Automatic clamping assembly manipulator for machine case and automatic clamping assembly device

Abstract

The present application relates to the technical field of program-controlled mechanical hand, and particularly relates to a machine case automatic clamping assembly mechanical hand and an automatic clamping assembly device, wherein the machine case automatic clamping assembly mechanical hand comprises a mounting base, a clamping module, a pushing module, a screw tightening module and a visual module. The rear end of the mounting base is provided with a connecting structure for fixed connection with a mechanical arm, the clamping module comprises a pair of upper and lower clamping jaws and a clamping driving mechanism for driving the pair of clamping jaws to open and close, the pushing module comprises a pushing piece for telescopic action in the front-rear direction and a pushing driving mechanism for driving the pushing piece to act, and the screw tightening module is movably installed on the mounting base in the front-rear direction, and the screw tightening module is further provided with a forward and backward driving mechanism for driving the screw tightening module to move forward and backward relative to the mounting base. The present application can automatically complete the installation process of the box insertion in the whole process, reduce the assembly time consumption, improve the assembly efficiency and stability, and effectively guarantee the installation quality.

Description

Technical Field

[0001] This invention relates to the field of programmable robotic arms, specifically to an automatic chassis clamping and assembly robotic arm and an automatic clamping and assembly device. Background Technology

[0002] A relay protection enclosure is a specialized industrial enclosure that integrates relay protection function modules, sampling circuits, logic operation units, and interface circuits. The relay protection enclosure adopts a modular plug-in structure and is mainly installed inside secondary protection cabinets in substations and power distribution rooms.

[0003] In traditional technology, the assembly of the relay protection box inside the cabinet is usually done entirely manually. When installing the relay protection box, anti-static protection must be implemented first. Then, the box is manually moved and smoothly placed into the cabinet's mounting position. After calibrating its level and verticality, bolts are used to secure it to the fixed frame at the cabinet's mounting position using the mounting holes on the bottom or sides of the box, tightened to the specified torque. Operators rely on manual labor to lift the box from the storage area to the cabinet's mounting position, bearing the entire weight of the box throughout the process. This long-term handling is extremely physically demanding and poses a safety hazard, such as the box falling. Operators calibrate the box's level and verticality by visually comparing the holes on the box with those on the fixed frame at the mounting position. Multiple adjustments are needed to achieve initial alignment, which is time-consuming and inefficient. After the holes are roughly aligned, the operator controls the box with one hand to prevent displacement, while using the other hand to pick up the fastening screws, insert them into the mounting holes, and tighten each screw with a screwdriver to secure the box to the fixed frame. During the assembly process, precision deviations such as box tilting, excessive gaps in fit, and misaligned holes are prone to occur. Furthermore, the tightening of the screws is judged solely by hand, making it impossible to determine the actual tightening torque. The entire box assembly process is cumbersome and inefficient due to manual operation.

[0004] To improve the installation efficiency and safety of heavy-duty enclosures inside server racks, utility model patent CN217721802U discloses a semi-automatic enclosure installation device, including a frame, a support mechanism for placing the enclosure, and an electric lifting device for driving the support mechanism up and down. The device is moved to the target server rack using casters. The enclosure to be installed is placed on the horizontal part of the support mechanism. A DC motor drives an electric winch, which, via steel cables and multiple sets of guide rollers, smoothly lifts the enclosure to a designated height along the column guide rails. Then, the load-bearing rollers on the horizontal part push the enclosure into the server rack.

[0005] However, in existing technologies, including the aforementioned patents, the assembly of the insert boxes requires a significant amount of manual labor. For example, in the patents mentioned above, manual labor is required to move the insert box to be installed onto the support mechanism, and after the insert box is horizontally pushed out of the frame, manual alignment is performed before the insert box is fixed inside the cabinet using bolts. Manual handling of a single insert box, as well as the alignment and tightening of screw holes, typically takes a considerable amount of time, making it difficult to meet the needs of large-scale production. Furthermore, the long-term manual handling is physically demanding and poses safety hazards such as insert boxes falling. Simultaneously, manual bolt tightening cannot quickly align or precisely control the torque, leading not only to the risk of misaligned installation but also to insufficient tightening torque causing bolt loosening, or excessive torque causing thread stripping, cracking of the cabinet and insert box mounting holes, affecting the assembly accuracy of the insert boxes and reducing the overall assembly quality and operational stability of the cabinet. Summary of the Invention

[0006] The purpose of this invention is to provide an automatic chassis clamping and assembly robot to solve the problems of low assembly efficiency, poor assembly consistency and high labor costs caused by the need for a lot of manual operation in chassis assembly.

[0007] Meanwhile, the present invention also aims to provide an automatic gripping and assembly device using the above-mentioned automatic gripping and assembly robot for chassis, so as to solve the problems of low assembly efficiency, poor assembly consistency and high labor costs caused by the need for a lot of manual operation in the assembly of boxes.

[0008] To achieve the above objectives, the automatic chassis clamping and assembly robot of the present invention adopts the following technical solution: An automated clamping and assembly robot includes a mounting base for fixed connection with the moving end of a robotic arm. The mounting base is equipped with a clamping module for clamping inserts, a pushing module for pushing the inserts to the mounting position, a screw tightening module for tightening the insert fastening screws, and a vision module. The rear end of the mounting base has a connection structure for fixed connection with the robotic arm. The clamping module is located on the front side of the mounting base and includes a pair of upper and lower grippers and a clamping drive mechanism for driving the pair of grippers to open and close. The pushing module is located beside the clamping module and includes a pushing member that extends and retracts in the front-rear direction and a pushing drive mechanism for driving the pushing member. The screw tightening module is located beside the clamping module and is guided and moved along the front-rear direction on the mounting base. The screw tightening module is also equipped with a forward and backward drive mechanism for driving its forward and backward movement relative to the mounting base.

[0009] The beneficial effects of the above technical solution are as follows: This invention provides a novel automated chassis clamping and assembly robot. During chassis assembly, a vision module scans the chassis to be installed, the mounting positions of the chassis on the cabinet, and the holes on the chassis and cabinet's fixing frame, calculating and outputting precise coordinates. Based on the coordinates of the chassis to be installed, the mounting base is driven to move to the side of the chassis, and the clamping drive mechanism drives the upper and lower pairs of grippers to open and close, clamping the chassis from the middle position on one side. Based on the mounting position coordinates, the robot arm that clamps the chassis moves to the push position outside the mounting position, and the push drive mechanism drives the pusher to push the chassis to the mounting position. Based on the coordinates of the holes on the chassis and cabinet's fixing frame, the forward and backward drive mechanism drives the screw tightening module to move, coordinating with the robot arm to achieve precise movement of the electric screwdriver bit in the screw tightening module, using the electric screwdriver bit to securely install the chassis onto the cabinet's fixing frame. This achieves fully automated assembly of chassis, completely replacing manual operation, reducing assembly time, and improving the overall efficiency and stability of the assembly operation.

[0010] Furthermore, the clamping modules are arranged in pairs, left and right, and the pushing module is located in the middle between the two clamping modules.

[0011] The beneficial effects of the above technical solution are as follows: Thus, when the robotic arm grips the insert box, the gripping drive mechanisms of the two gripping modules synchronously drive the two pairs of grippers to open and close, performing multi-point gripping on the insert box at positions symmetrical about the central cross-section. This prevents the insert box from deflecting or swaying during gripping, improving gripping stability and ensuring the accuracy of subsequent assembly. When the insert box is placed in the push-to-push position, the push-to-push module pushes it from the center, allowing the insert box to move stably in the front-back direction to the installation position. This ensures that the holes on the insert box correspond to the holes on the cabinet fixing frame, improving the installation accuracy of the insert box assembly.

[0012] Furthermore, the mounting base is a cubic frame structure, the connecting structure is a connecting hole on the rear frame surface, the upper and lower pairs of grippers of the clamping module are guided and slidably mounted on the front frame surface in the vertical direction, and the clamping drive mechanism is a clamping motor located on the rear side of the front frame surface and inside the cubic frame structure.

[0013] The beneficial effects of the above technical solution are as follows: In this way, when the robotic arm drives the robotic hand to move and grip the insert box, the gripper located on the front frame and the robotic arm connected to the rear connection structure of the mounting base form a large working space, avoiding collisions with the insert box during transport. At the same time, the gripping motor located inside the cubic frame structure can directly drive the gripper located on the front frame, shortening the power rotation path and effectively reducing the space occupied by the equipment.

[0014] Furthermore, the upper and lower pairs of grippers of the clamping module are respectively connected to transmission racks that extend vertically and have opposing tooth surfaces. The transmission racks connected to both are meshed with the same transmission gear. The transmission gear is connected to the clamping motor to drive the upper and lower pairs of grippers to move synchronously. The clamping motor is a power-off self-locking motor.

[0015] The beneficial effects of the above technical solution are as follows: Thus, during the transfer of the insert box by the robotic arm, the power-off self-locking motor locks the transmission gears and racks, thereby ensuring that the upper and lower pairs of grippers can maintain a stable clamping state on the insert box, preventing the insert box from slipping, causing damage to the insert box and potential installation hazards.

[0016] Furthermore, the pusher is guided and slidably mounted on the front end frame surface in the front-rear direction, and has a pusher end located in front of the front end frame surface. The pusher driving mechanism is located on the rear side of the front end frame surface, inside the cubic frame structure.

[0017] The beneficial effects of the above technical solution are as follows: Thus, when the insertion box is placed in the position to be pushed, the pushing drive mechanism drives the pushing component to move on the front frame surface, so that the pushing end of the pushing component can stably push the insertion box. The pushing drive mechanism is located inside the cubic frame structure, which can shorten the power rotation path and effectively reduce the space occupied by the equipment.

[0018] Furthermore, the screw tightening module includes a sliding mounting bracket that slides in a front-to-back direction with the side frame of the cubic frame structure. The forward and backward drive mechanism is used to drive the sliding mounting bracket to move back and forth. An adjustment bracket is mounted on the sliding mounting bracket in a vertical direction. The adjustment bracket is equipped with an adjustment drive mechanism that drives it to move up and down. The electric screwdriver bit of the screw tightening module is mounted on the adjustment bracket to tighten screws in different positions.

[0019] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the sliding mounting bracket to move along the front and back direction on the side of the three-dimensional frame structure according to the coordinates of the holes on the insertion box and the fixed frame of the cabinet. The adjustment drive mechanism drives the adjustment bracket to move up and down, thereby realizing the precise movement of the electric screwdriver bit on the installation base. This ensures that the electric screwdriver bit can tighten the screws according to the multiple different holes on different insertion boxes, improving the applicability of the robot and the accuracy of the insertion box assembly.

[0020] Furthermore, the screw tightening modules are arranged in pairs and are located on opposite sides of the mounting base.

[0021] The beneficial effects of the above technical solution are as follows: In this way, after the insertion box is placed in the installation position, the paired screw tightening modules tighten the screws on both sides of the insertion box, which can ensure that the two sides of the robot arm are mutually constrained and the force is evenly distributed, avoiding deflection and misalignment, and further ensuring the accuracy of the insertion box assembly.

[0022] Furthermore, a synchronous beam connects the sliding mounting brackets of the two pairs of screw tightening modules, and the two pairs of screw tightening modules share the forward and backward drive mechanism.

[0023] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the two screw tightening modules simultaneously to tighten the screws on both sides of the insertion box via a synchronous beam. The synchronous beam ensures that the movement and tightening progress of the electric screwdriver bits in the two screw tightening modules are completely consistent, avoiding problems such as insertion box displacement caused by uneven force on both sides of the robot arm, and further ensuring assembly accuracy. Sharing the forward and backward drive mechanism for the two screw tightening modules reduces equipment costs, while also reducing the load on the robot arm and lowering drive energy consumption.

[0024] Furthermore, the mounting base is a cubic frame structure with openings on the left and right sides. Two pairs of screw tightening modules are respectively installed on the left and right sides of the mounting base so that the synchronous beam can extend and pass through. The sliding mounting frame is a U-shaped frame with a vertically extending vertical frame and horizontal frames at the upper and lower ends of the vertical frame. The horizontal frames at the upper and lower ends are respectively guided and slidably engaged with the upper and lower frame surfaces of the cubic frame in the front and rear directions. The adjusting frame is installed on the vertical frame.

[0025] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the two sliding mounting brackets to move. The open cubic frame structure can avoid interference with the synchronous beam between the two sliding mounting brackets, while also reducing the overall weight of the equipment, reducing the load on the robotic arm, and lowering drive energy consumption.

[0026] Furthermore, the adjustment drive mechanism includes an adjustment motor and an annular transmission belt. The adjustment frame is fixedly connected to the annular transmission belt. When the adjustment motor drives the drive pulley to rotate, the annular transmission belt drives the adjustment frame to move up and down. The drive pulleys of the adjustment frames of the two screw tightening modules are coaxially connected to a synchronous transmission shaft so that the two drive pulleys rotate synchronously. The two screw tightening modules share the adjustment motor.

[0027] The beneficial effects of the above technical solution are as follows: Thus, after the insert box is placed in the installation position, when the adjusting motor drives the drive pulley to rotate, the ring transmission belt drives the adjusting frame to move up and down, achieving stable and precise movement of the electric screwdriver bit in the vertical direction. By synchronously rotating the two drive pulleys, it is further ensured that the movement displacement and tightening progress of the two electric screwdriver bits are completely consistent, avoiding misalignment caused by uneven force on both sides of the insert box, and further ensuring assembly accuracy. At the same time, the synchronous rotation of the two drive pulleys is achieved through a synchronous transmission shaft, which moves synchronously with the adjusting frame in the front-to-back direction within the cubic frame structure, making the overall structure of the equipment compact. Sharing an adjusting motor for the two drive pulleys reduces equipment costs, while also reducing the load on the robotic arm and lowering drive energy consumption.

[0028] Furthermore, the synchronous beam and the synchronous transmission shaft are arranged at an interval, one above the other.

[0029] The beneficial effects of the above technical solution are as follows: Thus, when the adjusting frame moves along the front-to-back direction on the cubic frame structure following the sliding mounting frame, the synchronous beam and the synchronous rotating shaft move synchronously along the front-to-back direction inside the cubic frame structure. The synchronous beam and the synchronous rotating shaft are arranged at intervals, one above the other, so that the components inside the cubic frame structure can pass smoothly through the space between the synchronous beam and the synchronous rotating shaft, thereby avoiding interference from the cubic frame structure to the movement of the synchronous beam and the synchronous transmission shaft.

[0030] Furthermore, the vertical support is a rectangular frame, and the pulley and belt body of the annular transmission belt are both located within the frame holes of the rectangular frame.

[0031] The beneficial effects of the above technical solution are as follows: In this way, by setting the pulley and belt body of the annular transmission belt inside the frame hole of the rectangular frame, the width of the equipment in the left and right directions is shortened, reducing the overall space occupied by the robot.

[0032] The automatic clamping and assembly device of the present invention adopts the following technical solution: An automatic gripping and assembly device includes a multi-degree-of-freedom robotic arm and a manipulator mounted on the moving end of the multi-degree-of-freedom robotic arm. The automatic gripping and assembly manipulator includes a mounting base for fixed connection with the moving end of the robotic arm. The mounting base is equipped with a gripping module for gripping inserts, a pushing module for pushing the inserts to the mounting position, a screw tightening module for tightening the fastening screws of the inserts, and a vision module. The rear end of the mounting base has a connection structure for fixed connection with the robotic arm. The gripping module is located on the front side of the mounting base and includes a pair of upper and lower grippers and a gripping drive mechanism for driving the pair of grippers to open and close. The pushing module is located beside the gripping module and includes a pushing member that extends and retracts in the front-back direction and a pushing drive mechanism for driving the pushing member. The screw tightening module is located beside the gripping module and is guided and moved along the front-back direction on the mounting base. The screw tightening module is also equipped with a forward and backward drive mechanism for driving it to move back and forth relative to the mounting base.

[0033] The beneficial effects of the above technical solution are as follows: This invention provides a novel automated clamping and assembly device. During the assembly of insert boxes, a vision module scans the insert box to be installed, the mounting position of the insert box on the cabinet, and the holes on the fixing frame of the insert box and cabinet, calculating and outputting precise coordinates. Based on the coordinates of the insert box to be installed, a robotic arm, through a connecting structure, moves the mounting base to the side of the insert box. A clamping drive mechanism drives the upper and lower pairs of grippers to open and close, clamping the insert box from the middle position on one side. Based on the mounting position coordinates, the robotic arm moves the robotic hand that grips the insert box to the push position outside the mounting position. A push drive mechanism drives the pusher to push the insert box to the mounting position. Based on the holes on the insert box and cabinet fixing frame, a forward / backward drive mechanism drives the screw tightening module to move, coordinating with the robotic arm to achieve precise movement of the electric screwdriver bit in the screw tightening module, using the electric screwdriver bit to securely install the insert box onto the fixing frame of the cabinet. By using a robotic arm to drive the robotic hand to move, the robotic hand's working space is increased, enabling the clamping and securing of boxes in multiple areas. This achieves fully automated assembly of boxes, reduces the time spent on box transfer and assembly, and improves the efficiency and stability of the overall assembly operation.

[0034] Furthermore, the clamping modules are arranged in pairs, left and right, and the pushing module is located in the middle between the two clamping modules.

[0035] The beneficial effects of the above technical solution are as follows: Thus, when the robotic arm grips the insert box, the gripping drive mechanisms of the two gripping modules synchronously drive the two pairs of grippers to open and close, performing multi-point gripping on the insert box at positions symmetrical about the central cross-section. This prevents the insert box from deflecting or swaying during gripping, improving gripping stability and ensuring the accuracy of subsequent assembly. When the insert box is placed in the push-to-push position, the push-to-push module pushes it from the center, allowing the insert box to move stably in the front-back direction to the installation position. This ensures that the holes on the insert box correspond to the holes on the cabinet fixing frame, improving the installation accuracy of the insert box assembly.

[0036] Furthermore, the mounting base is a cubic frame structure, the connecting structure is a connecting hole on the rear frame surface, the upper and lower pairs of grippers of the clamping module are guided and slidably mounted on the front frame surface in the vertical direction, and the clamping drive mechanism is a clamping motor located on the rear side of the front frame surface and inside the cubic frame structure.

[0037] The beneficial effects of the above technical solution are as follows: In this way, when the robotic arm drives the robotic hand to move and grip the insert box, the gripper located on the front frame and the robotic arm connected to the rear connection structure of the mounting base form a large working space, avoiding collisions with the insert box during transport. At the same time, the gripping motor located inside the cubic frame structure can directly drive the gripper located on the front frame, shortening the power rotation path and effectively reducing the space occupied by the equipment.

[0038] Furthermore, the upper and lower pairs of grippers of the clamping module are respectively connected to transmission racks that extend vertically and have opposing tooth surfaces. The transmission racks connected to both are meshed with the same transmission gear. The transmission gear is connected to the clamping motor to drive the upper and lower pairs of grippers to move synchronously. The clamping motor is a power-off self-locking motor.

[0039] The beneficial effects of the above technical solution are as follows: Thus, during the transfer of the insert box by the robotic arm, the power-off self-locking motor locks the transmission gears and racks, thereby ensuring that the upper and lower pairs of grippers can maintain a stable clamping state on the insert box, preventing the insert box from slipping, causing damage to the insert box and potential installation hazards.

[0040] Furthermore, the pusher is guided and slidably mounted on the front end frame surface in the front-rear direction, and has a pusher end located in front of the front end frame surface. The pusher driving mechanism is located on the rear side of the front end frame surface, inside the cubic frame structure.

[0041] The beneficial effects of the above technical solution are as follows: Thus, when the insertion box is placed in the position to be pushed, the pushing drive mechanism drives the pushing component to move on the front frame surface, so that the pushing end of the pushing component can stably push the insertion box. The pushing drive mechanism is located inside the cubic frame structure, which can shorten the power rotation path and effectively reduce the space occupied by the equipment.

[0042] Furthermore, the screw tightening module includes a sliding mounting bracket that slides in a front-to-back direction with the side frame of the cubic frame structure. The forward and backward drive mechanism is used to drive the sliding mounting bracket to move back and forth. An adjustment bracket is mounted on the sliding mounting bracket in a vertical direction. The adjustment bracket is equipped with an adjustment drive mechanism that drives it to move up and down. The electric screwdriver bit of the screw tightening module is mounted on the adjustment bracket to tighten screws in different positions.

[0043] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the sliding mounting bracket to move along the front and back direction on the side of the three-dimensional frame structure according to the coordinates of the holes on the insertion box and the fixed frame of the cabinet. The adjustment drive mechanism drives the adjustment bracket to move up and down, thereby realizing the precise movement of the electric screwdriver bit on the installation base. This ensures that the electric screwdriver bit can tighten the screws according to the multiple different holes on different insertion boxes, improving the applicability of the robot and the accuracy of the insertion box assembly.

[0044] Furthermore, the screw tightening modules are arranged in pairs and are located on opposite sides of the mounting base.

[0045] The beneficial effects of the above technical solution are as follows: In this way, after the insertion box is placed in the installation position, the paired screw tightening modules tighten the screws on both sides of the insertion box, which can ensure that the two sides of the robot arm are mutually constrained and the force is evenly distributed, avoiding deflection and misalignment, and further ensuring the accuracy of the insertion box assembly.

[0046] Furthermore, a synchronous beam connects the sliding mounting brackets of the two pairs of screw tightening modules, and the two pairs of screw tightening modules share the forward and backward drive mechanism.

[0047] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the two screw tightening modules simultaneously to tighten the screws on both sides of the insertion box via a synchronous beam. The synchronous beam ensures that the movement and tightening progress of the electric screwdriver bits in the two screw tightening modules are completely consistent, avoiding problems such as insertion box displacement caused by uneven force on both sides of the robot arm, and further ensuring assembly accuracy. Sharing the forward and backward drive mechanism for the two screw tightening modules reduces equipment costs, while also reducing the load on the robot arm and lowering drive energy consumption.

[0048] Furthermore, the mounting base is a cubic frame structure with openings on the left and right sides. Two pairs of screw tightening modules are respectively installed on the left and right sides of the mounting base so that the synchronous beam can extend and pass through. The sliding mounting frame is a U-shaped frame with a vertically extending vertical frame and horizontal frames at the upper and lower ends of the vertical frame. The horizontal frames at the upper and lower ends are respectively guided and slidably engaged with the upper and lower frame surfaces of the cubic frame in the front and rear directions. The adjusting frame is installed on the vertical frame.

[0049] The beneficial effects of the above technical solution are as follows: Thus, after the insertion box is placed in the installation position, the forward and backward drive mechanism drives the two sliding mounting brackets to move. The open cubic frame structure can avoid interference with the synchronous beam between the two sliding mounting brackets, while also reducing the overall weight of the equipment, reducing the load on the robotic arm, and lowering drive energy consumption.

[0050] Furthermore, the adjustment drive mechanism includes an adjustment motor and an annular transmission belt. The adjustment frame is fixedly connected to the annular transmission belt. When the adjustment motor drives the drive pulley to rotate, the annular transmission belt drives the adjustment frame to move up and down. The drive pulleys of the adjustment frames of the two screw tightening modules are coaxially connected to a synchronous transmission shaft so that the two drive pulleys rotate synchronously. The two screw tightening modules share the adjustment motor.

[0051] The beneficial effects of the above technical solution are as follows: Thus, after the insert box is placed in the installation position, when the adjusting motor drives the drive pulley to rotate, the ring transmission belt drives the adjusting frame to move up and down, achieving stable and precise movement of the electric screwdriver bit in the vertical direction. By synchronously rotating the two drive pulleys, it is further ensured that the movement displacement and tightening progress of the two electric screwdriver bits are completely consistent, avoiding misalignment caused by uneven force on both sides of the insert box, and further ensuring assembly accuracy. At the same time, the synchronous rotation of the two drive pulleys is achieved through a synchronous transmission shaft, which moves synchronously with the adjusting frame in the front-to-back direction within the cubic frame structure, making the overall structure of the equipment compact. Sharing an adjusting motor for the two drive pulleys reduces equipment costs, while also reducing the load on the robotic arm and lowering drive energy consumption.

[0052] Furthermore, the synchronous beam and the synchronous transmission shaft are arranged at an interval, one above the other.

[0053] The beneficial effects of the above technical solution are as follows: Thus, when the adjusting frame moves along the front-to-back direction on the cubic frame structure following the sliding mounting frame, the synchronous beam and the synchronous rotating shaft move synchronously along the front-to-back direction inside the cubic frame structure. The synchronous beam and the synchronous rotating shaft are arranged at intervals, one above the other, so that the components inside the cubic frame structure can pass smoothly through the space between the synchronous beam and the synchronous rotating shaft, thereby avoiding interference from the cubic frame structure to the movement of the synchronous beam and the synchronous transmission shaft.

[0054] Furthermore, the vertical support is a rectangular frame, and the pulley and belt body of the annular transmission belt are both located within the frame holes of the rectangular frame.

[0055] The beneficial effects of the above technical solution are as follows: In this way, by setting the pulley and belt body of the annular transmission belt inside the frame hole of the rectangular frame, the width of the equipment in the left and right directions is shortened, reducing the overall space occupied by the robot. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of a structural embodiment of the automatic chassis clamping and assembly robot of the present invention; Figure 2 yes Figure 1 A schematic diagram of the structure shown from another perspective; Figure 3 yes Figure 1 The front view of the structure shown; Figure 4 yes Figure 1 Rear view of the structure shown; Figure 5 yes Figure 4 Top view of the structure shown; Figure 6 yes Figure 4 A bottom view of the structure shown; Figure 7 yes Figure 1 The schematic diagram of the automatic chassis clamping and assembly robot in the middle has omitted the right-side screw tightening module. Figure 8 yes Figure 1 The structural diagram of the automatic chassis clamping and assembly robot in the middle has been omitted, showing the rear frame, the upper frame and the screw tightening modules on both sides. Figure 9 yes Figure 8 A schematic diagram of the structure shown from another perspective; Figure 10 yes Figure 8 Rear view of the structure shown; Figure 11 yes Figure 8 Top view of the structure shown.

[0057] In the picture: 1. Mounting base; 11. Front frame; 12. Rear frame; 121. Flange; 13. Upper frame; 14. Lower frame; 2. Clamping module; 21. Gripper; 211. Grip plate; 212. Sliding plate; 213. Flexible clamping pad; 22. Clamping drive mechanism; 221. Gripper slide rail; 222. Transmission rack; 223. Transmission gear; 224. Clamping motor; 225. Auxiliary slider; 3. Pushing module; 31. Pushing component; 311. Outer plate; 312. Inner plate; 313. Connecting rod; 32. Pushing drive mechanism; 321. Pushing motor; 322. Motor mounting bracket; 4. Screw tightening module; 41. Electric screwdriver bit; 411. Mounting block; 42. Sliding mounting bracket; 421. Vertical support frame; 422. Horizontal frame; 423. Front and rear slide rails; 424. Upper and lower slide rails; 425. Synchronous beam; 43. Adjusting frame; 431. Synchronous drive shaft; 44. Forward and backward drive mechanism; 441. Forward and backward motor; 442. Forward and backward connecting frame; 45. Adjusting drive mechanism; 451. Transmission belt; 452. Driving pulley; 453. Driven pulley; 454. Adjusting motor; 455. Sliding frame; 46. Compensation drive mechanism; 461. Compensation slide rail; 462. Pneumatic cylinder. Detailed Implementation

[0058] The features and performance of the present invention will be further described in detail below with reference to specific embodiments.

[0059] Specific embodiments of the automatic chassis clamping and assembly robot of the present invention: To achieve full automation of the relay protection chassis installation process, this invention provides an automatic chassis clamping and assembly robot, which includes a mounting base 1, a clamping module 2, a pushing module 3, a screw tightening module 4, a vision module, and a control unit.

[0060] like Figures 1-7 As shown, the mounting base 1 is used for fixed connection to the moving end of the robotic arm. The mounting base 1 is a cubic frame structure, formed by four frame surfaces fixedly connected end-to-end, providing a stable mounting foundation for other components. Figure 1 In the mounting base 1, the front and rear frame surfaces are respectively the front frame surface 11 and the rear frame surface 12 in the front-to-back direction, and the upper frame surface 13 and the lower frame surface 14 in the top-to-bottom direction. The left and right sides of the mounting base 1 form open openings. The rear frame surface 12 of the mounting base 1 is provided with a connection structure for stable connection with the robotic arm. The connection structure is a connection hole provided on the rear frame surface 12, and a flange 121 is fixedly installed at the connection hole. The flange 121 is fixedly connected to the moving end of the robotic arm.

[0061] The clamping module 2 is used to clamp the insert box. It is arranged in pairs on the left and right sides of the front side of the mounting base 1. The clamping module 2 includes a pair of upper and lower clamping claws 21 and a clamping drive mechanism 22 that drives the pair of clamping claws 21 to open and close.

[0062] The upper and lower pairs of grippers 21 are guided and slidably mounted on the front end frame 11 in the vertical direction. Each pair of grippers 21 is a bent plate-like structure with mutually perpendicular gripping plates 211 and sliding plates 212. The two gripping plates 211 of the upper and lower pairs of grippers 21 are parallel to each other, and their gripping surfaces face each other. When the upper and lower pairs of grippers 21 slide relative to each other on the front end frame 11 in the vertical direction to open and close, they can clamp the insert box. A flexible structure is provided on the gripping surface, including a flexible pad 213 made of elastic material such as silicone. The flexible pad 213 is used to adapt to differences in the flatness of the insert box surface, buffer the impact force during the clamping process, and avoid scratches and deformation of the insert box caused by rigid clamping.

[0063] The clamping drive mechanism 22 includes a transmission rack 222 connected to the upper and lower pairs of grippers 21, a transmission gear 223 meshing with the two transmission racks 222, and a clamping motor 224 for driving the transmission gear 223 to rotate. A gripper slide rail 221, extending vertically and corresponding to the upper and lower pairs of grippers 21, is fixedly mounted on the front frame 11. One end of the gripper 21 sliding plate 212 is slidably connected to the gripper slide rail 221 via a sliding block, thereby enabling the upper and lower pairs of grippers 21 to freely slide vertically and in a vertical direction on the front frame 11. The transmission rack 222 extends vertically, with one end fixedly connected to the other end of the gripper 21 sliding plate 212, and its tooth surface facing the transmission rack 222 connected to the upper and lower pairs of grippers 21. The other end of the transmission rack 222 is guided and slidably engaged with the gripper slide rail 221 via an auxiliary sliding block 225. The transmission gear 223 is located between the two transmission racks 222 and rotatably connected to the front frame 11. The transmission gear 223 meshes with two transmission racks 222 simultaneously. The clamping motor 224 is located on the rear side of the front frame 11, inside the cubic frame structure, and is fixedly connected to the front frame 11. Its output shaft is coaxially fixedly connected to the transmission gear 223 and is used to drive the transmission gear 223 to rotate.

[0064] When the clamping motor 224 drives the transmission gear 223 to rotate, the meshing action of the transmission gear 223 and the transmission rack 222 drives the upper and lower pairs of grippers 21 to move closer or further apart synchronously, thereby controlling the opening and closing action of the upper and lower pairs of grippers 21 to achieve stable gripping, transfer, and placement of insert boxes. During the process of the upper and lower pairs of grippers 21 gripping the insert box for transfer, the clamping motor 224 locks the transmission gear 223 and the transmission rack 222, and the upper and lower pairs of grippers 21 maintain a stable clamping state on the insert box, thereby preventing the insert box from shifting, moving, or other displacement problems.

[0065] Furthermore, the clamping motor 224 is a power-off self-locking motor, which can be a brake servo motor or a stepper brake motor. During the process of the upper and lower paired grippers 21 gripping the insert box for transfer, in the event of an unexpected power failure, the clamping motor 224 can still ensure that the upper and lower paired grippers 21 maintain a stable clamping state on the insert box, thereby preventing the insert box from falling and causing damage to the insert box and installation hazards.

[0066] The push module 3 is used to push the insertion box to the mounting position on the cabinet. The push module 3 is located in the middle between the two clamping modules 2. The push module 3 includes a pusher 31 and a push drive mechanism 32.

[0067] The pusher 31 slides along the front-rear direction on the front frame surface 11 to perform telescopic movements and push the insert box. The pusher 31 includes an outer plate 311 located in front of the front frame, an inner plate 312 located behind the cubic frame structure, and multiple connecting rods 313 for connecting the inner plate 312 and the outer plate 311. The front frame surface 11 is provided with multiple sliding holes that cooperate with the connecting rods 313. Each connecting rod 313 passes through a sliding hole and slides along the front frame surface 11. The outer plate 311 is located on the front side of the cubic frame structure and is fixedly connected to one end of the connecting rod 313. The outer end face of the outer plate 311, as the pushing end of the pusher 31, can fit against the surface of the insert box to evenly transmit the pushing force and push the insert box. The inner plate 312 is located inside the cubic frame structure and is fixedly connected to the other end of the connecting rod 313.

[0068] The push-drive mechanism 32 is located on the rear side of the front frame 11, inside the cubic frame structure. The push-drive mechanism 32 includes a push-drive motor 321. A bent motor mounting bracket 322 is fixedly installed on the rear wall of the front frame 11. The push-drive motor 321 is fixedly installed on the motor mounting bracket 322 and is connected to the inner plate 312 through a screw and nut pair. When the push-drive motor 321 drives the screw to rotate, it can drive the inner plate 312, which is fixedly connected to the nut, to slide in the front-back direction. This allows the inner plate 312, connecting rod 313, and outer plate 311 to slide synchronously in the front-back direction on the front frame. The outer plate 311 then stably pushes the insertion box to the installation position on the cabinet, completing the pre-installation of the insertion box.

[0069] The screw tightening module 4 is used to tighten the fastening screws, completely securing the insertion box to the fixed frame at the cabinet mounting position. The screw tightening modules 4 are arranged in pairs, each located beside a clamping module 2, and are guided and moved along the front-back direction on opposite sides of the mounting base 1. The screw tightening module 4 is also equipped with a forward / backward drive mechanism 44 that drives its forward / backward movement relative to the mounting base 1, enabling the screw tightening module 4 to tighten fastening screws at different positions.

[0070] The screw tightening module 4 includes an electric screwdriver bit 41 with its working end facing the front frame surface 11 for tightening screws, and a sliding mounting bracket 42 that slides and guides the side end of the cubic frame structure in a front-rear direction. The electric screwdriver bit 41 includes a tightening end for tightening screws and a drive motor for rotating the tightening end. The electric screwdriver bit 41 is equipped with a screw feeding device for continuously supplying screws to the electric screwdriver bit 41. This screw feeding device is responsible for automatically sorting, conveying, and replenishing screws, ensuring continuous and stable operation of the box assembly operation. The screw feeding device that automatically feeds screws to the electric screwdriver bit 41 is a mature existing technology. The sliding mounting bracket 42 is a U-shaped bracket with a vertically extending vertical frame 421 and horizontal frames 422 located at the upper and lower ends of the vertical frame 421. The upper frame 13 and lower frame 14 of the mounting base 1 are fixedly mounted with front and rear slide rails 423 at corresponding positions to the horizontal frame 422. The horizontal frames 422 at both ends of the sliding mounting bracket 42 slide in the front and rear directions with the front and rear slide rails 423 of the upper frame 13 and lower frame 14, respectively. A synchronous beam 425 connects the sliding mounting brackets 42 of the pair of screw tightening modules 4, and the pair of screw tightening modules 4 share a forward and backward drive mechanism 44. The synchronous beam 425 is located at the upper end inside the cubic frame structure, extends in the left and right direction, and penetrates the cubic frame structure. Both ends of the synchronous beam 425 are fixedly connected to the inner wall of one of the sliding mounting brackets 42. The side-opening mounting base 1 ensures that the synchronous beam 425 can move smoothly in the front and rear directions inside the cubic frame structure during the movement of the sliding mounting bracket 42.

[0071] The forward / reverse drive structure includes a forward / reverse motor 441. The forward / reverse motor 441 is located inside the cubic frame structure, below the upper frame surface 13, and is fixedly installed to the upper frame surface 13. One of the sliding mounting brackets 42 is fixedly installed with a forward / reverse connecting bracket 442 facing inwards from the cubic frame structure. Figure 1 and Figure 7 Taking the example in the middle, the forward and backward connecting frame 442 is set on the left sliding mounting frame 42. The forward and backward motor 441 is connected to the forward and backward connecting frame 442 through a lead screw and nut pair. When the forward and backward motor 441 drives the lead screw to rotate, it can drive the forward and backward connecting frame 442, which is fixedly connected to the nut, and the sliding mounting frame 42, which is fixedly connected to the forward and backward connecting frame 442, to slide in the front and back direction. The synchronous beam 425 realizes the synchronous sliding of the two sliding mounting frames 42 in the front and back direction on both sides of the mounting base 1.

[0072] An adjusting bracket 43 is mounted on the outer side of the sliding mounting bracket 42, moving along the vertical direction. The electric screwdriver bit 41 is mounted on the adjusting bracket 43 via a mounting block 411. An upper and lower sliding rail 424 extending vertically is fixedly installed on the vertical frame 421, and the adjusting bracket 43 slides in conjunction with the upper and lower guide rails. The adjusting bracket 43 is equipped with an adjusting drive mechanism 45 for driving its vertical movement and a compensating drive mechanism 46 for compensating for displacement generated during the tightening of screws by the electric screwdriver bit 41.

[0073] The adjustment drive mechanism 45 includes an annular transmission belt and an adjustment motor 454.

[0074] The vertical support 421 is a rectangular frame with a frame hole extending through both walls in its center, the frame hole extending vertically. The annular transmission belt includes two pulleys and a transmission belt body 451, both located within the frame hole of the rectangular frame. The two pulleys are spaced vertically and are rotatably connected to the vertical support 421 via fixing blocks fixed to the inner wall of the vertical support 421. The lower pulley is the driving pulley 452, and the upper pulley is the driven pulley 453. The transmission belt body 451 is an annular belt wound around the two pulleys. An adjusting plate is fixedly pressed against the transmission belt body 451 and moves synchronously with it.

[0075] A synchronous transmission shaft 431 is coaxially connected between the drive pulleys 452 in the two adjusting drive mechanisms 45, so that the two drive pulleys 452 share a single adjusting motor 454 to drive synchronous rotation. The synchronous transmission shaft 431 is located at the lower end of the interior of the cubic frame structure, extending in the left-right direction and penetrating the cubic frame structure. Both ends of the synchronous transmission shaft 431 are coaxially fixedly connected to the drive pulleys 452 in one of the adjusting drive mechanisms 45. The side-open mounting base 1 ensures that the synchronous transmission shaft 431 can move smoothly in the front-back direction inside the cubic frame structure during the movement of the drive pulleys 452 driven by the sliding mounting frame 42. The adjusting motor 454 is fixedly mounted on the sliding frame 455 fixedly installed inside the sliding mounting frame 42, and its output end is connected to the synchronous transmission shaft 431. When the adjusting motor 454 drives the two drive pulleys 452 to rotate through the synchronous transmission shaft 431, the two transmission belts 451 drive the two adjusting frames 43 to move synchronously in the up-down direction on the two vertical supports 421.

[0076] like Figures 8-11As shown, two clamping motors 224 extend in the front-rear direction and are fixedly mounted on both sides of the front frame 11. A push motor 321 extends in the front-rear direction and is located in the middle between the two clamping motors 224. The push motor 321 and the two clamping motors 224 are located in the same left-right direction. An adjusting motor 454 extends in the vertical direction and can move smoothly between the push motor 321 and the right clamping motor 224 without interfering with each other. The forward / backward motor 441 is located in the area behind the left clamping motor 224 and has sufficient clearance from it to prevent interference between the forward / backward motor 224 and the clamping motor 224 during the front-rear movement.

[0077] The compensation drive mechanism 46 includes a compensation slide rail 461 and a pneumatic cylinder 462. The electric screwdriver bit 41 is guided and slidably mounted on the adjusting frame 43 via a mounting block 411 in the front-to-back direction. The compensation slide rail 461 is located between the mounting block 411 and the adjusting frame 43, extending in the front-to-back direction and fixedly mounted on the adjusting frame 43. The electric screwdriver bit 41 achieves a sliding engagement with the adjusting frame 43 in the front-to-back direction through the mounting block 411 and the compensation slide rail 461. The pneumatic cylinder 462 is fixedly mounted on the adjusting frame 43 and hinged to one end of the mounting block 411, used to apply pressure to the electric screwdriver bit 41. When the electric screwdriver bit 41 tightens the screw, the pneumatic cylinder 462 continuously pushes the electric screwdriver bit 41 to move slightly on the compensation slide rail 461 to compensate for the small displacement generated during the tightening of the screw. Furthermore, by adjusting the air pressure of the pneumatic cylinder 462, pressure is applied to the electric screwdriver bit 41, allowing the electric screwdriver bit 41 to make stable and flexible contact with the holes on the cabinet fixing frame through the tightening screw.

[0078] The vision module (not shown in the figure) integrates a binocular camera / structured light sensor, an image processing unit, and a 6D pose calculation algorithm. It is stably installed on the upper frame 13 or the lower frame 14 and is used to scan in real time to obtain the position of the box to be installed, the installation position of the box on the cabinet, and the hole positions on the box and the cabinet fixing frame. It calculates and outputs accurate coordinates to provide a high-precision positioning reference for the clamping, transportation, and assembly of the box.

[0079] The control unit is the core control component of the entire robot arm. It has signal receiving, data processing and command output functions. It is used to control the coordinated operation of the robot arm, gripping module 2, pushing module 3, screw tightening module 4 and vision module. It accurately issues operation commands such as positioning, gripping, transferring, pushing, fastening and resetting, and orderly completes the fully automated installation process of the insertion box.

[0080] During the assembly of the insert box, the vision module first scans the position of the insert box to be installed, the mounting position of the insert box on the cabinet, and the hole positions on the fixing frame of the insert box and the cabinet, calculating and outputting precise coordinates. The control unit receives the coordinates output by the vision module and controls the drive robotic arm to move the robotic hand to the side of the insert box, so that the two gripping modules move to a symmetrical position about the center of the insert box, so as to achieve stable gripping of the insert box. The gripping motor 224 drives the transmission gear 223 to rotate, and the upper and lower pairs of grippers 21 move closer to each other through the transmission gear 223 and the transmission rack 222 to stably grip the insert box. The transmission gear 223 and the transmission rack 222 enable a large displacement range between the upper and lower pairs of grippers 21, which can adapt to the gripping of insert boxes of different specifications and improve the overall versatility of the device.

[0081] The control unit drives the robotic arm to move the robotic hand and the gripped insert box to the outside of the mounting position on the cabinet. Based on the precise coordinates of the insert box and the holes on the cabinet's fixing frame output by the vision module, the robotic arm initially pushes the insert box into the mounting position inside the cabinet, ready to be pushed. After the insert box is stably supported by the cabinet, the gripping motor 224 starts again, driving the upper and lower pairs of grippers 21 to move away from each other, releasing the clamping state on the insert box. The precise coordinates output by the vision module ensure that the insert box is precisely aligned with the holes on the cabinet's fixing frame, laying the foundation for subsequent precise alignment between the insert box and the cabinet. Moreover, during the transfer of the insert box, the gripping motor 224 locks the transmission gear 223 and transmission rack 222, and the upper and lower pairs of grippers 21 reliably clamp the cabinet, maintaining a stable clamping state. This prevents the cabinet from shifting or moving during transfer, avoiding the insert box from slipping, causing damage, and creating installation hazards.

[0082] Subsequently, the control unit further precisely adjusts the position of the insertion box by controlling the push module 3. The push motor 321 pushes the inner plate 312, connecting rod 313, and outer plate 311 to move synchronously, causing the outer plate 311 to push the insertion box. The outer plate 311 makes uniform contact with the middle of the outer end face of the insertion box, stably pushing the insertion box along the front-back direction within the cabinet frame to the preset installation position, making the outer end face of the insertion box flush with the end face of the cabinet, completing the pre-installation of the insertion box in the cabinet installation position. By driving the outer plate 311 with the push motor 321 to precisely push the insertion box to the installation position on the cabinet, it avoids the insertion box shifting during the pushing process, which would cause misalignment with the holes on the cabinet fixing frame, improving the efficiency and accuracy of the insertion box and cabinet alignment, and significantly reducing the manual alignment operation time. The push module 3 can also precisely adjust the spacing between the outer end face of the insertion box and the end face of the cabinet according to the installation requirements of different models of insertion boxes and cabinets, improving the compatibility of the robot.

[0083] After the control unit confirms the precise alignment of the holes on the mounting frame of the insertion box and the cabinet through the vision module, it controls the starting screw tightening module 4, the forward and backward drive mechanism 44, the adjustment drive mechanism 45, and the compensation drive mechanism 46. Based on the precise coordinates of the holes on the mounting frame at the insertion box and cabinet mounting positions, the forward and backward motor 441 drives the two sliding mounting brackets 42 to move synchronously along the front-back direction on the side of the mounting base 1, and the adjustment motor 454 drives the two adjustment brackets 43 to move synchronously along the up-down direction on the sliding mounting brackets 42, so that the working ends of the two electric screwdriver bits 41 are precisely aligned with the holes on the mounting frame at the insertion box and cabinet mounting positions. The screw feeding device feeds the screws to the electric screwdriver bits 41, which then precisely screw the screws into the holes. During the screwing process, the pneumatic cylinder 462 continuously pushes the electric screwdriver bits 41 to move slightly on the compensation slide rail 461 to compensate for the minor displacements generated during screw tightening. Simultaneously, by adjusting the air pressure of the pneumatic cylinder 462, pressure is applied to the electric screwdriver bit 41, enabling it to make flexible contact with the holes on the cabinet fixing frame through the fastening screws. This automates the fastening operation of the insertion box, continuously and accurately completing the screw insertion and tightening process, replacing manual tightening and improving assembly efficiency. Furthermore, the synchronous beam 425 and synchronous drive shaft 431 ensure that the two sliding mounting brackets 42 and two adjusting brackets 43 move synchronously, guaranteeing that the movement displacement and tightening progress of the two electric screwdriver bits 41 are completely consistent. This avoids the problem of insertion box misalignment caused by uneven force on both sides of the insertion box. Moreover, the two electric screwdriver bits 41 are set with the same rotation parameters, further ensuring the consistency of the tightening of multiple fastening screws on the insertion box, ensuring the assembly accuracy of the insertion box, and improving the stability of subsequent insertion box operation.

[0084] After the box assembly is completed, the control unit controls the robotic arm and robotic hand to reset as a whole, preparing for the fully automated assembly of the next box.

[0085] In summary, the automatic chassis clamping and assembly robot provided by the embodiments of the present invention can realize the entire process of positioning, clamping, transfer and assembly without human intervention, shorten the assembly time of a single chassis, improve assembly efficiency, significantly reduce the intensity of manual labor, reduce labor costs, and at the same time avoid the safety risks caused by human error.

[0086] In one embodiment, the clamping module 2 is configured as a single unit located at the center of the front frame 11. Pushing modules 3 are arranged in pairs on the front frame 11, symmetrically positioned about the clamping module 2. The inner plates 312 of the two pushing modules 3 are fixedly connected by a connecting shaft to share a single pushing motor 321. Specifically, when gripping the insert box, the paired upper and lower grippers 21 in one clamping module 2 smoothly grip the insert box from the center. The robotic arm drives the robotic hand and the gripped insert box to move, initially placing the insert box in the mounting position on the cabinet to be pushed. The pushing motor 321 pushes the outer plates 311 of the two pushing modules 3 to slide synchronously along the front-to-back direction on the front frame 11. The two outer plates 311 symmetrically contact the surface of the insert box about the center, stably pushing the insert box to the mounting position on the cabinet.

[0087] In one embodiment, the clamping module 2 is configured as a bidirectional lead screw consisting of screws with opposite helical directions at both ends and a rotary motor for driving its rotation. Specifically, the upper and lower pairs of grippers 21 are respectively engaged with the two ends of the bidirectional lead screw through threads with opposite helical directions. The rotary motor is located inside the cubic frame structure, fixedly connected to the rear side of the front frame, and its output end is connected to the middle of the bidirectional lead screw. When clamping and placing the insert box, the rotary motor drives the bidirectional lead screw to rotate, and the upper and lower pairs of grippers 21 move closer or further apart synchronously under the action of the reverse threads, opening and closing. During the process of the upper and lower pairs of grippers 21 clamping the insert box, the rotary motor locks the bidirectional lead screw, and the reverse threads at both ends of the bidirectional lead screw form a locking structure with the upper and lower pairs of grippers 21, ensuring that the upper and lower pairs of grippers 21 stably clamp the insert box during the transfer of the insert box.

[0088] In one embodiment, a robotic arm can drive a robotic hand to move vertically, replacing the adjustment frame 43 and the adjustment drive mechanism 45, thus reducing equipment costs. Specifically, the electric screwdriver bit 41 is guided and slidably mounted on the vertical frame 421 via a mounting block 411 and a compensating slide rail 461 in the front-to-back direction. When aligning the electric screwdriver bit 41 with the holes at both ends of the insert box, the forward and backward motor 441 drives the relative position of the electric screwdriver bit 41 and the insert box in the front-to-back direction, and the robotic arm drives the entire mounting base 1 to move vertically, adjusting the relative position of the electric screwdriver bit 41 and the holes in the insert box in the vertical direction.

[0089] In one embodiment, the mounting base 1 is a complete cubic frame structure with side end frames fixedly provided on both sides. Specifically, the upper and lower ends of the outer side end frames are provided with paired sliding grooves with opposite openings. The sliding mounting bracket 42 is configured as a straight plate structure, with its two ends respectively embedded in the paired sliding grooves on the side end frames, realizing the sliding engagement between the sliding mounting bracket 42 and the side end frames. The upper and lower ends of the side end frames are respectively provided with clearance grooves extending in the front-back direction. The synchronous beam 425 can slide in the clearance groove at the upper end to move smoothly in the front-back direction inside the cubic frame structure, and the synchronous drive shaft 431 can slide in the clearance groove at the lower end to move smoothly in the front-back direction inside the cubic frame structure.

[0090] In one embodiment, a sliding frame 455, used to mount an adjusting motor 454 and allow it to move smoothly along the front-to-back direction within the cubic frame structure following a synchronous drive shaft 431, can replace the synchronous beam 425 used to move the two sliding mounting frames 42 synchronously. Specifically, the sliding frame 455 is fixedly connected to the inner side of one sliding mounting frame 42 at both ends in the left-to-right direction. The sliding mounting frame 42 drives the adjusting frame 43 to move synchronously along the front-to-back direction within the cubic frame structure via the sliding frame 455. The synchronous drive shaft 431 passes through the sliding frame 455 and connects to the drive pulleys 452 on both sides. In this way, the sliding frame 455 and the synchronous drive shaft 431 can share the clearance space inside the cubic frame structure.

[0091] In one embodiment, each of the two sliding mounting brackets 42 uses a forward / reverse motor 441 instead of a synchronous beam 425. Specifically, the two forward / reverse motors 441 are located on the left and right sides inside the cubic frame structure, and are fixedly connected to the lower wall of the upper frame surface 13. By inputting the same driving parameters to the two forward / reverse motors 441, the two sliding mounting brackets 42 can move synchronously in the front-back direction. Similarly, each of the two adjusting brackets 43 can use an adjusting motor 454 instead of a synchronous drive shaft 431. The two adjusting motors 454 are located on the left and right sides inside the cubic frame structure. By inputting the same driving parameters to the two adjusting motors 454, the two adjusting brackets 43 can move synchronously in the vertical direction.

[0092] Specific embodiments of the automatic clamping and assembly device of the present invention: The automatic gripping and assembly device provided in this embodiment of the invention includes a multi-degree-of-freedom robotic arm and a robotic hand installed at the moving end of the multi-degree-of-freedom robotic arm. The robotic hand is the automatic chassis gripping and assembly robotic hand described in any of the above embodiments.

[0093] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. The scope of patent protection of the present invention shall be determined by the claims. Similarly, any equivalent structural changes made based on the description and drawings of the present invention shall also be included within the scope of protection of the present invention.

Claims

1. An automatic chassis clamping and assembly robot, characterized in that, The system includes a mounting base for fixed connection with the actuator of a robotic arm. The mounting base is equipped with a clamping module for holding a cartridge, a pushing module for pushing the cartridge to a mounting position, a screw tightening module for tightening the cartridge's fastening screws, and a vision module. The rear end of the mounting base has a connection structure for fixed connection with the robotic arm. The clamping module is located on the front side of the mounting base and includes a pair of upper and lower grippers and a clamping drive mechanism for opening and closing the grippers. The pushing module is located beside the clamping module and includes a pushing member that extends and retracts in the front-rear direction and a pushing drive mechanism for driving the pushing member. The screw tightening module is located beside the clamping module and is guided and moved along the front-rear direction on the mounting base. The screw tightening module is also equipped with a forward and backward drive mechanism for moving it back and forth relative to the mounting base.

2. The automatic chassis clamping and assembly robot according to claim 1, characterized in that, The clamping modules are arranged in pairs, left and right, and the pushing module is located in the middle between the two clamping modules.

3. The automatic chassis clamping and assembly robot according to claim 1 or 2, characterized in that, The mounting base is a cubic frame structure, the connection structure is a connection hole on the rear frame surface, the upper and lower pairs of grippers of the clamping module are guided and slidably mounted on the front frame surface in the vertical direction, and the clamping drive mechanism is a clamping motor located on the rear side of the front frame surface and inside the cubic frame structure.

4. The automatic chassis clamping and assembly robot according to claim 3, characterized in that, The upper and lower pairs of grippers of the clamping module are respectively connected to transmission racks that extend vertically and have opposing tooth surfaces. The transmission racks connected to both are meshed with the same transmission gear. The transmission gear is connected to the clamping motor to drive the upper and lower pairs of grippers to move synchronously. The clamping motor is a power-off self-locking motor.

5. The automatic chassis clamping and assembly robot according to claim 3, characterized in that, The jacking member is guided and slidably mounted on the front end frame surface in the front-rear direction, and has a jacking end in front of the front end frame surface. The jacking drive mechanism is located on the rear side of the front end frame surface, inside the cubic frame structure.

6. The automatic chassis clamping and assembly robot according to claim 3, characterized in that, The screw tightening module includes a sliding mounting bracket that slides in a front-to-back direction with the side frame of the cubic frame structure. The forward and backward drive mechanism is used to drive the sliding mounting bracket to move back and forth. An adjustment bracket is mounted on the sliding mounting bracket in a vertical direction. The adjustment bracket is equipped with an adjustment drive mechanism that drives it to move up and down. The electric screwdriver bit of the screw tightening module is mounted on the adjustment bracket to tighten screws in different positions.

7. The automatic chassis clamping and assembly robot according to claim 6, characterized in that, The screw tightening modules are arranged in pairs and are located on opposite sides of the mounting base.

8. The automatic chassis clamping and assembly robot according to claim 7, characterized in that, A synchronous beam connects the sliding mounting brackets of the two pairs of screw tightening modules, and the two pairs of screw tightening modules share the forward and backward drive mechanism.

9. The automatic chassis clamping and assembly robot according to claim 8, characterized in that, The mounting base is a cubic frame structure with openings on the left and right sides. Two pairs of screw tightening modules are respectively installed on the left and right sides of the mounting base so that the synchronous beam can extend and pass through. The sliding mounting frame is a U-shaped frame with a vertically extending vertical frame and horizontal frames at the upper and lower ends of the vertical frame. The horizontal frames at the upper and lower ends are respectively guided and slidably engaged with the upper and lower frame surfaces of the cubic frame in the front and rear directions. The adjusting frame is installed on the vertical frame.

10. The automatic chassis clamping and assembly robot according to claim 9, characterized in that, The adjustment drive mechanism includes an adjustment motor and an annular transmission belt. The adjustment frame is fixedly connected to the annular transmission belt. When the adjustment motor drives the drive pulley to rotate, the annular transmission belt drives the adjustment frame to move up and down. The drive pulleys of the adjustment frames of the two screw tightening modules are coaxially connected to a synchronous transmission shaft so that the two drive pulleys rotate synchronously. The two screw tightening modules share the adjustment motor.

11. The automatic chassis clamping and assembly robot according to claim 10, characterized in that, The synchronous beam and the synchronous transmission shaft are arranged at an interval, one above the other.

12. The automatic chassis clamping and assembly robot according to claim 10, characterized in that, The vertical support is a rectangular frame, and the pulley and belt body of the annular transmission belt are both located within the frame holes of the rectangular frame.

13. An automatic clamping and assembly device, characterized in that, The invention includes a multi-degree-of-freedom robotic arm and a robotic hand mounted on the moving end of the multi-degree-of-freedom robotic arm, wherein the robotic hand is the automatic chassis clamping and assembly robotic hand as described in any one of claims 1-12.

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