on the upper side of the support (4) on the right side of the base shell (3).

5. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The slide (14) is a rectangular cover structure with an opening on the lower side. The front side of the cover structure of the slide (14) is provided with a sloping groove structure near the right end.

6. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The slide (1502) has a cuboid protrusion at the center of its lower side, and a circular through hole at the center of the cuboid protrusion. The guide rod (1504) is inserted into the circular through hole of the slide (1502). A clamping spring (1505) is welded to the right side of the cuboid protrusion of the slide (1502), and a flip shell (1501) is welded to the right end of the clamping spring (1505). The upper side of the slide (1502) is a sloping structure.

7. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The push block (1503) has an L-shaped structure. Two sets of circular through holes are provided on the right side of the L-shaped structure near the rear end. Two sets of guide rods (1504) are respectively inserted into the two sets of circular through holes of the push block (1503). A return spring (1506) is welded to the right side of the push block (1503). A flip shell (1501) is welded to the right end of the return spring (1506). A sloping structure is provided on the left end of the L-shaped structure of the push block (1503).

8. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The outer side of the transmission column (18) near the bottom is provided with a circular ring plate. The outer side of the circular ring plate of the transmission column (18) is surrounded by an external tooth structure. The drive gear (20) is meshed with the external tooth structure of the transmission column (18).

9. The multi-station robot collaborative assembly system for switch box assembly as described in claim 4, characterized in that: The number of supports (4) is three sets, and each set of supports (4) is equipped with a vision sensor (10).

10. The multi-station robot collaborative assembly system for switch box assembly as described in claim 1, characterized in that: The upper side of the flip shell (1501) is provided with a rectangular protrusion plate, and the center of the upper side of the flip shell (1501) is provided with a rectangular through groove that runs vertically through the center. The rectangular protrusion of the slide (1502) is inserted into the rectangular through groove of the flip shell (1501). The front side of the rectangular protrusion of the slide (1502) is attached to the front groove wall of the rectangular through groove of the flip shell (1501), and the rear side of the rectangular protrusion of the slide (1502) is attached to the rear groove wall of the rectangular through groove of the flip shell (1501).

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