Linear servo joint assembly device for robots

Abstract

The application discloses a linear servo joint assembly device for robots and relates to the technical field of robot manufacturing.The linear servo joint assembly device comprises a feeding mechanism, a workbench and an assembly execution mechanism, the feeding mechanism is arranged outside the workbench, and the assembly execution mechanism is arranged above the central area of the workbench.Compared with the current assembly device, when the device encounters equipment failure or sudden power failure and the like, the third linear module and the electric screwdriver will automatically retreat in the direction away from the assembly station, so that the operator can conveniently and quickly manually supplement the assembly of the workpiece which is not completed, the cooperation of the positioning module and the driving assembly detects whether the bearing disc reaches the preset station on one hand and realizes the mechanical locking of the bearing disc on the other hand, and the bearing disc keeps absolutely stationary when the assembly execution mechanism performs the screw locking operation, so that the assembly deviation caused by the shaking under stress is effectively avoided.

Description

Technical Field

[0001] This invention relates to the field of robot manufacturing technology, specifically to a linear servo joint assembly device for robots. Background Technology

[0002] In the field of industrial robot manufacturing, linear servo joints are the core transmission components of robots. Their assembly accuracy directly affects the motion performance and service life of the entire machine. Traditional manual or semi-automatic assembly methods can no longer meet production needs, and automated assembly equipment is gradually becoming the industry mainstream.

[0003] For example, patent CN120588287A discloses an automated assembly method for humanoid robot joints. It uses a multi-axis robotic arm in conjunction with a vision positioning system to achieve automatic grasping and preliminary assembly of joint components. However, its assembly execution mechanism adopts a single cantilever robotic arm structure, which is prone to interference or collision when assembling in the confined space and densely packed components of a linear servo joint. Furthermore, in the event of a sudden power outage or equipment failure, the assembly execution component lacks an emergency mechanism for automatic withdrawal and safe retraction. As a result, once the power is interrupted, the assembly execution component is easily locked inside the linear servo joint components, which is not conducive to manual intervention and reassembly of unfinished workpieces. Summary of the Invention

[0004] The technical problem to be solved by this invention is how to achieve high reliability and high fault tolerance in the assembly process. To this end, a linear servo joint assembly device for robots is provided.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a linear servo joint assembly device for robots, comprising a feeding mechanism, a worktable, and an assembly execution mechanism. The feeding mechanism is disposed on the outside of the worktable for conveying parts. The assembly execution mechanism is disposed above the central area of ​​the worktable for performing assembly work. The assembly execution mechanism includes a base, on which a first vertical linear module is mounted. A second linear module is horizontally mounted at the working end of the first linear module. A connecting seat is disposed at the working end of the second linear module. A third linear module is horizontally mounted on the connecting seat. An electric screwdriver is disposed at the working end of the third linear module. The first, second, and third linear modules achieve precise positioning of the electric screwdriver in three-dimensional space to perform assembly operations on the robot linear servo joint parts conveyed to the worktable by the feeding mechanism. The connecting seat is close to the first linear module. One end of the three linear module is provided with a first slide groove and a second slide groove. A slider is provided in the first slide groove and the slider is connected to the first slide groove through a compression spring. A connecting block and a second electromagnet are provided in the second slide groove. Both the slider and the connecting block are connected to the third linear module. During normal operation, the second electromagnet magnetically attracts the connecting block, and the connecting block is fixed in the second slide groove by the second electromagnet (at this time, the compression spring in the first slide groove is in a compressed state). When the invention encounters equipment failure or power failure, the second electromagnet separates from the connecting block. Under the action of the compression spring and the slider, the third linear module and the electric screwdriver are driven to retract, thereby automatically removing the electric screwdriver from the assembly station, freeing up sufficient working space for the operator, enabling them to conveniently and quickly manually reassemble or manually inspect unassembled workpieces, effectively reducing the impact of equipment failure on the production cycle and improving the flexibility and maintainability of the production line.

[0006] Furthermore, a locking module is provided inside the connecting block. An induction coil and a first magnetic block are located at the end of the second slide groove furthest from the second electromagnet, and a second magnetic block is located at the end of the connecting block furthest from the second electromagnet. The ends of the first and second magnetic blocks that are close to each other are magnetically attracted. The induction coil is electrically connected to an external alarm. During normal operation, the locking module and the second electromagnet work together to limit the connecting block, preventing insufficient magnetic force from causing the connecting block to fail to be firmly fixed in the second slide groove. When the invention encounters equipment failure or power outage, the second electromagnet automatically separates from the connecting block. At this time, under the action of the compression spring and the slider, the connecting block will carry the second magnetic block away from the second electromagnet. As the iron moves in the direction of retraction (i.e., the third linear module and the electric screwdriver retract), the second magnetic block will first insert into the induction coil during the movement of the connecting block along with the second magnetic block. This causes a change in the magnetic flux within the induction coil, which then generates an induced current and triggers an external alarm to issue an alarm signal, alerting the operator that the equipment has lost power or malfunctioned. Finally, the second magnetic block continues to move to a position where it engages with the first magnetic block, causing the connecting block to be magnetically fixed to the end of the second slide by the first magnetic block. This ensures that the electric screwdriver and the third linear module maintain a fully retracted, stored posture when the power is off. It also prevents the compression spring from rebounding during the recovery process, thus preventing the electric screwdriver and the third linear module from shifting after retracting to a safe position.

[0007] Furthermore, the locking module includes pins and a floating block. Two pins are provided, positioned opposite each other at the inner ends of the connecting block and connected by a locking spring. The floating block is positioned between the two pins. The end of the floating block away from the second electromagnet has a wedge-shaped structure, with its two sides abutting against the inner end faces of the two pins. The end of the floating block near the second electromagnet is magnetic. A through hole is provided on the sidewall of the second slide groove near the second electromagnet, and the pin engages with the through hole. Under normal operating conditions, the second electromagnet... The magnetic connecting block and the second electromagnet simultaneously repel the floating block. The floating block applies a pushing force to the two pins, which are inserted into the through holes on the side wall of the second slide. The pins and the through holes on the side wall of the second slide form a rigid connection between the connecting block and the connecting seat. When the second electromagnet no longer applies force to the connecting block and the floating block, the two pins are reset under the action of the locking spring (the floating block will automatically move towards the direction of the second electromagnet). When the pins retract from the through holes on the side wall of the second slide, the connecting block will complete the unlocking process, so that the electric screwdriver and the third linear module can retract.

[0008] Furthermore, the third linear module is connected to the electric screwdriver via an angle adjustment assembly. This assembly includes a bracket, a third rotary drive, and a fixed frame. The electric screwdriver is housed within the fixed frame. The bracket is installed at the working end of the third linear module. An adjustment frame is located within the bracket. The working end of the third rotary drive is connected to the adjustment frame. A fourth rotary drive is located within the adjustment frame, and its working end is connected to the fixed frame. The third rotary drive drives the adjustment frame to rotate within the bracket, and the fourth rotary drive drives the fixed frame and the electric screwdriver to rotate around the centerline of the adjustment frame. During operation, the third rotary drive adjusts the pitch angle of the electric screwdriver, and the fourth rotary drive adjusts its yaw angle, thereby achieving precise adjustment of complex spatial postures to meet the requirements of different assembly angles.

[0009] Furthermore, the workbench includes a mounting base and a carrier plate. A first rotary drive component is installed in the mounting base. The first rotary drive component is connected to the carrier plate through a gear assembly, thereby driving the carrier plate to rotate in a horizontal plane. The carrier plate is provided with several working slots, which are radially and evenly distributed around the center of the carrier plate. Each working slot is provided with a clamping component for fixing the components of the robot's linear servo joint. Several feeding mechanisms are provided, each corresponding to the radial outer side of a working slot. During operation, the carrier plate rotates and indexes, so that the working slots correspond one-to-one with the feeding mechanisms. When the components on the feeding mechanisms fall into the clamping components, the assembly execution mechanism assembles the robot's linear servo joint components. After the assembly of a robot linear servo joint component is completed, the carrier plate continues to rotate a specific angle to facilitate the assembly of other robot linear servo joint components onto the fixed semi-finished products. This realizes multi-station, continuous assembly line operation. The above parallel operation mode eliminates the time coupling between feeding and assembly, greatly shortens the cycle time of the whole machine, and significantly increases the assembly quantity per unit time.

[0010] Furthermore, the mounting base is provided with a fixed base, and the fixed base is provided with a second rotary drive component. The working end of the second rotary drive component is connected to the assembly execution mechanism. During operation, the second rotary drive component can drive the assembly execution mechanism to rotate around its central axis, so that the electric screwdriver on the assembly execution mechanism can rotate to the top of a specific working slot as needed, so as to perform screw tightening assembly operation on the robot linear servo joint components located at that workstation.

[0011] Furthermore, a positioning module is provided inside the fixed base. The positioning module is connected to the working end of the first rotary drive component via a coupling. On the one hand, the positioning module in this invention reads in real time whether the rotation angle of the first rotary drive component is normal and sends the signal to the controller. The controller controls the start and stop of the first rotary drive component according to the preset work position angle to achieve precise indexing. On the other hand, the positioning module in this invention can also mechanically lock the position of the carrier plate to prevent the first rotary drive component and the carrier plate from shaking under force. This ensures that the carrier plate can remain absolutely stationary when the assembly actuator performs screw tightening assembly operations on the linear servo joint components of the robot, thereby ensuring assembly accuracy.

[0012] Furthermore, the positioning module includes a detection disk, positioning spring pins, grooves, and a drive assembly. The detection disk is connected to the first rotary drive component via a rotating shaft and a coupling. The outer circumference of the detection disk has several positioning holes, each containing a pressure sensing element. Several grooves are evenly distributed along the circumference of the fixed base, each aligned with a feeding mechanism, and each groove contains a positioning spring pin. The drive assembly is connected to the grooves via an annular guide groove. The positioning spring pins are matched to the dimensions of the positioning holes. Through this technical solution, the first rotary drive component synchronously drives the detection disk to rotate within the fixed base when it drives the bearing disk to rotate. When the detection disk rotates to a predetermined angle, the drive assembly delivers hydraulic oil into the annular guide groove. Under the action of the hydraulic oil, the positioning spring pins in the grooves simultaneously extend and insert into the detection disk. Simultaneously, in the corresponding positioning hole, the pressure detection element detects that the positioning spring pin has been inserted into the correct position and generates a pressure signal, which is then sent to the controller. The controller then controls the first rotary drive to stop rotating, thereby achieving precise indexing of the carrier plate. In addition, the positioning spring pin, in cooperation with the positioning hole, can also achieve mechanical locking to prevent the carrier plate from shaking due to external forces. Conversely, when the detection plate has not rotated to the predetermined angle, after the drive assembly delivers hydraulic oil into the annular guide groove, the positioning spring pins in several grooves will not be able to insert into the positioning hole of the detection plate, and the pressure detection element will have difficulty generating a pressure signal. At this time, the operator can promptly know that there is a deviation in the rotation angle of the first rotary drive or that the current position of the carrier plate has not been aligned with the predetermined position, thereby triggering an alarm and notifying the operator to perform manual intervention or automatic correction, avoiding assembly failure, component collision or damage due to indexing errors.

[0013] Furthermore, the driving assembly includes a liquid storage tank, a piston, and a first electromagnet. The outlet end of the liquid storage tank is connected to an annular guide groove. The piston is located inside the liquid storage tank on the side near the outlet end, and the first electromagnet is located inside the liquid storage tank on the side away from the outlet end. The end of the piston near the first electromagnet is magnetic. When the operator needs to detect whether the carrier plate is aligned with the predetermined work position through the positioning module, the first electromagnet can be activated, and the first electromagnet drives the piston to move downward. The piston squeezes the hydraulic oil in the liquid storage tank into several grooves, thereby causing the positioning spring pins in the grooves to extend. By detecting whether the positioning spring pins are inserted into the positioning holes, the operator can easily determine whether the current position of the carrier plate is aligned with the predetermined work position.

[0014] Furthermore, the piston is provided with an adjustment groove, and the drive assembly also includes a threaded rod and a nut. The nut is located at the middle position of the first electromagnet, and the threaded rod passes through the nut. One end of the threaded rod is located in the adjustment groove, and the other end of the threaded rod extends out of the fixed seat. The drive assembly in this invention has two operation modes: electric and manual. In the electric operation mode, the piston is moved by controlling the first electromagnet, thereby controlling the flow of hydraulic oil in the reservoir into several grooves. In the manual operation mode, the depth of the threaded rod inserted into the adjustment groove is changed by rotating the threaded rod, thereby pushing the piston to move. Through the cooperation of the threaded rod and the piston, the flow of hydraulic oil in the reservoir into several grooves is controlled. In normal operation, this invention can adopt the electric mode driven by the first electromagnet to achieve automated and rapid response. In the event of a power failure, the operator can manually lock and position the bearing plate, so that the device can maintain a safe assembly posture. This not only protects the equipment and the workpiece, but also allows manual assembly tasks to continue under no-power conditions, significantly improving the production line's risk resistance and fault tolerance.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: Compared with the current assembly device, this invention is equipped with a connecting block and a second electromagnet. When encountering equipment failure or sudden power outage, the third linear module and the electric screwdriver will automatically retract away from the assembly station. This process requires no external power or manual intervention, thus freeing up sufficient working space for operators to conveniently and quickly perform manual reassembly or manual inspection of incomplete workpieces. In addition, a locking module is also provided in the connecting block. Through the combined action of the locking module and the second electromagnet, the connecting block is doubly limited, effectively ensuring that the electric screwdriver remains stable under force. Finally, this invention also includes a positioning module and a drive assembly. The combination of the assembly and drive components reads the rotation angle in real time and sends it to the controller. On the other hand, the positioning spring pin engages with the positioning hole on the detection plate to achieve mechanical locking of the carrier plate. This ensures that the carrier plate remains absolutely stationary when the assembly actuator performs screw tightening operations, effectively avoiding assembly deviations caused by force-induced shaking. The drive component has electric and manual modes. The electric mode enables automatic and rapid response, while in the event of a power outage, the operator can manually lock and position the carrier plate. This dual-mode drive design allows the device to maintain a safe assembly posture even when there is no power, protecting both the equipment and the workpiece, and enabling manual assembly tasks to continue even without power. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the workbench structure of the present invention; Figure 3 This is a schematic diagram of the assembly actuator structure of the present invention; Figure 4 This is a schematic diagram of the connector structure of the present invention; Figure 5 This is a schematic diagram of the locking module structure of the present invention; Figure 6 This is a schematic diagram of the internal structure of the connecting block of the present invention; Figure 7 This is a schematic diagram of the angle adjustment component structure of the present invention; Figure 8 This is a schematic diagram of the gear assembly structure of the present invention; Figure 9 This is a schematic diagram of the internal structure of the fixing base of the present invention; Figure 10 This is a schematic diagram of the detection disk structure of the present invention; Figure 11 This is a schematic diagram of the drive component of the present invention connected to several grooves.

[0017] In the diagram: 1. Feeding mechanism; 2. Workbench; 21. Mounting base; 211. Gear assembly; 212. First rotary drive component; 22. Bearing plate; 23. Clamping assembly; 24. Fixed base; 241. Detection plate; 2411. Positioning hole; 2412. Pressure detection element; 242. Positioning spring pin; 243. Groove; 244. Liquid storage tank; 245. Piston; 246. First electromagnet; 247. Threaded rod; 25. Second rotary drive component; 3. Assembly actuator; 31. Base; 32. First linear module; 33. Connecting seat; 331. Slider; 332. Induction coil; 333. First magnetic block; 334. Connecting block; 3341. Pin; 3342. Floating block; 335. Second magnetic block; 336. Second electromagnet; 34. Angle adjustment assembly; 341. Bracket; 342. Third rotary drive component; 343. Fixing frame; 344. Fourth rotary drive component; 345. Adjustment frame; 35. Second linear module; 36. Electric screwdriver; 37. Third linear module. Detailed Implementation

[0018] 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] Example: Figures 1-11As shown, the present invention provides a technical solution: a robot linear servo joint assembly device, including a feeding mechanism 1, a worktable 2, and an assembly execution mechanism 3. The feeding mechanism 1 is located outside the worktable 2 and is used to transport parts. The assembly execution mechanism 3 is located above the central area of ​​the worktable 2 and is used to perform assembly work. The assembly execution mechanism 3 includes a base 31, on which a first vertical linear module 32 is mounted. A second linear module 35 is horizontally mounted at the working end of the first linear module 32. A connecting seat 33 is provided at the working end of the second linear module 35. A third linear module 37 is horizontally mounted on the connecting seat 33. An electric screwdriver 36 is provided at the working end of the third linear module 37. The electric screwdriver 36 is precisely positioned in three-dimensional space through the first linear module 32, the second linear module 35, and the third linear module 37 to perform assembly operations on the robot linear servo joint parts transported to the worktable 2 by the feeding mechanism 1. The connecting seat 33 is located at one end near the third linear module 37. The system includes a first slide and a second slide. A slider 331 is installed in the first slide and connected to the first slide via a compression spring. A connecting block 334 and a second electromagnet 336 are installed in the second slide. Both the slider 331 and the connecting block 334 are connected to a third linear module 37. During normal operation, the second electromagnet 336 magnetically attracts the connecting block 334, fixing the connecting block 334 in the second slide (at this time, the compression spring in the first slide is in a compressed state). When the system encounters equipment failure or power outage, the second electromagnet 336 separates from the connecting block 334. Under the action of the compression spring and the slider 331, the third linear module 37 and the electric screwdriver 36 are driven to retract, thereby automatically removing the electric screwdriver 36 from the assembly station. This provides ample working space for operators, enabling them to easily and quickly perform manual reassembly or manual inspection of incomplete workpieces. This effectively reduces the impact of equipment failure on production cycle time and improves the flexibility and maintainability of the production line.

[0020] like Figures 3-6As shown, a locking module is provided inside the connecting block 334. An induction coil 332 and a first magnetic block 333 are located at the end of the second slide groove away from the second electromagnet 336. A second magnetic block 335 is located at the end of the connecting block 334 away from the second electromagnet 336. The ends of the first magnetic block 333 and the second magnetic block 335 that are close to each other are magnetically attracted. The induction coil 332 is electrically connected to an external alarm. During normal operation, the locking module and the second electromagnet 336 work together to limit the connection block 334, preventing insufficient magnetic force from causing the connection block 334 to be firmly fixed in the second slide groove. When the invention encounters equipment failure or power outage, the second electromagnet 336 automatically separates from the connecting block 334. At this time, under the action of the compression spring and the slider 331, the connecting block 334 will carry the second magnetic block 335 away from the second electromagnet. As the iron 336 moves (i.e., the third linear module 37 and the electric screwdriver 36 retract), during the movement of the connecting block 334 carrying the second magnetic block 335, the second magnetic block 335 will first insert into the induction coil 332, causing a change in the magnetic flux within the induction coil 332. Then, the induction coil 332 generates an induced current and triggers an external alarm to issue an alarm signal, alerting the operator that the equipment has lost power or malfunctioned. Finally, the second magnetic block 335 continues to move to a position where it is attracted to the first magnetic block 333, so that the connecting block 334 is magnetically fixed to the end of the second slide by the first magnetic block 333. This ensures that the electric screwdriver 36 and the third linear module 37 maintain a fully retracted storage posture in the power-off state, while also preventing the compression spring from rebounding during the recovery process, thus preventing the electric screwdriver 36 and the third linear module 37 from shifting after retracting to the safe position.

[0021] like Figures 3-6As shown, the locking module includes pins 3341 and a floating block 3342. Two pins 3341 are provided, positioned opposite each other at the inner ends of the connecting block 334, and connected by a locking spring. The floating block 3342 is positioned between the two pins 3341. The end of the floating block 3342 away from the second electromagnet 336 has a wedge-shaped structure, with its two sides abutting against the inner end faces of the two pins 3341. The end of the floating block 3342 near the second electromagnet 336 is magnetic. A through hole is provided at the end of the second slide groove sidewall near the second electromagnet 336, and the pins 3341 engage with the through hole. Under normal operating conditions, the second electromagnet 336 magnetically attracts the connecting block 334, and... When the second electromagnet 336 repels the floating block 3342, the floating block 3342 applies a pushing force to the two pins 3341, and both pins 3341 are inserted into the through holes on the side wall of the second slide. The pins 3341 and the through holes on the side wall of the second slide make the connecting block 334 and the connecting seat 33 rigidly connected. When the second electromagnet 336 no longer applies force to the connecting block 334 and the floating block 3342, the two pins 3341 are reset under the action of the locking spring (the floating block 3342 will automatically move towards the direction of the second electromagnet 336). When the pins 3341 retract from the through holes on the side wall of the second slide, the connecting block 334 will complete the unlocking work, so that the electric screwdriver 36 and the third linear module 37 can retract.

[0022] like Figure 3 , Figure 7 As shown, the third linear module 37 and the electric screwdriver 36 are connected via an angle adjustment assembly 34. The angle adjustment assembly 34 includes a bracket 341, a third rotary drive 342, and a fixing frame 343. The electric screwdriver 36 is disposed within the fixing frame 343. The bracket 341 is mounted on the working end of the third linear module 37. An adjustment frame 345 is disposed within the bracket 341. The working end of the third rotary drive 342 is connected to the adjustment frame 345. A fourth rotary drive 344 is disposed within the adjustment frame 345. The working end of 344 is connected to the fixed frame 343. The third rotary drive 342 drives the adjusting frame 345 to rotate within the bracket 341. The fourth rotary drive 344 drives the fixed frame 343 and the electric screwdriver 36 to rotate around the center line of the adjusting frame 345. During operation, the third rotary drive 342 can adjust the pitch angle of the electric screwdriver 36, and the fourth rotary drive 344 can adjust the yaw angle of the electric screwdriver 36, thereby achieving precise adjustment of complex spatial postures and meeting the requirements of different assembly angles.

[0023] like Figures 1-2 , Figure 8As shown, the worktable 2 includes a mounting base 21 and a carrier plate 22. A first rotary drive component 212 is installed inside the mounting base 21. The first rotary drive component 212 is connected to the carrier plate 22 via a gear assembly 211, thereby driving the carrier plate 22 to rotate in a horizontal plane. The carrier plate 22 has several working slots, which are radially and evenly distributed around the center of the carrier plate 22. Each working slot contains a clamping component 23 for fixing components of the robot's linear servo joint. Several feeding mechanisms 1 are provided, each corresponding to the radial outer side of a working slot. During operation, the carrier plate... The disk 22 rotates and indexes, so that the working slot corresponds one-to-one with the feeding mechanism 1. After the parts on the feeding mechanism 1 fall into the clamping assembly 23, the assembly execution mechanism 3 assembles the robot linear servo joint parts. After the assembly of a robot linear servo joint part is completed, the bearing disk 22 continues to rotate a specific angle to facilitate the assembly of other robot linear servo joint parts onto the fixed semi-finished products, thereby realizing multi-station, continuous assembly line operation. The above parallel operation mode eliminates the time coupling between feeding and assembly, greatly shortens the cycle time of the whole machine, and significantly increases the number of parts assembled per unit time.

[0024] like Figures 1-3 As shown, a fixed seat 24 is provided on the mounting base 21, and a second rotary drive 25 is provided on the fixed seat 24. The working end of the second rotary drive 25 is connected to the assembly execution mechanism 3. During operation, the second rotary drive 25 can drive the assembly execution mechanism 3 to rotate around its central axis, so that the electric screwdriver 36 on the assembly execution mechanism 3 can rotate to the top of a specific working slot as needed, so as to perform screw tightening assembly operation on the robot linear servo joint components located at that workstation.

[0025] like Figure 9 As shown, a positioning module is provided inside the fixed base 24. The positioning module is connected to the working end of the first rotary drive component 212 through a coupling. On the one hand, the positioning module in this invention reads in real time whether the rotation angle of the first rotary drive component 212 is normal and sends the signal to the controller. The controller controls the start and stop of the first rotary drive component 212 according to the preset work position angle to achieve precise indexing. On the other hand, the positioning module in this invention can also mechanically lock the position of the carrier plate 22 to prevent the first rotary drive component 212 and the carrier plate 22 from shaking under force. This ensures that the carrier plate 22 can remain absolutely stationary when the assembly actuator 3 performs screw tightening assembly operations on the linear servo joint components of the robot, thereby ensuring assembly accuracy.

[0026] like Figures 9-11As shown, the positioning module includes a detection disk 241, a positioning spring pin 242, a groove 243, and a drive assembly. The detection disk 241 is connected to the first rotary drive component 212 via a rotating shaft and a coupling. The outer periphery of the detection disk 241 is provided with several positioning holes 2411, each containing a pressure detection element 2412. Several grooves 243 are provided, evenly distributed along the circumference of the fixed base 24. Each groove 243 is aligned with a feeding mechanism 1. Each groove 243 contains... A positioning spring pin 242 is provided. The drive assembly is connected to several grooves 243 via an annular guide groove. The positioning spring pin 242 matches the size of the positioning hole 2411. Through the above technical solution, the first rotary drive component 212 will synchronously drive the detection disk 241 to rotate within the fixed base 24 when the drive bearing disk 22 rotates. When the detection disk 241 rotates to a predetermined angle, the drive assembly will supply hydraulic oil into the annular guide groove. Under the action of the hydraulic oil, the positioning spring pins 242 in several grooves 243 will extend simultaneously and insert into the groove. The positioning spring pin 242 is inserted into the corresponding positioning hole 2411 on the detection plate 241. At the same time, the pressure detection element 2412 detects that the positioning spring pin 242 has been inserted into the position and generates a pressure signal, which is sent to the controller. The controller then controls the first rotary drive 212 to stop rotating, thereby achieving precise indexing of the bearing plate 22. In addition, the positioning spring pin 242 cooperates with the positioning hole 2411 to achieve mechanical locking and prevent the bearing plate 22 from shaking due to external force. Conversely, when the detection plate 241 has not rotated to the predetermined angle, after the drive assembly delivers hydraulic oil into the annular guide groove, the positioning spring pins 242 in several grooves 243 will not be able to be inserted into the positioning hole 2411 of the detection plate 241. The pressure detection element 2412 will have difficulty generating a pressure signal. At this time, the operator can promptly know that there is a deviation in the rotation angle of the first rotary drive 212 or that the current position of the bearing plate 22 has not been aligned with the predetermined position, thereby triggering an alarm and notifying the operator to perform manual intervention or automatic correction, so as to avoid assembly failure, collision or damage of parts due to indexing errors.

[0027] like Figure 11As shown, the drive assembly includes a liquid storage tank 244, a piston 245, and a first electromagnet 246. The outlet end of the liquid storage tank 244 is connected to an annular guide groove. The piston 245 is located inside the liquid storage tank 244 on the side near the outlet end, and the first electromagnet 246 is located inside the liquid storage tank 244 on the side away from the outlet end. The end of the piston 245 near the first electromagnet 246 is magnetic. When the operator needs to check whether the carrier plate 22 is aligned with the predetermined work position through the positioning module, the first electromagnet 246 can be activated. The first electromagnet 246 drives the piston 245 to move downward, and the piston 245 squeezes the hydraulic oil in the liquid storage tank 244 into several grooves 243, thereby causing the positioning spring pins 242 in the grooves 243 to extend. By detecting whether the positioning spring pins 242 are inserted into the positioning holes 2411, the operator can easily determine whether the current position of the carrier plate 22 is aligned with the predetermined work position.

[0028] like Figure 11 As shown, the piston 245 has an adjusting groove. The drive assembly also includes a threaded rod 247 and a nut. The nut is located at the middle position of the first electromagnet 246. The threaded rod 247 passes through the nut, with one end of the threaded rod 247 located in the adjusting groove and the other end extending out of the fixed seat 24. The drive assembly in this invention has both electric and manual operation modes. In the electric operation mode, the piston 245 is moved by controlling the first electromagnet 246, thereby controlling the flow of hydraulic oil in the reservoir 244 into several grooves 243. In the manual operation mode, the piston 245 is moved by rotating the threaded rod 247, thereby changing the adjustment groove. The depth of its insertion into the adjustment groove drives the piston 245 to move. Through the cooperation of the threaded rod 247 and the piston 245, the hydraulic oil in the reservoir 244 is controlled to flow into several grooves 243. When the invention is working normally, it can adopt the electric mode driven by the first electromagnet 246 to achieve automatic and rapid response. In the event of a power failure, the operator can manually lock and position the bearing plate 22, so that the device can maintain a safe assembly posture. This not only protects the equipment and the workpiece, but also allows manual assembly tasks to continue under no-power conditions, significantly improving the production line's risk resistance and fault tolerance.

[0029] The working principle of this invention is as follows: During operation, the feeding mechanism 1 transports the robot's linear servo joint components to the working slot on the support plate 22. Subsequently, the assembly execution mechanism 3 begins to perform assembly actions. The first linear module 32 drives the second linear module 35 to move vertically, the second linear module 35 drives the third linear module 37 to extend and retract in the front-to-back direction, and the third linear module 37 drives the electric screwdriver 36 to move horizontally in the left-to-right direction, thereby achieving precise positioning in three-dimensional space. Simultaneously, the third rotary drive component 342 and the fourth rotary drive component 344 in the angle adjustment assembly 34 adjust the pitch and yaw angles of the electric screwdriver 36, respectively, to adapt to different assembly angle requirements. During the assembly process, the connecting block 334 in the connecting seat 33 is connected to the locking module... The second slide forms a rigid connection, ensuring that the electric screwdriver 36 remains stable under force. After the screw tightening operation is completed, the carrier plate 22 continues to rotate at a specific angle to send the next workpiece into the assembly station, realizing multi-station continuous assembly line operation. When encountering equipment failure or sudden power failure, the second electromagnet 336 in the connecting seat 33 separates from the connecting block 334 and the locking module stops working. At this time, the compression spring in the first slide releases its elastic force, pushing the slider 331 to drive the third linear module 37 and the electric screwdriver 36 to automatically retract to a safe position. During the retraction process, the connecting block 334 carries the second magnetic block 335 through the induction coil 332. At this time, the induction coil 332 generates an induced current to trigger the external alarm to issue an alarm signal so that the operator can discover it in time.

[0030] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A linear servo joint assembly device for a robot, comprising a feeding mechanism (1), a worktable (2), and an assembly execution mechanism (3), characterized in that: The feeding mechanism (1) is located outside the workbench (2), and the assembly execution mechanism (3) is located above the central area of ​​the workbench (2). The assembly execution mechanism (3) includes a base (31), on which a first linear module (32) is provided. The working end of the first linear module (32) is provided with a second linear module (35). The working end of the second linear module (35) is provided with a connecting seat (33) and a third linear module (37). The connecting seat (33) is provided with a first slide groove and a second slide groove at one end near the third linear module (37). The first slide groove is provided with a slider (331) and a compression spring. The second slide groove is provided with a connecting block (334) and a second electromagnet (336). The slider (331) and the connecting block (334) are both connected to the third linear module (37). The working end of the third linear module (37) is provided with an angle adjustment component (34) and an electric screwdriver (36).

2. The linear servo joint assembly device for a robot according to claim 1, characterized in that: The connecting block (334) is provided with a locking module. The end of the second slide groove away from the second electromagnet (336) is provided with an induction coil (332) and a first magnetic block (333). The end of the connecting block (334) away from the second electromagnet (336) is provided with a second magnetic block (335). The ends of the first magnetic block (333) and the second magnetic block (335) that are close to each other are magnetically attracted. The induction coil (332) is electrically connected to the external alarm.

3. The linear servo joint assembly device for a robot according to claim 2, characterized in that: The locking module includes two pins (3341) and a floating block (3342). The two pins (3341) are disposed opposite each other at both ends inside the connecting block (334) and are connected by a locking spring. The floating block (3342) is disposed between the two pins (3341). The end of the floating block (3342) away from the second electromagnet (336) has a wedge-shaped structure, and its two sides abut against the inner end faces of the two pins (3341). The end of the floating block (3342) near the second electromagnet (336) is magnetic. The sidewall of the second slide groove near the second electromagnet (336) is provided with a through hole, and the pins (3341) cooperate with the through hole.

4. The linear servo joint assembly device for a robot according to claim 1, characterized in that: The angle adjustment assembly (34) includes a bracket (341), a third rotary drive (342), and a fixed frame (343). The electric screwdriver (36) is installed inside the fixed frame (343). An adjustment frame (345) is installed inside the bracket (341). The working end of the third rotary drive (342) is connected to the adjustment frame (345). A fourth rotary drive (344) is installed inside the adjustment frame (345). The working end of the fourth rotary drive (344) is connected to the fixed frame (343).

5. The linear servo joint assembly device for a robot according to claim 1, characterized in that: The workbench (2) includes a mounting base (21) and a support plate (22). A first rotary drive (212) is provided in the mounting base (21). The first rotary drive (212) is connected to the support plate (22) through a gear assembly (211). The support plate (22) is provided with a number of working slots. The number of working slots are evenly distributed radially around the center of the support plate (22). Each working slot is provided with a clamping assembly (23). There are a number of feeding mechanisms (1). Each feeding mechanism (1) is located on the radial outer side of a working slot.

6. The linear servo joint assembly device for a robot according to claim 5, characterized in that: The mounting base (21) is provided with a fixed base (24), and the fixed base (24) is provided with a second rotary drive (25). The working end of the second rotary drive (25) is connected to the assembly actuator (3).

7. The linear servo joint assembly device for a robot according to claim 6, characterized in that: The fixed base (24) is provided with a positioning module, which is connected to the working end of the first rotary drive (212) through a coupling.

8. The linear servo joint assembly device for a robot according to claim 7, characterized in that: The positioning module includes a detection disk (241), and the outer periphery of the detection disk (241) is provided with a number of positioning holes (2411). Each positioning hole (2411) is provided with a pressure detection element (2412). The fixed base (24) is also provided with a drive assembly and a number of grooves (243). Each groove (243) is aligned with a feeding mechanism (1). Each groove (243) is provided with a positioning spring pin (242). The drive assembly is connected to the number of grooves (243) through an annular guide groove. The positioning spring pin (242) cooperates with the positioning hole (2411).

9. The linear servo joint assembly device for a robot according to claim 8, characterized in that: The drive assembly includes a liquid storage tank (244), a piston (245), and a first electromagnet (246). The outlet end of the liquid storage tank (244) is connected to an annular guide groove. The piston (245) is located inside the liquid storage tank (244) on the side near the outlet end. The first electromagnet (246) is located inside the liquid storage tank (244) on the side away from the outlet end. The end of the piston (245) near the first electromagnet (246) is magnetic.

10. A linear servo joint assembly device for a robot according to claim 9, characterized in that: The piston (245) is provided with an adjustment groove. The drive assembly also includes a threaded rod (247) and a nut. The nut is located at the middle position of the first electromagnet (246). The threaded rod (247) passes through the nut. One end of the threaded rod (247) is located in the adjustment groove, and the other end of the threaded rod (247) extends out of the fixed seat (24).

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