Multi-axis intelligent assembly robot

Abstract

The application belongs to the field of robots, and provides a multi-axis intelligent assembly robot, which comprises a belt conveyor, a roller conveyor, a multi-axis manipulator and a control system, the roller conveyor is butt-joint installed on the side of the belt conveyor, realizes the split conveying of parts and bases, the multi-axis manipulator is arranged on the side between the two conveyors, is used for accurate pickup and assembly of parts, and the assembly auxiliary mechanism is integrated on the roller conveyor, so that the negative pressure fixing and multi-angle rotary adjustment of the product base can be realized. Meanwhile, the movable conveying mechanism is arranged in the roller conveyor, so that the problems of deviation and inclination during the assembly of large bases can be avoided, and the assembly stability is ensured. The application solves the technical problems of the existing assembly robot, such as positioning and fixing, inconvenient base adjustment, easy deviation of large product assembly, many manual interventions and low assembly efficiency, has the advantages of high automation degree, high assembly precision, wide adaptability and stable operation, and is suitable for the automatic assembly operation of various small, medium and large products.

Description

Technical Field

[0001] This invention belongs to the field of robotics, and in particular relates to a multi-axis intelligent assembly robot. Background Technology

[0002] In the field of automated production and processing of industrial products, the assembly process is the core process of product formation. Currently, most automated assembly equipment on the market uses fixed robotic arms in conjunction with a single conveyor line to complete the assembly operation. The product assembly base is fixedly installed on the side of the robotic arm, and the conveyor line transports the various parts. Finally, the robotic arm assembles the parts onto the product base. Alternatively, all product parts can be placed on the conveyor line, with multiple robotic arms set up on the side of the conveyor line. The multiple robotic arms assemble the parts sequentially, with each robotic arm responsible for one assembly process.

[0003] Both of the above methods have drawbacks: The first method requires manual installation of the product assembly base onto the side of the robotic arm, and manual unloading after assembly. The robotic arm needs to wait during loading and unloading, which not only wastes more time and reduces assembly efficiency, but also increases the workload of the workers. Alternatively, other robots can be used for loading and unloading, which increases equipment costs. The second method requires the cooperation of multiple robotic arms, which also greatly increases costs. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-axis intelligent assembly robot, which aims to solve the technical problems of low assembly efficiency or high assembly cost of existing assembly robots.

[0005] The present invention is implemented as follows: a multi-axis intelligent assembly robot includes a belt conveyor, a roller conveyor, a multi-axis manipulator, and a control system; the roller conveyor is docked to the side end of the belt conveyor to realize the separate transport of parts and product base; the multi-axis manipulator is arranged on the side between the two conveyors to be responsible for picking up parts and assembling them accurately.

[0006] The roller conveyor is equipped with a set of transmission rollers, a drive mechanism, an assembly auxiliary mechanism, and a movable conveying mechanism on its frame. The drive mechanism drives the transmission rollers to rotate synchronously to complete the base transport. The assembly auxiliary mechanism can extend vertically out of the gap of the transmission rollers and fix the product base by negative pressure adsorption. It can also drive the base to rotate 360° to adjust the angle, adapting to multi-directional assembly operations. The movable conveying mechanism can be plugged into the gap of the transmission rollers to achieve stable transport of large bases and avoid assembly stations, eliminating the problem of base offset.

[0007] The multi-axis robot adopts a multi-servo motor linkage multi-axis structure, which can realize multi-angle movements such as rotation, arm swing, fine adjustment, and gripper rotation, and accurately complete the picking, transfer, assembly and screw tightening of parts.

[0008] The control system integrates detection, data processing, and control modules. It collects material position and equipment operation data in real time through sensors at all workstations, automatically calculates and regulates the coordinated operation of various mechanisms, and realizes fully automated operation from material conveying, positioning, assembly to material discharge.

[0009] A further technical solution: The roller conveyor includes a frame, on which multiple transmission rollers are rotatably mounted. The multiple transmission rollers are connected by a synchronous transmission pair. A drive servo motor is also mounted on the frame, and the output shaft of the drive servo motor is connected to one of the transmission rollers by a drive transmission pair.

[0010] Further technical solution: The assembly auxiliary mechanism includes a telescopic rod, the frame has an installation groove, the telescopic rod is fixedly installed in the installation groove, the movable end of the telescopic rod is fixedly installed with a fifth servo motor, the output shaft of the fifth servo motor is fixedly installed with a stabilizing air box, the stabilizing air box has a cavity structure, the top of the stabilizing air box has multiple air extraction holes, the outer side of the stabilizing air box has a rotating transfer ring, the side of the stabilizing air box has multiple connecting holes connected to the transfer ring, both sides of the transfer ring are fixedly connected with guide rods, the frame has a guide groove adapted to the guide rods, and the guide rods are slidably installed in the guide grooves;

[0011] The assembly auxiliary mechanism also includes an air extraction component, which is connected to the transfer ring. The air extraction component is used to extract air from the stabilizing air box to create a negative pressure inside the stabilizing air box, thereby adsorbing the product base and fixing the product base.

[0012] Further technical solution: The air extraction assembly includes a vacuum pump, which is mounted on a frame. The air inlet of the vacuum pump is connected to an air extraction hose, which is connected to a guide rod and a transfer ring, or the air extraction hose is directly connected to the transfer ring.

[0013] Further technical solution: The movable conveying mechanism includes a lifting plate, which is mounted on a frame. A mounting seat is slidably mounted on the lifting plate, and multiple movable rollers are rotatably mounted on the mounting seat. The multiple movable rollers are connected to each other through a second transmission pair.

[0014] The movable conveying mechanism also includes a power mechanism and an adjustment mechanism. The power mechanism is used to drive a movable roller to rotate, and the adjustment mechanism is used to drive the mounting base to move.

[0015] Further technical solution: The power mechanism includes a seventh servo motor and a first transmission pair. The seventh servo motor is fixedly mounted on the mounting base, and the output shaft of the seventh servo motor is connected to one end of a movable roller through the mounting base.

[0016] The adjustment mechanism includes a sixth servo motor and a lead screw. The sixth servo motor is fixedly mounted on the lifting plate, and one end of the lead screw is fixedly connected to the output shaft of the sixth servo motor. The lead screw is threadedly connected to the mounting base.

[0017] A further technical solution: The movable conveying mechanism also includes a cylinder, the lifting plate is slidably mounted on the frame, the cylinder is fixedly mounted on the frame, and the movable end of the cylinder is fixedly mounted to the bottom of the lifting plate.

[0018] A further technical solution: The frame is also provided with positioning grooves that are adapted to the ends of multiple movable rollers.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0020] 1. Diverted conveying for strong operational continuity: The diverted structure, which uses belt conveyors to transport parts and roller conveyors to transport product bases, ensures precise connection between material conveying and assembly stations, eliminating material accumulation and waiting gaps, and significantly improving the continuity of assembly operations and overall production efficiency.

[0021] 2. Stable base positioning, adjustable angle, and wide adaptability: The product base is fixed by a negative pressure adsorption assembly auxiliary mechanism, and the rubber sealing gasket improves the adsorption and sealing performance, ensuring a firm and secure fixation without loosening; at the same time, it can drive the base to rotate at multiple angles, adapting to the multi-faceted and multi-station assembly needs of products, breaking the limitations of traditional fixed tooling, and can be adapted to the processing of most irregularly shaped and multi-assembly-position products.

[0022] 3. High stability in the assembly of large products, eliminating misalignment failures: The addition of a liftable and pluggable movable conveyor mechanism allows for synchronous feeding with the conveyor rollers during the transport of large bases. It can also quickly avoid workstations during assembly. Furthermore, by using the method of lowering the rollers first and then pulling them out, the problem of the movable rollers shifting and causing the base to shift is completely avoided, solving the pain points of tilting, misalignment, and failure in the assembly of large products.

[0023] 4. Multi-axis linkage, high assembly precision: The multi-axis robot adopts a linkage structure of multiple servo motors and dual rotary motors, and adjusts the position and angle of the gripper in multiple dimensions. It can accurately complete the picking, alignment, assembly and screw tightening of parts, resulting in high assembly precision and a significant reduction in product defect rate.

[0024] 5. Fully automated operation with low labor costs: The entire set of equipment is intelligently controlled by the control system, automatically completing the entire process of material detection, conveying, positioning, angle adjustment, assembly, and unloading without manual intervention, greatly reducing the workload of staff and adapting to large-scale industrial production scenarios. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 This is a schematic diagram of the installation structure of the assembly auxiliary mechanism in this invention.

[0027] Figure 3 This is a structural schematic diagram of the cross-section of the assembly auxiliary mechanism in this invention.

[0028] Figure 4 In this invention Figure 1 Enlarged diagram of point A in the middle.

[0029] Figure 5 This is a schematic diagram of the structure of the multi-axis manipulator in this invention.

[0030] In the attached diagram: 1. Belt conveyor; 2. Multi-axis robot; 21. Mounting frame; 22. First rotary motor; 23. Hinge seat; 24. First servo motor; 25. Main arm; 26. Second servo motor; 27. Secondary arm; 28. Third servo motor; 29. ​​End seat; 210. Second rotary motor; 211. Assembly actuator; 3. Roller conveyor; 31. Transfer roller; 32. Frame; 33. Synchronous transmission pair; 34. Drive servo motor; 4. Assembly auxiliary mechanism; 41. Stabilizing air box; 42. 43. Guide rod; 44. Transfer ring; 45. Suction hose; 46. Fifth servo motor; 47. Vacuum pump; 48. Guide groove; 49. Mounting groove; 40. Telescopic rod; 410. Rubber sealing gasket; 411. Suction hole; 412. Connecting hole; 51. Movable conveying mechanism; 52. Sixth servo motor; 53. Lifting plate; 54. Lead screw; 55. Cylinder; 56. Seventh servo motor; 57. Mounting base; 58. First transmission pair; 59. Second transmission pair; 50. Movable roller; 510. Positioning groove. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0033] like Figures 1-5As shown, this invention provides a multi-axis intelligent assembly robot, including a belt conveyor 1, a roller conveyor 3, a multi-axis manipulator 2, and a control system. The roller conveyor 3 is installed on the side of the belt conveyor 1 and is connected to the end of the belt conveyor 1 so that the products on the belt conveyor 1 can be transported to the roller conveyor 3. An assembly auxiliary mechanism 4 is installed on the roller conveyor 3. When the product base moves onto the roller conveyor 3, the assembly auxiliary mechanism 4 is used to fix the product base and drive the product base to rotate to cooperate with the assembly work of the multi-axis manipulator 2.

[0034] The multi-axis robot 2 is installed on the side between the belt conveyor 1 and the roller conveyor 3. The multi-axis robot 2 is used to pick up various parts on the belt conveyor 1 and assemble them onto the product base fixed on the roller conveyor 3.

[0035] The control system includes a detection module, a data processing module, and a control module. The belt conveyor 1, the multi-axis robot 2, and the roller conveyor 3 are all electrically connected to the control system. The detection module is used to detect the position of the product. The detection module transmits the detected data to the data processing module. The data processing module processes and calculates the data and transmits the calculation results to the control module. The control module controls the multi-axis robot 2 to pick up product parts and assemble them onto the product base. It also controls the movement of the belt conveyor 1 and the roller conveyor 3 so that the belt conveyor 1 transports the product parts to a position that the multi-axis robot 2 can pick up. Finally, the roller conveyor 3 can transport the assembled product out of the system.

[0036] Specifically, the detection module consists of various sensors, such as position sensors and displacement sensors, which are installed on the belt conveyor 1, the multi-axis robot 2, and the roller conveyor 3.

[0037] As assembly proceeds smoothly, each component of the product is sequentially placed onto belt conveyor 1. Belt conveyor 1 transports the product components to the junction of belt conveyor 1 and roller conveyor 3, and also transports the product base onto roller conveyor 3. Then, the product base is fixed by assembly auxiliary mechanism 4. Multi-axis robot 2 sequentially picks up the product components and assembles them onto the product base. The assembly auxiliary mechanism 4 can then adjust the base angle to cooperate with the multi-axis robot 2 for assembly. After assembly, roller conveyor 3 transports the product off the production line and it is collected by the staff. This greatly reduces the workload of the staff and improves the assembly efficiency. The material conveying and assembly station are precisely connected, with no material accumulation or waiting gaps, which greatly improves the continuity of assembly operations and overall production efficiency. Moreover, all assembly can be completed using only one robot, reducing equipment costs.

[0038] The present invention provides a multi-axis intelligent assembly robot. In this embodiment, the multi-axis manipulator 2 includes a mounting frame 21, which is mounted on the side between the belt conveyor 1 and the roller conveyor 3. A first rotary motor 22 is fixedly mounted on the mounting frame 21. A hinge seat 23 is fixedly mounted on the output shaft of the multi-axis manipulator 2. A main arm 25 is rotatably mounted on the hinge seat 23. A secondary arm 27 is rotatably mounted on the end of the main arm 25. An end seat 29 is rotatably mounted on the end of the secondary arm 27. A second rotary motor 210 is fixedly mounted on the side of the end seat 29. An assembly actuator 211 is fixedly mounted on the output shaft of the second rotary motor 210.

[0039] A first servo motor 24 is fixedly mounted on the side of the hinge seat 23. The output shaft of the first servo motor 24 is fixedly connected to the rotation pivot of the main arm 25. A second servo motor 26 is fixedly mounted on the end of the main arm 25. The output shaft of the second servo motor 26 is fixedly connected to the rotation pivot of the secondary arm 27. A third servo motor 28 is fixedly mounted on the end of the secondary arm 27. The output shaft of the third servo motor 28 is fixedly connected to the rotation pivot of the end seat 29.

[0040] Specifically, the assembly actuator 211 is a gripper, suction cup, etc., and a tool tray is also installed on the side of the multi-axis robot 2 to enable the multi-axis robot 2 to change different assembly tools.

[0041] The first rotary motor 22 can drive the hinge seat 23 and the main arm 25 to rotate along the Z-axis. The main arm 25 drives the assembly actuator 211 to rotate, which is used to move the parts between the belt conveyor 1 and the roller conveyor 3. The main arm 25, the secondary arm 27 and the end seat 29 can all change their angles to adjust the distance between the assembly actuator 211 and the product parts. The second rotary motor 210 can drive the assembly actuator 211 to rotate to adjust the assembly angle of the parts, and at the same time complete the screw tightening operation.

[0042] The present invention provides a multi-axis intelligent assembly robot. In this embodiment, the roller conveyor 3 includes a frame 32, on which a plurality of transmission rollers 31 are rotatably mounted. The plurality of transmission rollers 31 are connected by a synchronous transmission pair 33. A drive servo motor 34 is also mounted on the frame 32. The output shaft of the drive servo motor 34 is connected to one of the transmission rollers 31 by a drive transmission pair.

[0043] Specifically, the drive servo motor 34 drives a transmission roller 31 to rotate through the drive transmission pair. The transmission roller 31 drives all the transmission rollers 31 to rotate synchronously through the synchronous transmission pair 33, thereby enabling the transportation of products.

[0044] In addition, the output end of the assembly auxiliary mechanism 4 is located below the transmission roller 31. After the product base moves to the top of the output end of the assembly auxiliary mechanism 4, the assembly auxiliary mechanism 4 can extend the output end from the gap between two adjacent transmission rollers 31 and contact the bottom of the product base. Then the product base can be fixed on the output end of the assembly auxiliary mechanism 4 and the product base can be driven to rotate.

[0045] This invention provides a multi-axis intelligent assembly robot. In this embodiment, the assembly auxiliary mechanism 4 includes a telescopic rod 49. The frame 32 has an installation groove 48. The telescopic rod 49 is fixedly installed in the installation groove 48. A fifth servo motor 45 is fixedly installed at the movable end of the telescopic rod 49. A stabilizing air box 41 is fixedly installed on the output shaft of the fifth servo motor 45. The stabilizing air box 41 has a hollow structure. Multiple air extraction holes 411 are opened at the top of the stabilizing air box 41. A transfer ring 43 is rotatably installed on the outer side of the stabilizing air box 41. Multiple connecting holes 412 connected to the transfer ring 43 are opened on the side of the stabilizing air box 41. Guide rods 42 are fixedly connected to both sides of the transfer ring 43. A guide groove 47 adapted to the guide rod 42 is opened on the frame 32. The guide rod 42 is slidably installed in the guide groove 47.

[0046] The assembly auxiliary mechanism 4 also includes an air extraction component, which is connected to the transfer ring 43. The air extraction component is used to extract air from the stabilizing air box 41 to create a negative pressure inside the stabilizing air box 41, thereby adsorbing the product base and fixing the product base.

[0047] Specifically, the top of the stabilizing gas box 41 is also provided with a rubber sealing gasket 410 to achieve a seal between the stabilizing gas box 41 and the product base, thereby improving the adsorption force of the stabilizing gas box 41 on the product base.

[0048] After the product base moves above the stabilizing air box 41, the telescopic rod 49 drives the fifth servo motor 45 and the stabilizing air box 41 to rise, so that the stabilizing air box 41 passes through the transmission roller 31 and contacts the bottom of the product base. Then the stabilizing air box 41 lifts the product base, so that the product base leaves the transmission roller 31. The air extraction component is activated, and the air extraction component extracts the air in the transfer ring 43. Under negative pressure, the air in the stabilizing air box 41 enters the transfer ring 43 through the connecting hole 412 and is extracted by the air extraction component, so that a negative pressure is formed in the stabilizing air box 41. Under the action of atmospheric pressure, the product base is pressed tightly on the stabilizing air box 41.

[0049] During assembly, the fifth servo motor 45 can drive the stabilizing air box 41 to rotate, and the stabilizing air box 41 can adjust the angle of the product base to cooperate with the assembly of the multi-axis robot 2.

[0050] The present invention provides a multi-axis intelligent assembly robot. In this embodiment, the air extraction component includes a vacuum pump 46, which is mounted on a frame 32. The air inlet of the vacuum pump 46 is connected to an air extraction hose 44, which is connected to a guide rod 42. The guide rod 42 is connected to a transfer ring 43, or the air extraction hose 44 is directly connected to the transfer ring 43.

[0051] The present invention provides a multi-axis intelligent assembly robot. When assembling large products, if the diameter of the stabilizing air box 41 is small, the product base is prone to tilting during the assembly process, resulting in base displacement and ultimately assembly failure. Therefore, in this embodiment, a movable conveying mechanism 5 is also installed on the frame 32. A notch is provided between the multiple conveying rollers 31, and the output end of the movable conveying mechanism 5 can be inserted into the notch. The movable conveying mechanism 5 is used to transport the product base.

[0052] Specifically, the width of the notch is smaller than the width of the product base.

[0053] When the transfer roller 31 is running, the output end of the movable transfer mechanism 5 rotates synchronously, which can move the product base above the output end of the movable transfer mechanism 5. Then, the output end of the movable transfer mechanism 5 is pulled out from the notch, and the product base is placed on the transfer roller 31 on both sides of the notch. Then, the stabilizing air box 41 is raised and fixed to the product base. This method does not affect the transportation of the product base, nor does it affect the fixing and assembly of the product base.

[0054] After assembly, the stabilizing air box 41 is lowered and the output end of the movable conveyor 5 is reinserted into the notch, and then the product can be transported off the production line.

[0055] The present invention provides a multi-axis intelligent assembly robot. In this embodiment, the movable conveying mechanism 5 includes a lifting plate 52, which is mounted on a frame 32. A mounting base 56 is slidably mounted on the lifting plate 52, and a plurality of movable rollers 59 are rotatably mounted on the mounting base 56. The plurality of movable rollers 59 are connected to each other through a second transmission pair 58.

[0056] The movable conveying mechanism 5 also includes a power mechanism and an adjustment mechanism. The power mechanism is used to drive a movable roller 59 to rotate, and the adjustment mechanism is used to drive the mounting base 56 to move.

[0057] Specifically, the number of movable rollers 59 is matched with the number of missing transfer rollers 31.

[0058] Initially, multiple movable rollers 59 are inserted into the notch. When the roller conveyor 3 transports products, the power mechanism drives all the movable rollers 59 to rotate, and the rotation speed is the same as the rotation speed of the transmission roller 31. Then the roller conveyor 3 and the movable transmission mechanism 5 can relay the products.

[0059] During assembly, the product base is moved above the movable roller 59, and the two sides of the product base are brought into contact with the two transmission rollers 31 on both sides of the notch. Then, the adjustment mechanism is activated, which drives the mounting base 56 to move. The mounting base 56 drives the movable roller 59 to be pulled out of the notch, exposing the stabilizing air box 41. Then, the telescopic rod 49 can drive the stabilizing air box 41 to rise and bring the stabilizing air box 41 into contact with the bottom of the product base, thus completing the subsequent assembly work.

[0060] The power mechanism includes a seventh servo motor 55 and a first transmission pair 57. The seventh servo motor 55 is fixedly mounted on the mounting base 56, and the output shaft of the seventh servo motor 55 is connected to one end of a movable roller 59 through the mounting base 56.

[0061] The adjustment mechanism includes a sixth servo motor 51 and a lead screw 53. The sixth servo motor 51 is fixedly mounted on the lifting plate 52, and one end of the lead screw 53 is fixedly connected to the output shaft of the sixth servo motor 51. The lead screw 53 is threadedly connected to the mounting base 56.

[0062] The multi-axis intelligent assembly robot provided by this invention has a problem: when the movable roller 59 is pulled out, the movable roller 59 may cause the product base to move due to contact with the bottom of the product base, which may cause the product base to shift and hinder the subsequent assembly work. Therefore, in this embodiment, the movable conveying mechanism 5 also includes a cylinder 54. The lifting plate 52 is slidably mounted on the frame 32, and the cylinder 54 is fixedly mounted on the frame 32. The movable end of the cylinder 54 is fixedly mounted to the bottom of the lifting plate 52.

[0063] Before pulling out the movable roller 59, the lifting plate 52 is lowered by the cylinder 54. The lifting plate 52 lowers the mounting base 56 and the movable roller 59, so that the movable roller 59 is no longer in contact with the bottom of the product base. Then the movable roller 59 is pulled out, which can avoid the situation of the product base shifting.

[0064] In order to make the operation of the movable rollers 59 more stable, the multi-axis intelligent assembly robot provided by the present invention also has positioning grooves 510 on the frame 32 that are adapted to the ends of the multiple movable rollers 59.

[0065] Specifically, the axis of the positioning groove 510 coincides with the axis of the movable roller 59.

[0066] When the movable roller 59 is inserted into the notch, the end of the movable roller 59 will be inserted into the positioning groove 510, thereby preventing the movable roller 59 from drooping at one end due to gravity, thus avoiding the situation where the product base sinks and the product cannot be transported.

[0067] Usage steps:

[0068] S1. Equipment Debugging: Start the equipment, perform a self-test of the control system, and verify the operating status of various components such as sensors, motors, vacuum pumps, and cylinders 54 using the detection module. Debug the motion parameters of the multi-axis robot 2, the conveyor speed, and the negative pressure adsorption parameters to ensure that all mechanisms work together normally.

[0069] S2. Material arrangement: According to the product assembly sequence, the staff will place various product parts on the belt conveyor 1 in sequence, and place the product base at the starting end of the belt conveyor 1.

[0070] S3, Diversion Conveying: The belt conveyor 1 starts and conveys various parts at a uniform speed to the robot arm picking station. At the same time, it conveys the product base to the docking point of the belt conveyor 1 and the roller conveyor 3, and transfers it to the transfer roller 31 of the roller conveyor 3.

[0071] S4. Base positioning and fixing: After the product base is moved above the assembly auxiliary mechanism 4, the control system stops the operation of the roller conveyor 3; the telescopic rod 49 extends, driving the stabilizing air box 41 to rise, passing through the gap of the transmission roller 31 to lift the product base, so that the base is separated from the transmission roller 31; the vacuum pump 46 is started to extract the air inside the stabilizing air box 41 to form a negative pressure, and the product base is firmly fixed to the top of the stabilizing air box 41 by negative pressure adsorption.

[0072] S5. Pre-processing of large base (optional): If assembling a large product base, after the base is transported above the notch, the cylinder 54 is first started to drive the movable roller 59 to descend and detach from the bottom of the base. Then, the sixth servo motor 51 drives the lead screw 53 to rotate, driving the movable roller 59 to be pulled out of the notch horizontally to avoid the assembly station and complete the base positioning preparation.

[0073] S6. Intelligent assembly operation: The control system controls the multi-axis robot 2 to start, and adjusts the position and angle of the assembly actuator 211 through multi-axis linkage to pick up various parts on the belt conveyor 1 in sequence and assemble them precisely to the corresponding positions on the product base; during the assembly process, according to the requirements of the assembly station, the fifth servo motor 45 drives the stabilizing air box 41 and the base to rotate and adjust the angle, and cooperates with the robot to complete multi-face assembly. At the same time, the assembly actuator 211 can complete the screw tightening operation.

[0074] S7. Reset and Discharge: After all single products are assembled, the vacuum pump 46 stops working and releases the negative pressure adsorption fixation; the telescopic rod 49 retracts, driving the stabilizing air box 41 to reset below the transmission roller 31; when assembling large products, the movable roller 59 re-inserts into the notch and resets for alignment; the roller conveyor 3 starts, conveying the assembled finished product out of the machine, and the staff collects the finished product, completing a single assembly cycle, and the equipment enters the next round of operation.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0076] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A multi-axis intelligent assembly robot, comprising a belt conveyor, a roller conveyor, a multi-axis manipulator, and a control system, characterized in that, The roller conveyor is installed on the side of the belt conveyor and the end of the roller conveyor is connected to the belt conveyor to receive the product base conveyed by the belt conveyor. The roller conveyor is equipped with an assembly auxiliary mechanism, which is used to fix the product base and drive the base to rotate at multiple angles. The multi-axis robot is installed on the side between the belt conveyor and the roller conveyor, and is used to pick up product parts on the belt conveyor and assemble them to the product base; The control system includes a detection module, a data processing module, and a control module. The belt conveyor, multi-axis robot, roller conveyor, and assembly auxiliary mechanism are all electrically connected to the control system. The detection module consists of various sensors used to detect the operating position data of products and equipment. After the data processing module processes and calculates the detection data, the control module coordinates and controls the various mechanisms to work together to complete fully automated assembly and unloading.

2. The multi-axis intelligent assembly robot according to claim 1, characterized in that, The multi-axis manipulator includes a mounting frame, which is fixedly installed on the side between the belt conveyor and the roller conveyor. A first rotary motor is fixed on the mounting frame, and a hinge seat is fixedly installed on the output shaft of the first rotary motor. A main arm is rotatably installed on the hinge seat, a secondary arm is rotatably installed at the end of the main arm, and an end seat is rotatably installed at the end of the secondary arm. A second rotary motor is fixed on the side of the end seat, and an assembly actuator is fixedly installed on the output shaft of the second rotary motor. The first servo motor is fixed to the side of the hinge seat, and the output shaft of the first servo motor is fixedly connected to the main arm rotation pivot. The second servo motor is fixed to the end of the main arm, and the output shaft of the second servo motor is fixedly connected to the secondary arm rotation pivot. The third servo motor is fixed to the end of the secondary arm, and the output shaft of the third servo motor is fixedly connected to the end seat rotation pivot.

3. The multi-axis intelligent assembly robot according to claim 1, characterized in that, The roller conveyor includes a frame, multiple transfer rollers, synchronous transmission pairs, a drive servo motor, and drive transmission pairs. Multiple transfer rollers are rotatably mounted on the frame, and all transfer rollers are synchronously connected through a synchronous transmission pair. The drive servo motor is fixed on the frame, and the output shaft of the drive servo motor is connected to a single transfer roller through a drive transmission pair.

4. The multi-axis intelligent assembly robot according to claim 3, characterized in that, The output end of the assembly auxiliary mechanism is located below the transmission rollers and can extend from the gap between two adjacent transmission rollers to contact the bottom of the product base and fix the base.

5. The multi-axis intelligent assembly robot according to claim 3, characterized in that, The assembly auxiliary mechanism includes a telescopic rod, a fifth servo motor, a stabilizing air box, a transfer ring, a guide rod, and an air extraction assembly. The frame has a mounting slot, and a telescopic rod is fixed in the mounting slot. The movable end of the telescopic rod is fixed to a fifth servo motor, and the output shaft of the fifth servo motor is fixed to a cavity-structured stabilizing air box. The top of the stabilizing air box has multiple air extraction holes and a rubber sealing gasket. A transfer ring is rotatably mounted on the outside of the stabilizing air box, and a connecting hole communicating with the transfer ring is opened on the side of the stabilizing air box. Guide rods are fixed on both sides of the transfer ring, and the frame has guide grooves that are adapted to the guide rods. The guide rods are slidably assembled in the guide grooves. The air extraction component is connected to the transfer ring and is used to extract air from the inside of the stabilizing air box to form a negative pressure, which adsorbs and fixes the product base.

6. The multi-axis intelligent assembly robot according to claim 5, characterized in that, The air extraction assembly includes a vacuum pump and an air extraction hose. The vacuum pump is fixedly mounted on the frame, and the air inlet of the vacuum pump is connected to the air extraction hose. The air extraction hose is connected to the guide rod or directly to the transfer ring.

7. The multi-axis intelligent assembly robot according to claim 3, characterized in that, The frame is equipped with a movable conveying mechanism, and a notch is provided between the multiple conveying rollers. The output end of the movable conveying mechanism can be plugged into the notch to assist in the conveying of large product bases, and the width of the notch is smaller than the width of the product base.

8. The multi-axis intelligent assembly robot according to claim 7, characterized in that, The movable conveying mechanism includes a lifting plate, a mounting base, multiple movable rollers, a power mechanism, and an adjustment mechanism; The lifting plate is mounted on the frame, and the mounting base is slidably mounted on the lifting plate. Multiple movable rollers are rotatably mounted on the mounting base and synchronously connected through a second transmission pair. The number of movable rollers is adapted to the number of missing transmission rollers. The power mechanism is used to drive the rotation of a single movable roller to achieve synchronous operation of all movable rollers. The adjustment mechanism is used to drive the mounting base and movable rollers to move horizontally to achieve the insertion and removal of movable rollers.

9. The multi-axis intelligent assembly robot according to claim 8, characterized in that, The movable conveying mechanism also includes a cylinder, which is fixed on the frame. The lifting plate is slidably mounted on the frame, and the movable end of the cylinder is fixed to the bottom of the lifting plate for driving the lifting plate to move vertically. The frame is provided with a positioning groove that matches the end of the movable roller. When the movable roller is inserted into the notch, the end is embedded in the positioning groove.

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