A flexible intelligent assembly system for joint module of a robot with body joint

Abstract

This disclosure provides a flexible intelligent assembly system for joint modules of a robot. The system includes: a wave generator feeding module for automated feeding of the wave generator; a flexible wheel and steel wheel feeding module for automated feeding of the flexible wheel and steel wheel; a shell feeding module for automated unloading of the shell; an assembly module for acquiring the components and assembling them in a preset sequence, wherein the assembly module includes a flexible wheel shaping platform for flexible shaping of the flexible wheel; and a finished product collection module for collecting the assembled finished product. This disclosure, through modular feeding design and flexible wheel shaping technology, constructs an integrated closed loop of detection, oiling, sorting, and collection, realizing fully automated operation from component feeding, pretreatment, intelligent assembly to finished product collection, effectively improving assembly accuracy, reducing the risk of flexible wheel damage, and increasing production efficiency.

Description

Technical Field

[0001] This invention belongs to the field of reducer technology, specifically relating to a flexible intelligent assembly system for joint modules of a robot.

[0002] Background Technology Department With the rapid development of embodied intelligent robot technology, the assembly precision of joint modules, as core moving components, directly determines the robot's motion performance and service life. An ideal assembly system should not only achieve high-precision press-fitting processes, but also possess intelligent closed-loop operation capabilities throughout the entire process, from parts pre-processing to finished product assembly.

[0003] In the prior art, patent CN111215870A discloses an automated assembly table for a joint module. This device achieves multi-station sequential pressing through the coordinated operation of a rotating worktable and a spinning device, thereby improving assembly efficiency. Patents CN109442026B and CN114799818B respectively relate to an assembly device and a wave generator pressing fixture, which mainly solve the process defects such as surface scratches on parts during assembly.

[0004] However, existing technologies still have the following limitations: First, they lack an active control mechanism for the deformation of the flexible wheel during the pressing process, which can easily lead to local stress concentration or abnormal wear, thereby affecting the accuracy and durability of the transmission system; Second, the system has a low degree of functional integration and does not cover the pre-processing of parts (such as feeding, cleaning, inspection, and oiling), making it difficult to achieve a closed-loop intelligent operation from parts to finished products.

[0005] This invention aims to overcome the shortcomings of existing technologies and provide a flexible intelligent assembly system for joint modules of automata, thereby solving the following technical problems existing in current joint module assembly equipment: Firstly, existing equipment lacks an active control strategy for flex wheel deformation, which can easily lead to local stress concentration, increased wear, and even plastic deformation of the flex wheel, seriously affecting the transmission accuracy and service life of the harmonic reducer. Secondly, the existing equipment lacks sufficient functional integration. It lacks a fully integrated design that covers the entire process from automatic parts feeding, cleaning, drying, testing, oiling to finished product collection after assembly. The parts pre-processing stage relies on external equipment and cannot form a complete intelligent operation loop. Summary of the Invention

[0006] To achieve the above objectives, embodiments of this disclosure provide a flexible intelligent assembly system for joint modules of a robot, comprising: a wave generator feeding module configured to implement an automated feeding process for the wave generator; a flexible wheel and steel wheel feeding module configured to respectively complete automated feeding processes for the flexible wheel and steel wheel; a shell feeding module configured to complete an automated unloading function for the shell; an assembly module configured to obtain the wave generator, flexible wheel, steel wheel, and shell from the wave generator feeding module, the flexible wheel and steel wheel feeding module, and the shell feeding module, and sequentially complete the assembly according to a preset assembly sequence; and a finished product collection module configured to collect the assembled finished product after the assembly module completes the assembly of the joint module.

[0007] According to one embodiment, the assembly module may include a flexible wheel shaping platform, which may include a load-bearing guide rail mechanism, a lead screw moving mechanism, a flexible wheel fixing mold, a flexible wheel flexible mold, left and right opening and closing plates, a T-shaped push rod and a positioning guide rail, wherein the flexible wheel shaping platform can be configured to position, clamp, support and flexibly shape the flexible wheel during the assembly process.

[0008] According to another embodiment, the wave generator feeding module may include a wave generator automatic discharge device, a wave generator cleaning device, a wave generator drying and conveying device, and a wave generator detection and oiling device connected in sequence. The wave generator feeding module may be configured to perform automatic discharge, intelligent cleaning, drying, automatic sorting, detection and oiling operations on the wave generator in sequence.

[0009] According to another embodiment, the flexible wheel and steel wheel feeding module may include a gantry robot arm and a detection and oiling device for the flexible wheel and steel wheel. The gantry robot arm may be configured to pick up and transfer the flexible wheel and steel wheel between different workstations. The detection and oiling device for the flexible wheel and steel wheel may include an XYZ three-axis moving platform, a rotatable oiling mechanism, a rotatable detector, and a telescopic discharge and waste dumping mechanism.

[0010] According to another embodiment, the shell feeding module may include a rotating turntable with multiple material placement cylinders and a push rod lifting and discharging mechanism disposed below the rotating turntable. The shell feeding module may be configured to realize the compartmentalized storage, sequential switching and automatic feeding of shells piece by piece through the rotating turntable and the push rod lifting and discharging mechanism.

[0011] According to another embodiment, the wave generator feeding module can be located on the right side of the main body of the equipment; the flexible wheel and steel wheel feeding module can be located on the left rear side of the main body of the equipment; the outer shell feeding module can be located on the left side of the main body of the equipment; the assembly module can be located in the middle of the main body of the equipment; and the finished product collection module can be located at the bottom left side of the main body of the equipment.

[0012] According to another embodiment, this disclosure also provides a flexible intelligent assembly method for a joint module of a robot joint, comprising: an automated feeding process for the wave generator by a wave generator feeding module; an automated feeding process for the flexible wheel and the steel wheel by a flexible wheel and steel wheel feeding module respectively; an automated unloading function for the shell by a shell feeding module; an assembly module acquiring the wave generator, the flexible wheel, the steel wheel and the shell from the wave generator feeding module, the flexible wheel and steel wheel feeding module and the shell feeding module respectively, and assembling them sequentially according to a preset assembly order; and a finished product collection module collecting the assembled finished product after the assembly module completes the assembly of the joint module.

[0013] Other aspects, features, and advantages, besides those described above, will become clear from the following drawings, claims, and detailed description of the invention.

[0014] According to embodiments of this disclosure, by setting up a flexible wheel shaping platform, the flexible wheel can be actively flexibly shaped and its shape controlled during the assembly process, which effectively reduces the risk of local stress concentration and damage to the flexible wheel during the pressing process, and significantly improves the assembly accuracy and service life of the harmonic reducer.

[0015] According to embodiments of this disclosure, a modular automatic feeding system and integrated detection, oiling, and sorting processes are used to achieve fully automated operation from parts pretreatment to finished product collection, which greatly reduces manual intervention and improves the consistency of production rhythm and the stability of workstation connection.

[0016] However, the effects obtainable through this disclosure are not limited to those described above, and other technical effects not mentioned can be clearly understood by those skilled in the art from the following description of the invention. Attached Figure Description

[0017] Figure 1 This is an external view of a flexible intelligent assembly system for joint modules used in a body-bound robot according to the present invention. Figure 2 This is an external structural diagram of the wave generator feeding module of the present invention; Figure 3 This is an external structural diagram of the finished product collection module of the present invention; Figure 4 This is a front view of the finished product collection module of the present invention; Figure 5 This is an external structural diagram of the shell feeding module of the present invention; Figure 6 This is an external structural diagram of the flexible wheel and steel wheel feeding module of the present invention; Figure 7 This is an external structural diagram of the assembly module of the present invention; Figure 8 This is an external structural diagram of the material gripping robotic arm of the present invention; Figure 9 This is a structural diagram of the clamping device of the present invention; Figure 10 This is an external structural diagram of the bolt tightening robotic arm of the present invention; Figure 11 This is an external structural diagram of the oiling device of the present invention; Figure 12 This is an external structural diagram of the flexible wheel shaping platform of the present invention; Figure 13 This is a top view of the first and second load-bearing guide rail mechanisms in the flexible wheel shaping platform of the present invention. Figure 14 This is a top view of the first lead screw moving mechanism and the second lead screw moving mechanism in the flexible wheel shaping platform of the present invention. Figure 15 This is a structural diagram of the steel wheel shaping platform of the present invention; Figure 16 This is a top view of the first and second load-bearing guide rail mechanisms in the steel wheel shaping platform of the present invention. Figure 17 This is a top view of the first lead screw moving mechanism and the second lead screw moving mechanism in the steel wheel shaping platform of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figure 1As shown, in one embodiment of the present invention, a flexible intelligent assembly system for joint modules of a unibody robot joint is provided. This system includes: a wave generator feeding module 1, a finished product collection module 2, a shell feeding module 3, a flexible wheel and steel wheel feeding module 4, and an assembly module 5. The wave generator feeding module 1 is located on the right side of the main body of the equipment and is used to automate the feeding process of the wave generator, including automatic discharge, intelligent cleaning, drying, automatic sorting, and detection and oiling functions. The flexible wheel and steel wheel feeding module 4 is located on the left rear of the main body of the equipment and is used to automate the feeding process of the flexible wheel and steel wheel respectively, including automatic feeding, cleaning, drying, quality inspection, and oiling functions. The shell feeding module 3 is located on the left side of the main body of the equipment and is used to automate the discharge of the shell. The assembly module 5 is located in the middle of the main body of the equipment. It obtains the wave generator, flexible wheel, steel wheel, and outer shell from the wave generator feeding module 1, the flexible wheel and steel wheel feeding module 4, and the outer shell feeding module 3, and assembles the four parts sequentially according to a preset assembly order. The finished product collection module 2 is located at the bottom left side of the main body of the equipment and is used to collect the assembled finished products after the assembly module 5 has completed the assembly of the joint modules. Through the coordinated work of the above five modules, the entire system realizes fully automated operation from the feeding, pre-processing, intelligent assembly of each component to the collection of finished products.

[0020] like Figure 2 As shown, in one embodiment of the present invention, a flexible intelligent assembly system for joint modules of a robot is provided. The wave generator feeding module 1 includes: an automatic wave generator unloading device 1-1, a wave generator cleaning device 1-2, a wave generator drying and conveying device 1-3, and a wave generator detection and oiling device 1-4.

[0021] like Figure 3 , Figure 4As shown, the finished product collection module 2 includes a chassis 2-1, a shell 2-2, a placement column 2-3, a rotatable disc 2-4, a fixed shaft 2-5, a bearing 2-6, a large gear 2-7, a rotating shaft 2-8, a small gear 2-9, a motor 2-10, and a motor bracket 2-11. The outer casing 2-2 is installed above the chassis 2-1, forming a closed collection space; the rotatable disc 2-4 is rotatably installed in the center of the chassis 2-1, and multiple vertically upward placement columns 2-3 are evenly fixed above it along the circumference. Each placement column 2-3 is used to fit and stack finished products. The motor 2-10 is fixed to the lower side of the chassis 2-1 through the motor bracket 2-11, and its output shaft is connected to the pinion 2-9; the fixed shaft 2-5 is vertically fixed in the center of the chassis 2-1, and the rotating shaft 2-8 is coaxially fitted with the fixed shaft 2-5 through the bearing 2-6, so that the rotating shaft 2-8 can rotate freely relative to the fixed shaft 2-5; the large gear 2-7 is assembled at the lower end of the rotating shaft 2-8 and meshes with the pinion 2-9; the rotatable disc 2-4 is fixed at the upper end of the rotating shaft 2-8. During operation, motor 2-10 starts, driving pinion 2-9 to rotate. Pinion 2-9, through meshing transmission, drives large gear 2-7 to rotate, which in turn drives rotating shaft 2-8 and its upper rotatable disk 2-4 to rotate together. When one of the placement columns 2-3 is full of finished products, the control system issues a command, and motor 2-10 drives rotatable disk 2-4 to rotate one station, causing the next adjacent empty placement column 2-3 to rotate to the finished product unloading position, ready to receive subsequent finished products. This cycle repeats, enabling continuous collection of finished products without stopping the machine, significantly improving the automation level and operational efficiency of the equipment.

[0022] like Figure 5As shown, the outer casing feeding module 3 includes a support table 3-1, a motor 3-2, a flange 3-3, a push-pull motor 3-4, a rotating shaft 3-5, a push-pull motor mounting bracket 3-6, a push rod 3-7, a turntable 3-8, and a material placement cylinder 3-9. Motor 3-2 is fixedly installed inside the support table 3-1. The output shaft of motor 3-2 is connected to the rotating shaft 3-5 through flange 3-3. The rotating shaft 3-5 is vertically set, with its upper end passing through the table surface of the support table and fixedly connected to the center of turntable 3-8. Turntable 3-8 is horizontally set, with multiple mounting holes evenly opened along its circumference. A material placement cylinder 3-9 is fixedly installed in each mounting hole. The material placement cylinder 3-9 is a cylindrical structure with openings at the top and bottom, used to stack shells to be assembled. Push-pull motor 3-4 is fixedly installed inside the support table through push-pull motor mounting bracket 3-6 and is located below turntable 3-8. Push rod 3-7 is vertically set, with its lower end connected to the output end of push-pull motor 3-4 and its upper end pointing to the lower side of turntable 3-8. The axis of push rod 3-7 intersects the circumferential trajectory of the material placement cylinder 3-9 on turntable 3-8. During operation, motor 3-2 drives rotating shaft 3-5 to rotate, which in turn drives turntable 3-8 and its multiple material placement cylinders 3-9 to rotate synchronously. When one of the material placement cylinders 3-9 containing a shell rotates to directly above push rod 3-7, motor 3-2 stops rotating. Subsequently, push-pull motor 3-4 starts, driving push rod 3-7 to extend vertically upward. Push rod 3-7 passes through the corresponding hole on turntable 3-8 and enters the interior of material placement cylinder 3-9, pushing the stacked shells upward so that the topmost shell extends to the top opening of material placement cylinder 3-9, waiting for assembly module 5 to grab it. When all the shells in material placement cylinder 3-9 have been discharged, push-pull motor 3-4 drives push rod 3-7 to return to its original position, motor 3-2 starts again, driving turntable 3-8 to rotate, so that the next material placement cylinder 3-9 containing a shell rotates to directly above push rod 3-7, waiting for the next discharge action. This cycle repeats, thus achieving continuous automated feeding of shells.

[0023] like Figure 6As shown, the flexible wheel and steel wheel feeding module 4 includes a flexible wheel turntable feeding device 4-1, a gantry robotic arm device 4-2, a flexible wheel drying device 4-3, a steel wheel drying device 4-4, a steel wheel turntable feeding device 4-5, a steel wheel ultrasonic cleaning box 4-6, a steel wheel inspection and oiling device 4-7, a flexible wheel inspection and oiling device 4-8, and a flexible wheel ultrasonic cleaning box 4-9. This module is used to automatically discharge, clean, dry, inspect, and oil the flexible wheels and steel wheels, respectively. The flexible wheel turntable feeding device 4-1 is located on the left side of the module body, the flexible wheel ultrasonic cleaning box 4-9 is located on the right side of the flexible wheel turntable feeding device 4-1, the flexible wheel detection and oiling device 4-8 is located in the middle of the module body, and the flexible wheel drying device 4-3 is located at the rear of the module body. The steel wheel turntable feeding device 4-5, the steel wheel ultrasonic cleaning box 4-6, the steel wheel drying device 4-4, and the steel wheel detection and oiling device 4-7 are arranged symmetrically with their corresponding devices on the flexible wheel side on the right side of the module body. The gantry crane robotic arm device 4-2 is arranged across all the devices above it, used to grab and transfer the flexible wheels and steel wheels between the workstations. During operation, the flexible wheel turntable feeding device 4-1 automatically discharges the flexible wheel. The gantry robotic arm device 4-2 grabs the flexible wheel and places it into the flexible wheel ultrasonic cleaning box 4-9. The flexible wheel ultrasonic cleaning box 4-9 cleans the flexible wheel by repeatedly shaking it in the cleaning solution through high-frequency vibration. After cleaning, the gantry robotic arm device 4-2 removes the flexible wheel and places it in the flexible wheel drying device 4-3 for drying. After drying, the gantry robotic arm device 4-2 grabs the flexible wheel and places it in the flexible wheel inspection and oiling device 4-8 for quality inspection. If the quality inspection fails, it is put into the waste bin 4-7-5. If the quality inspection passes, the device automatically applies oil to the flexible wheel. Then, the flexible wheel stays at the discharge position, waiting for the first material grabbing robotic arm 5-2 of the assembly module 5 to grab it. The entire process of feeding, cleaning, drying, quality inspection, and oiling of the steel wheel is exactly the same as that of the flexible wheel. It is completed collaboratively by the steel wheel turntable feeding device 4-5, the steel wheel ultrasonic cleaning box 4-6, the steel wheel drying device 4-4, and the steel wheel inspection and oiling device 4-7, and is uniformly grasped and transferred by the gantry robotic arm device 4-2. Among them, the flexible wheel turntable feeding device 4-1 has the same structure and working principle as the outer shell feeding module 3.

[0024] like Figure 7As shown, the assembly module 5 includes a planetary gear rotating gimbal device 5-1, a first material gripping robotic arm 5-2, a bolt tightening robotic arm 5-3, a flexible wheel shaping platform 5-4, a steel wheel shaping platform 5-5, a second material gripping robotic arm 5-6, and an oiling device 5-7. The first material gripping robotic arm 5-2, the bolt tightening robotic arm 5-3, the second material gripping robotic arm 5-6, and the oiling device 5-7 are all installed at the output end of the planetary gear rotating gimbal device 5-1 and can switch work positions as it rotates; the flexible wheel shaping platform 5-4 is fixed above the steel wheel shaping platform 5-5. During operation, the first material gripping robotic arm 5-2 grips the flexible wheel from the flexible wheel and steel wheel feeding module 4 and clamps it onto the flexible wheel shaping platform 5-4. The oiling device 5-7 applies oil to the flexible wheel. The second material gripping robotic arm 5-6 grips the wave generator from the wave generator feeding module and presses it into the flexible wheel to form the first sub-assembly. The oiling device 5-7 applies oil to the first sub-assembly. The second material gripping robotic arm 5-6 lifts the first sub-assembly from the flexible wheel shaping platform 5-4, and the flexible wheel shaping platform 5-4 opens. The first material gripping robotic arm 5-2 grips the steel wheel and places it on the steel wheel shaping platform 5-5 for clamping; the second material gripping robotic arm 5-6 assembles the first sub-assembly with the steel wheel to form the second sub-assembly; the first material gripping robotic arm 5-2 grips the outer shell from the outer shell feeding module and assembles it with the second sub-assembly; the bolt tightening robotic arm 5-3 tightens the bolts on the outer shell and the second sub-assembly to complete the assembly of the whole machine; finally, the first material gripping robotic arm 5-2 places the finished product in the finished product collection module.

[0025] like Figure 8 As shown, the first material gripping robotic arm 5-2 includes a first scissor lift platform 5-2-1, a three-jaw chuck 5-2-2, and a clamping device 5-2-3. The three-jaw chuck 5-2-2 is fixedly installed below the first scissor lift platform 5-2-1, and the clamping device 5-2-3 is fixedly installed inside the three-jaw chuck 5-2-2; this robotic arm is used to grip flexible wheels, steel wheels, and outer casings. The second material gripping robotic arm 5-6 has the same structure as the first material gripping robotic arm 5-2.

[0026] like Figure 9As shown, the clamping device 5-2-3 includes a motor support frame 5-2-3-1, a motor 5-2-3-2, a motor mounting frame 5-2-3-3, a coupling 5-2-3-4, a lead screw 5-2-3-5, a lead screw nut 5-2-3-6, a sleeve 5-2-3-7, and a push rod 5-2-3-8. The motor 5-2-3-2 is fixedly installed on the motor support frame 5-2-3-1 and the motor mounting frame 5-2-3-3. The output shaft of the motor 5-2-3-2 is connected to the lead screw 5-2-3-5 through the coupling 5-2-3-4. The lead screw nut 5-2-3-6 is assembled on the lead screw 5-2-3-5 and fixedly connected to the push rod 5-2-3-8. The sleeve 5-2-3-7 is installed on the outside of the push rod 5-2-3-8 to guide its movement. During operation, motor 5-2-3-2 drives lead screw 5-2-3-5 to rotate, lead screw nut 5-2-3-6 moves linearly along lead screw 5-2-3-5, and drives push rod 5-2-3-8 to move axially within sleeve 5-2-3-7, thereby realizing the clamping action during assembly.

[0027] like Figure 10 The diagram shows the structure of the bolt tightening robotic arm 5-3, which includes, from top to bottom, a second scissor lift platform 5-3-1, a connecting column 5-3-2, a mounting disc 5-3-3, and several bolt tightening shafts 5-3-4 arranged circumferentially below the mounting disc 5-3-3. The bolt tightening shafts 5-3-4 rise and fall under the drive of the scissor lift platform 5-3-1, thereby tightening and fixing the assembled joint module (i.e., the harmonic gear assembly) with bolts.

[0028] like Figure 11 As shown, the oiling device 5-7 includes a third scissor-type lifting platform 5-7-1, an X-axis moving module 5-7-2, a Y-axis moving module 5-7-3, an oiling port 5-7-4, a drying port 5-7-5, and a connecting plate 5-7-6. The third scissor-type lifting platform 5-7-1 is installed at the output end of the planetary gear rotating gimbal device 5-1. Its specific component composition and working process are completely consistent with the third scissor-type lifting platform 5-7-1 in the aforementioned first material gripping robotic arm 5-2, and it is used to realize the lifting action of the oiling device 5-7, which will not be described again here. The X-axis moving module 5-7-2 is installed at the bottom of the third scissor-type lifting platform 5-7-1, and the Y-axis moving module 5-7-3 is connected to the bottom of the X-axis moving module 5-7-2. The oiling port 5-7-4 and the drying port 5-7-5 are installed below the Y-axis moving module 5-7-3 through the connecting plate 5-7-6.

[0029] like Figure 12As shown, the flexible wheel shaping platform 5-4 includes a first load-bearing guide rail mechanism 5-4-1, a second load-bearing guide rail mechanism 5-4-2, a first lead screw moving mechanism 5-4-3, a second lead screw moving mechanism 5-4-4, a first lead screw nut 5-4-5, a second lead screw nut 5-4-6, a first flexible wheel fixing mold 5-4-7, a first flexible wheel flexible mold 5-4-8, a first T-shaped push rod 5-4-9, a first positioning guide rail 5-4-10, a first left side opening and closing plate 5-4-11, a first lead screw fixing seat 5-4-12, a first guide rod fixing seat 5-4-13, a first platform first motor 5-4-14, a first platform first motor bracket 5-4-15, a first coupling 5-4-16, a second guide rod fixing seat 5-4-17, a first platform aluminum bracket 5-4-18, a first U-shaped navigation bracket 5-4-19, a first guide rod 5-4-20, and a second U-shaped guide... 5-4-21, third guide rod fixing seat, 5-4-22, first platform second motor bracket, 5-4-23, second coupling, 5-4-24, first platform second motor, 5-4-25, second lead screw fixing seat, 5-4-26, fourth guide rod fixing seat, 5-4-27, right side opening and closing plate, 5-4-28, second T-shaped push rod, 5-4-29, second positioning guide rail, 5-4-30, second flexible wheel flexible mold, 5-4-3 1. Second flexible wheel fixing mold 5-4-32, First moving slider 5-4-33, First connecting shaft 5-4-34, Second moving slider 5-4-35, Second connecting shaft 5-4-36, Third moving slider 5-4-37, Fourth moving slider 5-4-38, First lead screw 5-4-39, Second guide rod 5-4-40, Second lead screw 5-4-41, Third guide rod 5-4-42, Fourth guide rod 5-4-43. This platform is used to position and flexibly clamp the flexible wheel during assembly, ensuring that the flexible wheel maintains the correct shape during assembly. The first platform aluminum bracket 5-4-18 is fixed to the main body of the equipment, serving as the installation foundation for the entire platform. The first left-side opening and closing plate 5-4-11 is mounted on the first load-bearing guide rail mechanism 5-4-1 and can slide along it. The right-side opening and closing plate 5-4-28 is mounted on the second load-bearing guide rail mechanism 5-4-2 and can slide along it. The load-bearing guide rail mechanism plays a role in bearing weight and guiding the movement of the opening and closing plates. The first lead screw moving mechanism 5-4-3 is connected to the first left-side opening and closing plate 5-4-11 and is used to drive the first left-side opening and closing plate 5-4-11 to slide along the first load-bearing guide rail mechanism 5-4-1. The second lead screw moving mechanism 5-4-4 is connected to the right-side opening and closing plate 5-4-28 and is used to drive the right-side opening and closing plate 5-4-28 to slide along the second load-bearing guide rail mechanism 5-4-2.During operation, the first material gripping robotic arm 5-2 grips the flexible wheel from the flexible wheel and steel wheel feeding module 4 and places it between the first flexible wheel fixing mold 5-4-7 and the second flexible wheel fixing mold 5-4-32. Subsequently, the first motor 5-4-14 of the first platform drives the first lead screw 5-4-39 to rotate, and the first lead screw nut 5-4-5 moves along the first lead screw 5-4-39. The first lead screw nut 5-4-5 is connected to the first moving slider 5-4-33 and the second moving slider 5-4-34 through the first connecting shaft 5-4-34. The movable slider 5-4-35 and the first T-shaped push rod 5-4-9 are connected. The first movable slider 5-4-33 and the second movable slider 5-4-35 are respectively fixed on the first guide rod 5-4-20 and the second guide rod 5-4-40, thereby driving the first T-shaped push rod 5-4-9 to move towards the central flexible wheel under the guidance of the first positioning guide rail 5-4-10 and the first U-shaped navigation bracket 5-4-19; at the same time, the second motor 5-4-25 of the first platform drives the second lead screw 5-4-41. Rotation causes the second lead screw nut 5-4-6 to move along the second lead screw 5-4-41. The second lead screw nut 5-4-6 is connected to the third movable slider 5-4-37, the fourth movable slider 5-4-38, and the second T-shaped push rod 5-4-29 via the second connecting shaft 5-4-36. The third movable slider 5-4-37 and the fourth movable slider 5-4-38 are respectively fixed to the third guide rod 5-4-42 and the fourth guide rod 5-4-43, thereby driving the second T-shaped push rod 5-4-29. 29. Guided by the second positioning guide rail 5-4-30 and the second U-shaped navigation bracket 5-4-21, it moves towards the central flexible wheel; the first flexible wheel flexible mold 5-4-8 and the second flexible wheel flexible mold 5-4-31 gradually contact the flexible wheel and adapt to deformation under continuous pushing, closely fitting the outer contour of the flexible wheel, and together with the first flexible wheel fixing mold 5-4-7 and the second flexible wheel fixing mold 5-4-32, clamp and fix the flexible wheel, so that it maintains the correct assembly shape and waits for subsequent assembly operations.

[0030] like Figure 13As shown, the first load-bearing guide rail mechanism 5-4-1 includes a first guide rail fixing seat for the flexible wheel 5-4-1-1, a second guide rail fixing seat for the flexible wheel 5-4-1-2, a first guide rail for the flexible wheel 5-4-1-3, a first movable slider for the flexible wheel 5-4-1-4, a second movable slider for the flexible wheel 5-4-1-5, a third movable slider for the flexible wheel 5-4-1-6, a fourth movable slider for the flexible wheel 5-4-1-7, a third guide rail fixing seat for the flexible wheel 5-4-1-8, a fourth guide rail fixing seat for the flexible wheel 5-4-1-9, and a second guide rail for the flexible wheel 5-4-1-2. -1-10, Flexible wheel fifth guide rail fixing seat 5-4-1-11, Flexible wheel third guide rail 5-4-1-12, Flexible wheel sixth guide rail fixing seat 5-4-1-13, Flexible wheel fourth guide rail 5-4-1-14, Flexible wheel fifth moving slider 5-4-1-15, Flexible wheel sixth moving slider 5-4-1-16, Flexible wheel seventh moving slider 5-4-1-17, Flexible wheel eighth moving slider 5-4-1-18, Flexible wheel seventh guide rail fixing seat 5-4-1-19, Flexible wheel eighth guide rail fixing seat 5-4-1-20. The first guide rail 5-4-1-3 of the flexible wheel is fixedly installed through the first guide rail fixing seat 5-4-1-1 and the second guide rail fixing seat 5-4-1-2 of the flexible wheel. The second guide rail 5-4-1-10 of the flexible wheel is fixedly installed through the third guide rail fixing seat 5-4-1-8 and the fourth guide rail fixing seat 5-4-1-9 of the flexible wheel. The third guide rail 5-4-1-12 of the flexible wheel is fixedly installed through the fifth guide rail fixing seat 5-4-1-11 and the sixth guide rail fixing seat 5-4-1-13 of the flexible wheel. The fourth guide rail 5-4-1-14 of the flexible wheel is fixedly installed through the seventh guide rail fixing seat 5-4-1-19 and the eighth guide rail fixing seat 5-4-1-20 of the flexible wheel. The first movable slider 5-4-1-4 and the third movable slider 5-4-1-6 of the flexible wheel are mounted on the first guide rail 5-4-1-3 of the flexible wheel and can slide along it. The second movable slider 5-4-1-5 and the fourth movable slider 5-4-1-7 of the flexible wheel are mounted on the second guide rail 5-4-1-10 of the flexible wheel and can slide along it. The fifth movable slider 5-4-1-15 and the seventh movable slider 5-4-1-17 of the flexible wheel are mounted on the third guide rail 5-4-1-12 of the flexible wheel and can slide along it. The sixth movable slider 5-4-1-16 and the eighth movable slider 5-4-1-18 of the flexible wheel are mounted on the fourth guide rail 5-4-1-14 of the flexible wheel and can slide along it. The first movable slider 5-4-1-4, the second movable slider 5-4-1-5, the third movable slider 5-4-1-6, the fourth movable slider 5-4-1-7, the fifth movable slider 5-4-1-15, the sixth movable slider 5-4-1-16, the seventh movable slider 5-4-1-17, and the eighth movable slider 5-4-1-18 of the flexible wheel are all fixedly connected to the first left-side opening and closing plate 5-4-11.When the first left-side opening and closing plate 5-4-11 moves, the first movable slider 5-4-1-4 to the eighth movable slider 5-4-1-18 of the flexible wheel slide along the corresponding first guide rail 5-4-1-3 to the fourth guide rail 5-4-1-14 of the flexible wheel, respectively, which plays a guiding and load-bearing role in the movement of the first left-side opening and closing plate 5-4-11.

[0031] The second load-bearing guide rail mechanism 5-4-2 is symmetrically arranged with the first load-bearing guide rail mechanism 5-4-1. The two have the same structure and principle, which will not be described in detail here.

[0032] like Figure 14As shown, the first lead screw moving mechanism 5-4-3 includes a first flexible wheel guide rail fixing seat 5-4-3-1, a first flexible wheel lead screw fixing seat 5-4-3-2, a first flexible wheel guide rail 5-4-3-3, a flexible wheel lead screw nut 5-4-3-4, a second flexible wheel guide rail fixing seat 5-4-3-5, a flexible wheel mounting plate 5-4-3-6, a flexible wheel motor 5-4-3-7, a flexible wheel motor bracket 5-4-3-8, and a flexible wheel. The coupling is 5-4-3-9, the second flexible wheel screw fixing seat is 5-4-3-10, the third flexible wheel guide rail fixing seat is 5-4-3-11, the first flexible wheel moving slider is 5-4-3-12, the second flexible wheel moving slider is 5-4-3-13, the flexible wheel connecting shaft is 5-4-3-14, the second flexible wheel guide rail is 5-4-3-15, the flexible wheel screw is 5-4-3-16, and the fourth flexible wheel guide rail fixing seat is 5-4-3-17. The first flexible wheel guide rail 5-4-3-3 is fixedly installed through the first flexible wheel guide rail fixing seat 5-4-3-1 and the third flexible wheel guide rail fixing seat 5-4-3-11, and the second flexible wheel guide rail 5-4-3-15 is fixedly installed through the second flexible wheel guide rail fixing seat 5-4-3-5 and the fourth flexible wheel guide rail fixing seat 5-4-3-17. The flexible wheel screw 5-4-3-16 is rotatably supported by the first flexible wheel screw fixing seat 5-4-3-2 and the second flexible wheel screw fixing seat 5-4-3-10. The flexible wheel screw nut 5-4-3-4 is assembled on the flexible wheel screw 5-4-3-16. The first flexible wheel moving slider 5-4-3-12 is mounted on the first flexible wheel guide rail 5-4-3-3 and can slide along it. The second flexible wheel moving slider 5-4-3-13 is mounted on the second flexible wheel guide rail 5-4-3-15 and can slide along it. The flexible wheel motor 5-4-3-7 is fixedly mounted on the flexible wheel mounting plate 5-4-3-6 by the flexible wheel motor bracket 5-4-3-8. The output shaft of the flexible wheel motor 5-4-3-7 is connected to the flexible wheel screw 5-4-3-16 through the flexible wheel coupling 5-4-3-9. The flexible wheel screw nut 5-4-3-4 is fixedly connected to the first flexible wheel moving slider 5-4-3-12 and the second flexible wheel moving slider 5-4-3-13 via the flexible wheel connecting shaft 5-4-3-14, and the flexible wheel screw nut 5-4-3-4, the first flexible wheel moving slider 5-4-3-12 and the second flexible wheel moving slider 5-4-3-13 are all fixedly connected to the first left side opening and closing plate 5-4-11. During operation, the flexible wheel motor 5-4-3-7 drives the flexible wheel screw 5-4-3-16 to rotate, and the flexible wheel screw nut 5-4-3-4 moves linearly along the flexible wheel screw 5-4-3-16. Through the flexible wheel connecting shaft 5-4-3-14, the first flexible wheel moving slider 5-4-3-12 and the second flexible wheel moving slider 5-4-3-13 are driven to slide synchronously along the first flexible wheel guide rail 5-4-3-3 and the second flexible wheel guide rail 5-4-3-15, respectively. This drives the first left-side opening and closing plate 5-4-11, which is fixedly connected to it, to move smoothly along the load-bearing guide rail mechanism, thereby realizing the drive control of the first left-side opening and closing plate 5-4-11.

[0033] The second lead screw moving mechanism 5-4-4 has the same structure as the first lead screw moving mechanism 5-4-3, and is mirrored in arrangement. The two have the same structure and principle, which will not be described in detail here.

[0034] like Figure 15As shown, the steel wheel shaping platform 5-5 includes a third load-bearing guide rail mechanism 5-5-1, a fourth load-bearing guide rail mechanism 5-5-2, a third lead screw moving mechanism 5-5-3, a fourth lead screw moving mechanism 5-5-4, a third lead screw nut 5-5-5, a fourth lead screw nut 5-5-6, a first steel wheel fixing mold 5-5-7, a first steel wheel flexible mold 5-5-8, a third T-shaped push rod 5-5-9, a third positioning guide rail 5-5-10, a second left side opening and closing plate 5-5-11, a third lead screw fixing seat 5-5-12, a fifth guide rod fixing seat 5-5-13, a second platform first motor 5-5-14, a second platform first motor bracket 5-5-15, a third coupling 5-5-16, a sixth guide rod fixing seat 5-5-17, a second platform aluminum bracket 5-5-18, a third U-shaped navigation bracket 5-5-19, a fifth guide rod 5-5-20, and a fourth U-shaped guide... 5-5-21, 7th guide rod fixing seat, 5-5-22, 2nd platform 2nd motor bracket, 5-5-23, 4th coupling, 5-5-24, 2nd platform 2nd motor, 5-5-25, 4th lead screw fixing seat, 5-5-26, 8th guide rod fixing seat, 5-5-27, 5-5-28, 5-5-29, 4th T-shaped push rod, 5-5-30, 5-5-3, 2nd steel wheel flexible mold. 1. Second steel wheel fixing mold 5-5-32. Fifth moving slider 5-5-33. Third connecting shaft 5-5-34. Sixth moving slider 5-5-35. Fourth connecting shaft 5-5-36. Seventh moving slider 5-5-37. Eighth moving slider 5-5-38. Third lead screw 5-5-39. Sixth guide rod 5-5-40. Fourth lead screw 5-5-41. Seventh guide rod 5-5-42. Eighth guide rod 5-5-43. The platform is used to position and flexibly clamp the steel wheels during assembly, ensuring that the steel wheels maintain the correct shape during assembly. The second platform aluminum bracket 5-5-18 is fixed to the main body of the equipment, serving as the installation foundation for the entire platform. The second left opening and closing plate 5-5-11 is mounted on the third load-bearing guide rail mechanism 5-5-1 and can slide along it. The right opening and closing plate 5-5-28 is mounted on the fourth load-bearing guide rail mechanism 5-5-2 and can slide along it. The load-bearing guide rail mechanism plays a role in bearing weight and guiding the movement of the opening and closing plates. The third screw moving mechanism 5-5-3 is connected to the second left opening and closing plate 5-5-11 and is used to drive the second left opening and closing plate 5-5-11 to slide along the third load-bearing guide rail mechanism 5-5-1. The fourth screw moving mechanism 5-5-4 is connected to the right opening and closing plate 5-5-28 and is used to drive the right opening and closing plate 5-5-28 to slide along the fourth load-bearing guide rail mechanism 5-5-2.During operation, the first material gripping robotic arm 5-2 grips the steel wheel from the flexible wheel and steel wheel feeding module 4 and places it between the first steel wheel fixing mold 5-5-7 and the second steel wheel fixing mold 5-5-32; subsequently, the first motor 5-5-14 of the second platform drives the third lead screw 5-5-39 to rotate, and the third lead screw nut 5-5-5 moves along the third lead screw 5-5-39. The third lead screw nut 5-5-5 is connected to the fifth moving slider 5-5-33 and the sixth moving slider 5-5-34 via the third connecting shaft 5-5-34. The movable slider 5-5-35 and the third T-shaped push rod 5-5-9 are connected. The fifth movable slider 5-5-33 and the sixth movable slider 5-5-35 are fixed on the fifth guide rod 5-5-20 and the sixth guide rod 5-5-40, respectively, thereby driving the third T-shaped push rod 5-5-9 to move towards the central steel wheel under the guidance of the third positioning guide rail 5-5-10 and the third U-shaped navigation bracket 5-5-19; at the same time, the second motor 5-5-25 drives the fourth lead screw 5-5-41 to rotate. The fourth lead screw nut 5-5-6 moves along the fourth lead screw 5-5-41. The fourth lead screw nut 5-5-6 is connected to the seventh movable slider 5-5-37, the eighth movable slider 5-5-38, and the fourth T-shaped push rod 5-5-29 via the fourth connecting shaft 5-5-36. The seventh movable slider 5-5-37 and the eighth movable slider 5-5-38 are respectively fixed on the seventh guide rod 5-5-42 and the eighth guide rod 5-5-43, thereby driving the fourth T-shaped push rod 5-5-29. 9. Guided by the fourth positioning guide rail 5-5-30 and the fourth U-shaped navigation bracket 5-5-21, it moves towards the central steel wheel; the first steel wheel flexible mold 5-5-8 and the second steel wheel flexible mold 5-5-31 gradually contact the steel wheel and adapt to deformation under continuous pushing, closely fitting the outer contour of the steel wheel. Together with the first steel wheel fixed mold 5-5-7 and the second steel wheel fixed mold 5-5-32, they clamp and fix the steel wheel, keeping it in the correct assembly shape, waiting for subsequent assembly operations.

[0035] like Figure 16As shown, the third load-bearing guide rail mechanism 5-5-1 includes a first guide rail fixing seat for the steel wheel 5-5-1-1, a second guide rail fixing seat for the steel wheel 5-5-1-2, a first guide rail for the steel wheel 5-5-1-3, a first moving slider for the steel wheel 5-5-1-4, a second moving slider for the steel wheel 5-5-1-5, a third moving slider for the steel wheel 5-5-1-6, a fourth moving slider for the steel wheel 5-5-1-7, a third guide rail fixing seat for the steel wheel 5-5-1-8, a fourth guide rail fixing seat for the steel wheel 5-5-1-9, and a second guide rail for the steel wheel 5-5-1-1. -1-10, Steel wheel fifth guide rail fixing seat 5-5-1-11, Steel wheel third guide rail 5-5-1-12, Steel wheel sixth guide rail fixing seat 5-5-1-13, Steel wheel fourth guide rail 5-5-1-14, Steel wheel fifth moving slider 5-5-1-15, Steel wheel sixth moving slider 5-5-1-16, Steel wheel seventh moving slider 5-5-1-17, Steel wheel eighth moving slider 5-5-1-18, Steel wheel seventh guide rail fixing seat 5-5-1-19, Steel wheel eighth guide rail fixing seat 5-5-1-20. The first guide rail 5-5-1-3 of the steel wheel is fixedly installed through the first guide rail fixing seat 5-5-1-1 and the second guide rail fixing seat 5-5-1-2 of the steel wheel. The second guide rail 5-5-1-10 of the steel wheel is fixedly installed through the third guide rail fixing seat 5-5-1-8 and the fourth guide rail fixing seat 5-5-1-9 of the steel wheel. The third guide rail 5-5-1-12 of the steel wheel is fixedly installed through the fifth guide rail fixing seat 5-5-1-11 and the sixth guide rail fixing seat 5-5-1-13 of the steel wheel. The fourth guide rail 5-5-1-14 of the steel wheel is fixedly installed through the seventh guide rail fixing seat 5-5-1-19 and the eighth guide rail fixing seat 5-5-1-20 of the steel wheel. The first moving slider 5-5-1-4 and the third moving slider 5-5-1-6 of the steel wheel are mounted on the first guide rail 5-5-1-3 of the steel wheel and can slide along it. The second moving slider 5-5-1-5 and the fourth moving slider 5-5-1-7 of the steel wheel are mounted on the second guide rail 5-5-1-10 of the steel wheel and can slide along it. The fifth moving slider 5-5-1-15 and the seventh moving slider 5-5-1-17 of the steel wheel are mounted on the third guide rail 5-5-1-12 of the steel wheel and can slide along it. The sixth moving slider 5-5-1-16 and the eighth moving slider 5-5-1-18 of the steel wheel are mounted on the fourth guide rail 5-5-1-14 of the steel wheel and can slide along it. The first moving slider of the steel wheel 5-5-1-4, the second moving slider of the steel wheel 5-5-1-5, the third moving slider of the steel wheel 5-5-1-6, the fourth moving slider of the steel wheel 5-5-1-7, the fifth moving slider of the steel wheel 5-5-1-15, the sixth moving slider of the steel wheel 5-5-1-16, the seventh moving slider of the steel wheel 5-5-1-17, and the eighth moving slider of the steel wheel 5-5-1-18 are all fixedly connected to the second left side opening and closing plate 5-5-11.When the second left-side opening and closing plate 5-5-11 moves, the first moving slider 5-5-1-4 to the eighth moving slider 5-5-1-18 of the steel wheel slide along the corresponding first guide rail 5-5-1-3 to the fourth guide rail 5-5-1-14 of the steel wheel, respectively, which plays a guiding and load-bearing role in the movement of the second left-side opening and closing plate 5-5-11.

[0036] The fourth load-bearing guide rail mechanism 5-5-2 is symmetrically arranged with the third load-bearing guide rail mechanism 5-5-1. The two have the same structure and principle, which will not be described in detail here.

[0037] like Figure 17As shown, the third lead screw moving mechanism 5-5-3 includes a first steel wheel guide rail fixing seat 5-5-3-1, a first steel wheel lead screw fixing seat 5-5-3-2, a first steel wheel guide rail 5-5-3-3, a steel wheel lead screw nut 5-5-3-4, a second steel wheel guide rail fixing seat 5-5-3-5, a steel wheel mounting plate 5-5-3-6, a steel wheel motor 5-5-3-7, a steel wheel motor bracket 5-5-3-8, and a steel wheel. The components are: coupling 5-5-3-9, second steel wheel lead screw fixing seat 5-5-3-10, third steel wheel guide rail fixing seat 5-5-3-11, first steel wheel moving slider 5-5-3-12, second steel wheel moving slider 5-5-3-13, steel wheel connecting shaft 5-5-3-14, second steel wheel guide rail 5-5-3-15, steel wheel lead screw 5-5-3-16, and fourth steel wheel guide rail fixing seat 5-5-3-17. The first steel wheel guide rail 5-5-3-3 is fixedly installed via the first steel wheel guide rail fixing seat 5-5-3-1 and the third steel wheel guide rail fixing seat 5-5-3-11. The second steel wheel guide rail 5-5-3-15 is fixedly installed via the second steel wheel guide rail fixing seat 5-5-3-5 and the fourth steel wheel guide rail fixing seat 5-5-3-17. The steel wheel lead screw 5-5-3-16 is rotatably supported by the first steel wheel lead screw fixing seat 5-5-3-2 and the second steel wheel lead screw fixing seat 5-5-3-10. The steel wheel lead screw nut 5-5-3-4 is assembled on the steel wheel lead screw 5-5-3-16. The first steel wheel moving slider 5-5-3-12 is mounted on the first steel wheel guide rail 5-5-3-3 and can slide along it. The second steel wheel moving slider 5-5-3-13 is mounted on the second steel wheel guide rail 5-5-3-15 and can slide along it. The steel wheel motor 5-5-3-7 is fixedly mounted on the steel wheel mounting plate 5-5-3-6 by the steel wheel motor bracket 5-5-3-8. The output shaft of the steel wheel motor 5-5-3-7 is connected to the steel wheel lead screw 5-5-3-16 through the steel wheel coupling 5-5-3-9. The steel wheel lead screw nut 5-5-3-4 is fixedly connected to the first steel wheel moving slider 5-5-3-12 and the second steel wheel moving slider 5-5-3-13 through the steel wheel connecting shaft 5-5-3-14, and the steel wheel lead screw nut 5-5-3-4, the first steel wheel moving slider 5-5-3-12 and the second steel wheel moving slider 5-5-3-13 are all fixedly connected to the second left side opening and closing plate 5-5-11. During operation, the steel wheel motor 5-5-3-7 drives the steel wheel lead screw 5-5-3-16 to rotate, and the steel wheel lead screw nut 5-5-3-4 moves linearly along the steel wheel lead screw 5-5-3-16. Through the steel wheel connecting shaft 5-5-3-14, the first steel wheel moving slider 5-5-3-12 and the second steel wheel moving slider 5-5-3-13 are driven to slide synchronously along the first steel wheel guide rail 5-5-3-3 and the second steel wheel guide rail 5-5-3-15, respectively. This drives the second left side opening and closing plate 5-5-11, which is fixedly connected to it, to move smoothly along the load-bearing guide rail mechanism, thereby realizing the drive control of the second left side opening and closing plate 5-5-11.

[0038] The fourth lead screw moving mechanism 5-5-4 has the same structure as the third lead screw moving mechanism 5-5-3, and is mirrored with the first lead screw moving mechanism 5-4-3. The two have the same structure and principle, which will not be described in detail here.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible intelligent assembly system for joint module of a humanoid robot joint, characterized in that, include: The wave generator feeding module is configured to automate the feeding process of the wave generator. The flexible wheel and steel wheel feeding modules are configured to complete the automated feeding process for the flexible wheel and steel wheel, respectively. The outer casing feeding module is configured to complete the automatic unloading function of the outer casing; The assembly module is configured to obtain the wave generator, flexible wheel, steel wheel and housing from the wave generator feeding module, the flexible wheel and steel wheel feeding module and the housing feeding module respectively, and complete the assembly in sequence according to the preset assembly order; The finished product collection module is configured to collect the assembled finished product after the assembly module has completed the assembly of the joint module.

2. The flexible intelligent assembly system for joint modules according to claim 1, characterized in that, The assembly module includes a planetary gear rotating gimbal device, a first material gripping robotic arm, a bolt tightening robotic arm, a flexible wheel shaping platform, a steel wheel shaping platform, a second material gripping robotic arm, and an oiling device. The first material gripping robotic arm, the bolt tightening robotic arm, the second material gripping robotic arm, and the oiling device are all installed at the output end of the planetary gear rotating gimbal device and can rotate with the planetary gear rotating gimbal device to switch work positions. The flexible wheel shaping platform is fixed above the steel wheel shaping platform.

3. The flexible intelligent assembly system for joint modules according to claim 2, characterized in that, The flexible wheel shaping platform includes a first load-bearing guide rail mechanism, a second load-bearing guide rail mechanism, a first lead screw moving mechanism, a second lead screw moving mechanism, a first lead screw nut, a second lead screw nut, a first flexible wheel fixing mold, a first flexible wheel flexible mold, a first T-shaped push rod, a first positioning guide rail, a first left side opening and closing plate, a first lead screw fixing seat, a first guide rod fixing seat, a first platform first motor, a first platform first motor bracket, a first coupling, a second guide rod fixing seat, a first platform aluminum bracket, a first U-shaped navigation bracket, a first guide rod, a second U-shaped navigation bracket, a third guide rod fixing seat, and a third... The system comprises a platform with a second motor bracket, a second coupling, a first platform with a second motor, a second lead screw fixing seat, a fourth guide rod fixing seat, a right-side opening and closing plate, a second T-shaped push rod, a second positioning guide rail, a second flexible wheel flexible mold, a second flexible wheel fixing mold, a first moving slider, a first connecting shaft, a second moving slider, a second connecting shaft, a third moving slider, a fourth moving slider, a first lead screw, a second guide rod, a second lead screw, a third guide rod, and a fourth guide rod. The flexible wheel shaping platform is used to position and flexibly clamp the flexible wheel during assembly, ensuring that the flexible wheel maintains the correct shape during assembly. The first platform aluminum support is fixed to the main body of the equipment; the first left side opening plate is installed on the first load-bearing guide rail mechanism and can slide along it, and the right side opening plate is installed on the second load-bearing guide rail mechanism and can slide along it; The first lead screw moving mechanism is connected to the first left-side opening and closing plate, and is used to drive the first left-side opening and closing plate to slide along the first load-bearing guide rail mechanism; the second lead screw moving mechanism is connected to the right-side opening and closing plate, and is used to drive the right-side opening and closing plate to slide along the second load-bearing guide rail mechanism; during operation, the first motor of the first platform drives the first lead screw to rotate, and the first lead screw nut moves along the first lead screw. The first lead screw nut is connected to the first moving slider, the second moving slider, and the first T-shaped push rod through the first connecting shaft. The first moving slider and the second moving slider are respectively fixed on the first guide rod and the second guide rod, so as to drive the first T-shaped push rod to move towards the central flexible wheel under the guidance of the first positioning guide rail and the first U-shaped navigation bracket. Simultaneously, the second motor of the first platform drives the second lead screw to rotate, and the second lead screw nut moves along the second lead screw. The second lead screw nut is connected to the third moving slider, the fourth moving slider, and the second T-shaped push rod through the second connecting shaft. The third moving slider and the fourth moving slider are respectively fixed on the third guide rod and the fourth guide rod, thereby driving the second T-shaped push rod to move towards the central flexible wheel under the guidance of the second positioning guide rail and the second U-shaped navigation bracket. The first flexible wheel flexible mold and the second flexible wheel flexible mold gradually contact the flexible wheel and adapt to deformation under continuous pushing, closely fitting the outer contour of the flexible wheel. Together with the first flexible wheel fixing mold and the second flexible wheel fixing mold, they clamp and fix the flexible wheel.

4. The flexible intelligent assembly system for joint modules according to claim 2, characterized in that, The steel wheel shaping platform includes a third load-bearing guide rail mechanism, a fourth load-bearing guide rail mechanism, a third lead screw moving mechanism, a fourth lead screw moving mechanism, a third lead screw nut, a fourth lead screw nut, a first steel wheel fixing mold, a first steel wheel flexible mold, a third T-shaped push rod, a third positioning guide rail, a second left side opening and closing plate, a third lead screw fixing seat, a fifth guide rod fixing seat, a second platform first motor, a second platform first motor bracket, a third coupling, a sixth guide rod fixing seat, a second platform aluminum bracket, a third U-shaped navigation bracket, a fifth guide rod, a fourth U-shaped navigation bracket, a seventh guide rod fixing seat, a second platform second motor bracket, a fourth coupling, a second platform second motor, a fourth lead screw fixing seat, an eighth guide rod fixing seat, a right side opening and closing plate, a fourth T-shaped push rod, a fourth positioning guide rail, a second steel wheel flexible mold, a second steel wheel fixing mold, a fifth moving slider, and a third connection. The system comprises a shaft, a sixth movable slider, a fourth connecting shaft, a seventh movable slider, an eighth movable slider, a third lead screw, a sixth guide rod, a fourth lead screw, a seventh guide rod, and an eighth guide rod. The steel wheel shaping platform is used to position and flexibly clamp the steel wheel during assembly, ensuring it maintains the correct shape. The second platform aluminum support is fixed to the main body of the equipment, serving as the installation foundation for the entire platform. The second left-side opening and closing plate is mounted on the third load-bearing guide rail mechanism and can slide along it; the right-side opening and closing plate is mounted on the fourth load-bearing guide rail mechanism and can slide along it. The load-bearing guide rail mechanism provides load-bearing and guiding functions for the movement of the opening and closing plates. The third lead screw moving mechanism is connected to the second left-side opening and closing plate and is used to drive the second left-side opening and closing plate to slide along the third load-bearing guide rail mechanism. The fourth lead screw moving mechanism is connected to the right-side opening and closing plate and is used to drive the right-side opening and closing plate to slide along the fourth load-bearing guide rail mechanism. During operation, the first motor of the second platform drives the third lead screw to rotate, and the third lead screw nut moves along the third lead screw. The third lead screw nut is connected to the fifth and sixth movable sliders and the third T-shaped push rod through the third connecting shaft. The fifth and sixth movable sliders are fixed on the fifth and sixth guide rods, respectively, thereby driving the third T-shaped push rod to move towards the central steel wheel under the guidance of the second positioning guide rail and the third U-shaped navigation bracket. At the same time, the second motor drives the fourth lead screw to rotate, and the fourth lead screw nut moves along the fourth lead screw. The fourth lead screw nut is connected to the seventh and eighth movable sliders and the fourth T-shaped push rod through the fourth connecting shaft. The seventh and eighth movable sliders are fixed on the seventh and eighth guide rods, respectively, thereby driving the fourth T-shaped push rod to move towards the central steel wheel under the guidance of the second positioning guide rail and the fourth U-shaped navigation bracket. The first and second flexible steel wheel molds gradually contact the steel wheel and adapt to deformation under continuous pushing, closely fitting the outer contour of the steel wheel. Together with the first and second fixed steel wheel molds, they clamp and fix the steel wheel.

5. The flexible intelligent assembly system for joint modules according to claim 1, characterized in that, The flexible wheel and steel wheel feeding module includes a gantry robot arm and a detection and oiling device for the flexible wheel and steel wheel. The gantry robot arm is configured to pick up and transfer the flexible wheel and steel wheel between different workstations. The detection and oiling device includes an XYZ three-axis moving platform, a rotatable oiling mechanism, a rotatable detector, and a telescopic discharge and waste dumping mechanism.

6. The flexible intelligent assembly system for joint modules according to claim 1, characterized in that, The outer casing feeding module includes a rotating turntable with multiple material placement cylinders and a push rod lifting and discharging mechanism located below the rotating turntable. It is configured to realize the compartmentalized storage, sequential switching and automatic feeding of outer casings piece by piece through the rotating turntable and the push rod lifting and discharging mechanism.

7. The flexible intelligent assembly system for joint modules according to claim 1, characterized in that, The assembly module also includes a first material gripping robotic arm, which includes a scissor lift platform, a three-jaw chuck, and a clamping device installed inside the three-jaw chuck. The clamping device includes a motor, a lead screw, a lead screw nut, and a push rod, and is configured to perform clamping actions during the assembly process.

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