An assembly apparatus for a robotic sweeper blade assembly

Abstract

The application relates to the technical field of assembling equipment, and particularly discloses an assembling equipment for a blade assembly of a sweeping robot, which comprises a base and a rotating workbench mounted on the base, a mounting groove is arranged at the edge of the rotating workbench, a plurality of positioning clamps are mounted in the mounting groove, a connecting assembly for being connected with the positioning clamps is mounted in the mounting groove, the connecting assembly comprises a control assembly and two groups of inserting blocks, one group of the inserting blocks is arranged close to the inner edge of the mounting groove and is connected with the control assembly, the other group of the inserting blocks is hinged close to the outer edge of the mounting groove, the control assembly is used for controlling the rotation of the group of the inserting blocks close to the inner edge of the mounting groove relative to the other group of the inserting blocks, and grooves matched with the inserting blocks are arranged in the bottom of the positioning clamps. The grooves can realize the quick positioning and stable clamping of the blade assembly of the sweeping robot. Meanwhile, the inserting blocks connected through magnetic attraction are matched with the grooves to drive the rotation of the control assembly, so that the positioning clamps are convenient and labor-saving to assemble and disassemble, and the connecting stability is high.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and more specifically to an assembly equipment for a sweeping robot blade assembly. Background Technology

[0002] With the widespread adoption of smart homes, robotic vacuum cleaners have become an essential cleaning tool for modern families. The cleaning efficiency of a robotic vacuum cleaner largely depends on the manufacturing quality of its core component—the blade assembly (or roller brush cutting assembly). Assembly is a crucial step in the production of the blade assembly, typically requiring the precise assembly of multiple parts such as metal blades, bearings, and supports. Insufficient assembly precision or unstable clamping can easily lead to problems such as abnormal noise, accelerated wear, or even breakage during subsequent use.

[0003] Chinese patent document CN111496525B discloses a device including a fixture, a wrench seat feeding assembly, a latch feeding assembly, a latch pressing assembly, a latch rotating assembly, a spring feeding assembly, a wrench feeding assembly, a spring feeding assembly, and a riveting assembly. The wrench seat feeding assembly feeds the wrench seat onto the fixture. The latch feeding assembly feeds the latch into the mounting groove of the wrench seat located on the fixture, with the latch's shaft hole aligned with a pin in the mounting groove. The latch pressing assembly presses down the latch after it has been fed into the mounting groove by the latch feeding assembly, causing the pin to pass through the shaft hole. The latch rotating assembly rotates the latch toward the slotted sidewall of the wrench seat after the latch pressing assembly presses it down, so that the latch and the wrench seat form a spring mounting groove.

[0004] Traditional rotary assembly equipment typically includes a base and a rotary table with multiple positioning fixtures arranged in a circular array on the table to hold parts in place. However, existing assembly equipment and fixture technologies suffer from the following major problems in practical applications:

[0005] Limited assembly angle and poor adaptability: Traditional positioning fixtures are usually fixed on the worktable in a horizontal position. However, the assembly of blade assemblies often involves the installation of components in multiple directions (such as side screw fastening, detection of specific angles, etc.). If the fixture cannot be repositioned, the assembly robot needs to have extremely high degrees of freedom and complex motion trajectories, which increases the cost and control difficulty of the actuator.

[0006] Complex tilting mechanisms and high maintenance costs: To address the aforementioned angle issues, some equipment uses independent servo motors or cylinders at each workstation to drive the fixture tilting. While this method enables angle adjustment, it results in extremely complex piping and wiring on the rotary table (requiring expensive and easily damaged conductive slip rings and rotary air connectors), and increases the weight and rotational inertia of the turntable, significantly raising the equipment's failure rate and maintenance costs.

[0007] Low fixture replacement efficiency: Different models of robotic vacuum cleaners require different blade assemblies. Existing positioning fixtures are mostly fixed to the worktable by bolts. When changing product models, it is necessary to manually disassemble and tighten the screws one by one, which takes a long time and seriously affects production efficiency.

[0008] Insufficient locking stability during flipping: Existing quick-change clamps (such as simple magnetic or spring clips) can maintain stability when stationary or horizontal, but when the clamp is flipped or tilted, due to gravity and the pressing / vibration forces during assembly, the clamp is prone to slight movement or detachment, leading to decreased assembly accuracy or even safety accidents. Currently, there is a lack of a mechanical structure that can achieve automatic and reliable locking during flipping without an external power source. Summary of the Invention

[0009] This invention provides an assembly device for the blade assembly of a sweeping robot, aiming to solve the problems of low clamp replacement efficiency and limited assembly angle in related technologies.

[0010] An assembly device for a robot vacuum cleaner blade assembly includes a base and a rotating worktable mounted on the base. The rotating worktable has an mounting groove at its edge, in which multiple positioning clamps are installed. A connecting assembly for connecting with the positioning clamps is also installed in the mounting groove. The connecting assembly includes a control component and two sets of inserts. One set of inserts is located near the inner edge of the mounting groove and connected to the control component, while the other set of inserts is hinged near the outer edge of the mounting groove. The control component controls the rotation of the insert set at the inner edge of the mounting groove relative to the other set of inserts. The bottom of the positioning clamp has a groove adapted to the inserts, and the inserts are magnetically connected to the groove. A first inclined groove is formed on the insert, and a second inclined groove is formed in the groove that mates with the first inclined groove. A locking block is slidably disposed in the first inclined groove. When the positioning clamp is horizontal, the insert is completely located within the first inclined groove. When the positioning clamp rotates, the first and second inclined grooves gradually tilt in the opposite direction, and one end of the insert enters the second inclined groove under gravity.

[0011] Its effects are as follows: First, the magnetic connection enables rapid pre-fixation of the positioning fixture, eliminating the need for bolts or other tools for initial positioning, significantly improving fixture change efficiency and adapting to the rapid changeover requirements of different blade assembly models. Second, the control component drives a set of insert blocks to rotate, causing the positioning fixture to rotate relative to another set of insert blocks, thereby changing the angle of the positioning fixture. This meets the multi-angle installation requirements of blade assemblies in different assembly processes, avoiding the problem of a single assembly angle caused by fixture fixation in traditional equipment, and reducing the requirements for the robot's degree of freedom and motion trajectory complexity. Third, when the positioning fixture rotates, the tilt direction of inclined slot one and inclined slot two changes, and the locking block slides from inclined slot one into inclined slot two under the action of gravity, realizing automatic mechanical locking of the positioning fixture in the flipped state. No additional external power source is required, improving the stability of the fixture in the flipped state and effectively preventing the fixture from micro-movement or falling off due to gravity and assembly forces, ensuring assembly accuracy and production safety. Meanwhile, compared to setting up independent servo motors or cylinders to drive the rotation at each workstation, this invention achieves clamp angle adjustment by cooperating with control components and structures such as ring tracks. This simplifies the layout of pipes and lines on the rotary worktable, reduces the equipment failure rate and maintenance costs, reduces the weight and rotational inertia of the turntable, and improves the stability and reliability of equipment operation.

[0012] Preferably, two magnets that can attract each other are respectively provided on the top of the insert block and the bottom of the slot, providing initial pre-positioning and attraction force. When the assembly equipment is in the horizontal loading stage, the magnets can quickly attract the positioning fixture, preventing it from shifting at the moment the equipment starts, and also providing an accurate position reference for the subsequent gravity locking action.

[0013] Preferably, the control component includes a drive rod, the top end of which is hinged to the insert block, the bottom end of which passes through the mounting groove and is located below the rotary table, and the drive rod and the mounting groove are hinged together by a connecting rod. A drive component for driving the drive rod to rise and fall is provided below the rotary table.

[0014] Preferably, the driving component includes an annular track fixedly mounted on the base. The bottom end of the driving component slides along the annular track, and the annular track has a rising section. When the bottom end of the driving component moves in the rising section, the driving rod gradually rises, causing the positioning fixture to rotate, thus achieving "passive" drive. By utilizing the rotation of the rotary table itself, in conjunction with the fixed annular track, the flipping angle of the fixtures at each workstation is automatically controlled. This design eliminates the need for a separate motor or cylinder at each workstation, as well as a complex slip ring conductive structure, greatly reducing the manufacturing cost and failure rate of the equipment, and achieving perfect synchronization between the workstation position and the flipping angle.

[0015] Preferably, the bottom end of the drive component is provided with two guide wheels that respectively clamp the upper and lower surfaces of the annular track.

[0016] Preferably, the circular track is composed of multiple detachable track modules, which improves the versatility and ease of maintenance of the equipment. If it is necessary to adjust the flipping angle or timing (e.g., change the inclination of a certain workstation), only the corresponding track module needs to be replaced, without replacing the entire track system; at the same time, when a section of track wears out, it can be replaced individually, reducing maintenance costs.

[0017] Preferably, the bottom of the insert block is detachably connected to a mounting base, which is hinged to the drive rod and the mounting groove, realizing a modular design. When the insert block is worn or needs to be adapted to clamp grooves of different sizes, only the insert block needs to be removed, without disassembling the complex connecting rod and drive rod mechanism.

[0018] Preferably, the upper surface of the mounting base has a rectangular array of positioning posts, the bottom of the insert block has evenly distributed insertion holes at equal intervals with the positioning posts, and the insert block is provided with a fixing component for locking the positioning posts.

[0019] Preferably, the positioning post is wider at the top and narrower at the bottom, and the fixing component includes grippers on both sides of the insert block. The bottom end of the grippers is adapted to the inclined side of the positioning post, realizing a modular design. The insert block, as a consumable or standard part, can be replaced independently through the mounting base. When the insert block is worn or needs to be adapted to a clamping groove of different size, only the insert block needs to be disassembled, without disassembling the complex connecting rod and drive rod mechanism.

[0020] Preferably, the top of the gripper is hinged to the top of the insert block. When the insert block is fully inserted into the groove, the groove fits against the outer surface of the gripper, and the gripper is in complete contact with the positioning post, achieving automatic locking. When the positioning clamp (groove) is inserted into the insert block, the inner wall of the groove presses against the outer surface of the gripper, forcing the gripper to retract inward and hold the positioning post tightly. As long as the positioning clamp is installed, the bottom connection structure will be automatically reinforced, eliminating the need for manual screw tightening or operation of additional latches, further simplifying the operation process and ensuring high reliability of the connection.

[0021] By adopting the above technical solution, the beneficial effects of the present invention are as follows: 1. A gravity-sensing self-locking assembly (sloping groove one, sloping groove two, and locking block) is designed between the insertion block and the positioning fixture. In a horizontal state, the locking block automatically retracts, allowing the fixture to be quickly inserted and removed using magnetic attraction. Once the fixture rotates with the worktable and tilts (flips), the locking block automatically slides out under its own gravity and locks into the locking hole of the positioning fixture, forming a rigid mechanical interlock. This design requires no external power source (such as cylinders or electromagnets), cleverly utilizing the principles of physics to completely eliminate the safety hazard of traditional magnetic fixtures easily falling off due to centrifugal force and vibration during flipping or high-speed rotation, greatly improving the operational reliability and safety of the equipment.

[0022] 2. Unlike existing technologies that use independent servo motors or tilting cylinders at each workstation, this invention utilizes a ring track fixed on the base in conjunction with the movement of the rotating worktable to convert horizontal rotational kinetic energy into vertical lifting kinetic energy, driving the fixture to tilt. At the same time, due to the deterministic nature of the mechanical structure, the tilting angle of the fixture is strictly synchronized with the workstation position, avoiding erratic movements caused by control system failures.

[0023] 3. The positioning fixture and connecting components are magnetically connected, and equipped with a precision-fitting insert structure. When producing different models of robot vacuum cleaner blade components, operators do not need to use tools to remove screws; they only need to overcome the magnetic force to remove the old fixture and replace it with the new one. This reduces the traditional minute-level mold changeover time to the second level, greatly improving the production line's flexible production capabilities.

[0024] 4. This invention incorporates a positioning post and a clamping jaw mechanism between the insert block and the mounting base. Utilizing the tapered shape of the positioning post (wider at the top and narrower at the bottom), the clamping jaws grip the positioning post when the insert block is compressed or subjected to assembly force, facilitating the replacement of the insert block's position and ensuring adaptability to different positioning fixtures. Attached Figure Description

[0025] Figure 1 This is a top view of the present invention.

[0026] Figure 2 This is a partial structural diagram of the rotary table in this invention.

[0027] Figure 3 This is a schematic diagram of the rotating worktable in this invention during rotation.

[0028] Figure 4 This is a cross-sectional view of the rotary table in this invention during rotation.

[0029] Figure 5 for Figure 4 A magnified structural diagram of point A in the middle.

[0030] Figure 6 This is a top view of the mounting base in this invention.

[0031] Figure 7 This is a cross-sectional view of the insert block in this invention.

[0032] Figure label: 1. Base; 2. Rotary worktable; 3. Mounting slot; 4. Positioning fixture; 41. Groove; 42. Inclined groove II; 5. Connecting assembly; 51. Control assembly; 511. Drive rod; 512. Guide wheel; 513. Track module; 52. Insert block; 521. Inclined groove I; 522. Locking block; 523. Mounting seat; 5231. Positioning post; 524. Clamping jaw. Detailed Implementation

[0033] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0034] like Figures 1-7 As shown, an assembly device for a sweeping robot blade assembly consists of a base 1, a rotating worktable 2, a mounting slot 3, a positioning fixture 4, a connecting assembly 5 (including a control assembly 51 and a set of insert blocks 52), a drive mechanism (including a drive rod 511, a ring track, and a guide wheel 512), and a mounting base 523 assembly for fixing the product.

[0035] The base 1 and rotary table 2 include a frame that stably supports the ground and a circular turntable mounted on top of the frame via a large slewing bearing. The rotary table 2 is driven by a servo motor and reducer, enabling intermittent rotational motion and providing a basic support platform for the entire automated assembly system. The heavy-duty structure of the base 1 ensures the stability of the equipment during high-speed operation, reducing the impact of vibration on assembly accuracy. As the core carrier for multi-station workflow, the rotary table 2 divides the circumference into multiple functional stations, including a loading area, assembly area, inspection area, and unloading area, enabling continuous production of the sweeping robot blade assembly from parts to finished product.

[0036] Mounting slots 3 are located at the edge of the rotary table 2 and include rectangular or trapezoidal through-holes / grooves 41 evenly distributed along the circumference of the table. The inner wall of each mounting slot 3 is machined and surface-hardened to withstand long-term mechanical wear. The mounting slot 3 serves as a receiving space for the connecting assembly 5 and the positioning fixture 4. It allows the lower drive mechanism to pass through the table surface and interact with the upper positioning fixture 4, while also facilitating operation by operators or robots around the perimeter of the table.

[0037] The connecting component 5 is installed in the mounting slot 3 and includes a control component 51 and two sets of plugs 52. The first set of inserts 52 is located on the side of the mounting groove 3 near the center (inner edge) and is connected to the control component 51; the second set of inserts 52 is located on the side of the mounting groove 3 near the outer circumference (outer edge) and is hinged in the mounting groove 3. The two sets of inserts 52 actually form part of a deformable four-bar linkage or hinge structure. The bottom of the positioning fixture 4 is provided with a groove 41 that matches the inserts 52. Both sets of inserts 52 are inserted into the groove 41. When the control component 51 is activated, the inserts 52 on the inner edge are lifted or pulled, while the inserts 52 on the outer edge rotate as a fulcrum, thereby causing the entire positioning fixture 4 to deflect (i.e. flip). A gravity self-locking mechanism is provided between the inserts 52 and the positioning fixture 4, which can lock the positioning fixture 4 and the inserts 52 when the positioning fixture 4 rotates. This split design of the inserts 52 simplifies the complex flipping motion to the relative displacement of two fulcrums, resulting in a compact structure and low failure rate.

[0038] High-strength magnets (such as neodymium iron boron magnets) are embedded in the top of the insert 52 and the bottom surface of the groove 41 (or the bottom surface of the slot), respectively. The magnets provide the initial attraction force. When the positioning fixture 4 is in a horizontal position for loading, the magnetic force is sufficient to resist slight vibration and centrifugal force, keeping the fixture from shifting. This replacement method shortens the changeover time.

[0039] The gravity self-locking mechanism includes an internal slide (sloping groove 1 521) opened on the side of the insert block 52 and a corresponding locking hole (sloping groove 2 42) opened on the inner wall of the groove 41 of the positioning fixture 4. A locking block 522 is installed in the sloping groove 1 521. The locking block 522 can slide freely in the groove but will not fall off. The design angle of the sloping groove 1 521 is crucial. It has a certain tilt angle relative to the horizontal plane. When the positioning fixture 4 is in a horizontal state, the high end of the sloping groove 1 521 faces the outside of the positioning fixture 4. The locking block 522 is located at the innermost side of the sloping groove 1 521 under its own gravity and is completely hidden inside the insert block 52. At this time, the insert block 52 and the groove 41 are only connected by magnetic force, which facilitates quick picking and putting away of the positioning fixture 4. When the control component 51 drives the inner edge of the insert block 52 to rise, causing the positioning clamp 4 to rotate around the outer edge of the insert block 52 to an inclined or vertical state, the entire insert block 52 and the positioning clamp 4 tilt synchronously, and the tilt direction of the inclined groove 1 521 changes accordingly. At this time, the locking block 522 slides along the inclined groove 1 521 to the bottom under the action of gravity. When the positioning clamp 4 rotates into position, the inclined groove 1 521 is exactly aligned with the inclined groove 2 42 in the groove 41, and one end of the locking block 522 slides smoothly into the inclined groove 2 42 under the drive of gravity, forming a mechanical interlock. This purely mechanical self-locking method does not require additional motors, cylinders or sensors, and relies entirely on the rotation angle of the positioning clamp 4 itself and the gravity of the locking block 522 to achieve automatic locking, which greatly improves the connection rigidity and stability of the positioning clamp 4 in the flipped state.

[0040] The control component 51 includes a drive rod 511 passing through the mounting slot 3. The top end of the drive rod 511 is hinged to the insert block 52, and the bottom end of the drive rod 511 extends below the rotary table 2. The drive rod 511 is constrained by the bottom of the mounting slot 3 or the lower surface of the table through a linkage mechanism, ensuring that its movement trajectory is basically vertical or follows a specific arc. A circular track (i.e., the drive component) is fixedly installed below the rotary table 2. This circular track does not rotate with the table but is fixed to the base 1. A roller assembly is installed at the bottom end of the drive rod 511. This roller assembly engages with or adheres to the guide surface of the circular track. Traditional flipping mechanisms require motors to be installed at each station, which is not only costly but also involves complex wiring. This invention utilizes the rotational motion of the table itself, using the rollers at the bottom end of the drive rod 511 to "climb" or "descend" on the circular track, converting the horizontal rotational motion into the vertical lifting motion of the drive rod 511, thus reducing maintenance costs and energy consumption.

[0041] The insert 52 is detachably connected to a mounting base 523, which is hinged to the drive rod 511 and the mounting groove 3. The upper surface of the mounting base 523 has a rectangular array of positioning posts 5231, each of which is a trapezoidal block wider at the top and narrower at the bottom. Correspondingly, the bottom of the insert 52 has evenly distributed circular insertion holes arranged to perfectly match the positioning posts 5231. To achieve quick locking and releasing between the insert 52 and the mounting base 523, clamps are symmetrically arranged on both sides of the insert 52. The fixing component is in the form of a claw 524. The inner side of the bottom end of the claw 524 is designed to perfectly match the sloping side of the positioning post 5231, which is wider at the top and narrower at the bottom. When the insert block 52 is placed on the mounting base 523 and the positioning post 5231 is inserted into the insertion hole, the sloping side of the claw 524 gradually contacts the sloping side of the positioning post 5231. The top of the claw 524 is hinged to both sides of the top of the insert block 52 through a micro-hinge structure, allowing the claw 524 to rotate around the hinge point at a certain angle. When the positioning clamp 4 is magnetically attracted to the insert block 52 and fully enters its bottom groove 41, the inner wall of the groove 41 will tightly fit against the outer side of the claw 524, thereby pressing the claw 524 inward. Under this squeezing action, the gripper 524 rotates inward around the top hinge, and its bottom inclined surface forms a tight surface contact with the inclined side of the positioning post 5231, generating a strong clamping force to firmly lock the insert 52 onto the mounting base 523. This design not only achieves a quick mechanical connection between the insert 52 and the mounting base 523, ensuring connection strength, but also allows the insert 52 to be easily removed from the positioning post 5231 of the mounting base 523 by simply lifting the positioning clamp 4 upward when it is in use. After the gripper 524 loses the constraint of the inner wall of the groove 41, it opens outward under its own elasticity, significantly improving the convenience and efficiency of replacing different models of positioning clamps 4.

[0042] The circular track consists of a horizontal section and an ascending section (and a corresponding descending section). The track is made of wear-resistant steel and designed with a modular assembly structure. This modular design allows for reconfigurable manufacturing processes. If the blade assembly of the next-generation robotic vacuum cleaner requires a 30-degree tilt assembly, only a section of track module 513 with a gentler slope needs to be replaced; if a 90-degree vertical assembly is required, then a section of track module 513 with a higher slope needs to be replaced. The ascending section, in conjunction with the roller trajectory, ensures that the clamp operates smoothly and without impact during rotation, preventing parts from flying off due to excessive acceleration.

[0043] The bottom end of the drive unit is hinged to a guide wheel 512 seat, which has two rollers that respectively clamp the upper and lower surfaces of the annular track (as described in claim 5). This "clamping" or "rail-hugging" design provides bidirectional constraint. When the drive rod 511 needs to rise (flip), the lower roller is supported by the upper surface of the track; when the drive rod 511 needs to be forcibly reset (pulled back to horizontal), the upper roller is pressed by the lower surface of the track. This avoids the jamming phenomenon that may occur when resetting by gravity alone, ensuring that the angle of the clamp is strictly controlled by the track trajectory under any working condition, and eliminating jumping during the flipping process.

[0044] The positioning clamp 4 and its bottom groove 41 include a fixture body for carrying the robot vacuum cleaner blade assembly. The bottom of the body has a groove 41 of a specific shape, the size of which is closely matched with the shape of the aforementioned insert 52. The engagement of the groove 41 and the insert 52 enables the clamp to be quickly positioned. The operator does not need to use a screwdriver; they only need to align the clamp with the insert 52 and press it down.

[0045] Horizontal state (unlocked state): When the fixture is placed horizontally, the angle of the inclined groove 521 causes the locking block 522 to slide into the depth of the insertion block 52 under its own gravity (retracted state). At this time, the locking block 522 does not protrude from the surface of the insertion block 52 and does not affect the insertion and removal of the fixture.

[0046] Tilt state (locked state): When the worktable rotates, the drive rod 511 pushes up the insert block 52, causing the fixture to flip, and the angle of the entire mechanism changes. When the flip angle exceeds the critical value, the tilt direction of the first groove 521 changes (or becomes more conducive to sliding), and the locking block 522 slides down under the action of gravity, directly inserting into the second groove 42 (locking hole) of the positioning fixture 4. At this time, a rigid mechanical connection (i.e., "pin" effect) is formed between the insert block 52 and the fixture. Even if the magnet fails at this time, or a huge lateral force is applied during assembly, the fixture will never fall off.

[0047] Reset process: When assembly is complete, drive rod 511 descends, clamp returns to level, sloping groove 521 returns to its initial angle, and locking block 522 automatically retracts under gravity, unlocking the clamp and allowing material to be unloaded or replaced.

[0048] This device cleverly utilizes the principle of gravitational force in physics, achieving the intelligent function of "locking upon flipping and unlocking upon returning to flat" without the need for any springs, cylinders, or electromagnets, completely solving the pain point of unsafe flipping in traditional magnetic clamps.

[0049] Working principle: The working process of this assembly equipment is a continuous, closed-loop, and highly automated mechanical cycle, which can be divided into the following detailed stages: Phase 1: Horizontal loading and magnetic positioning; After the equipment is started, the rotary table 2 operates at low speed or in an intermittent stepping state. In the initial position (loading station), the outline of the circular track is in the low horizontal section. At this time, the drive rod 511 is at its lowest point under the constraint of its own weight and the guide wheel 512, and drives the connecting component 5 in the mounting groove 3 to a horizontal position through the linkage mechanism.

[0050] The operator or automatic feeding robot holds the blade holder to be assembled and places it on the positioning fixture 4. Then the rotating worktable 2 rotates to other stations and puts the metal blade into the blade holder.

[0051] Phase Two: Rotational Transfer and Passive Flipping; After the material is loaded, the rotating worktable 2 drives the fixture of this station to rotate to the next process (such as the side screw fastening station).

[0052] As the worktable rotates, the guide wheel 512 at the bottom of the drive rod 511 begins to contact the "rising section" of the annular track on the base 1. As the track height gradually increases, the guide wheel 512 is forced to move upward, pushing the drive rod 511 to rise vertically.

[0053] The lifting force of the drive rod 511 is transmitted to a set of inserts 52 on the inner edge through the hinge at the top. Since the set of inserts 52 on the outer edge is hinged and fixed, the entire connecting assembly 5 begins to flip and tilt upward with the outer edge as the fulcrum.

[0054] During this process, the positioning clamp 4 fits tightly against the insert block 52 and simultaneously rotates at an angle. For example, it gradually rotates from a 0-degree horizontal position to 45 degrees or 90 degrees to expose the side mounting holes of the robot vacuum cleaner blade assembly.

[0055] Phase 3: Activation of the gravity self-locking mechanism This is the key operational stage of the invention. As the rotation angle of the positioning fixture 4 continues to increase, the tilt angle of the "sloping groove 521" inside the insertion block 52 relative to the ground also changes in real time.

[0056] When the tilt angle reaches a preset critical value (e.g., tilting more than 15 or 20 degrees), the spatial orientation of the inclined groove 521 changes, causing the component of gravity in the inclined groove direction to reverse or exceed the frictional force. The originally retracted locking block 522 slides downward along the inclined groove 521 under the action of gravity (at this time, "downward" is relative to the direction of gravity, but in the mechanism coordinate system, it slides outward).

[0057] Lock block 522 slides out of the surface of insert block 52 and inserts into the inclined groove 42 preset in the inner wall of the groove 41 of positioning fixture 4.

[0058] At this point, the locking block 522 spans between the insert block 52 and the positioning clamp 4, forming a solid metal pin connection. Even if a large external force attempts to pull out the clamp, or if the magnet suddenly fails, the locking block 522 will remain locked within the inclined groove 42, preventing the clamp from disengaging through mechanical shearing force. This locking is purely physical and automatic, and as the tilt angle increases, the locking block 522 typically slides deeper, resulting in a more secure lock.

[0059] Phase 4: Assembly When the worktable rotates to the assembly station, the circular track enters the high horizontal section, keeping the height of the drive rod 511 unchanged, so that the positioning fixture 4 is stably held at a specific angle (such as 60 degrees) after flipping.

[0060] At this time, an external automatic screw machine or assembly robot performs operations on the side of the robot vacuum cleaner blade assembly (such as pressing in pins, tightening side fixing screws, etc.).

[0061] Thanks to the rigid locking of the gravity slider and the auxiliary positioning of the gripper 524, the fixture remains motionless when subjected to axial pressure (such as the downward pressure of a screwdriver) and radial torque, ensuring extremely high assembly accuracy (positional error can be controlled within ±0.05mm).

[0062] Phase 5: Reset and Unlock After assembly, the worktable continues to rotate, and guide wheel 512 enters the "descending section" of the circular track.

[0063] Under the influence of gravity and the pressure roller (if present) above the guide wheel 512, the drive rod 511 descends smoothly. The inner edge insert 52 descends accordingly, causing the positioning clamp 4 to begin rotating in the opposite direction, gradually returning from an inclined state to a horizontal state.

[0064] As the angle returns to its normal position, the orientation of the inclined groove 521 inside the insert block 52 also returns to normal. When the angle is less than the critical value, the component of gravity reverses again, and the locking block 522 slides back into the insert block 52 along the inclined groove 521 under its own gravity, disengaging from the inclined groove 42.

[0065] At this point, the mechanical self-locking is released, and the positioning fixture 4 is attracted by magnetic force alone.

[0066] Phase 6: Material preparation and model changeover The worktable rotates to the unloading area, and positioning fixture 4 is now fully horizontal and unlocked. The robotic arm or a worker removes the assembled finished product and inserts a new part for the next cycle.

[0067] If different models of robot vacuum cleaner blades need to be produced, simply replace the positioning clamp 4 with a different inner cavity shape, or disassemble the mounting base 523 and replace the positioning column 5231 layout. The entire line change process does not require tools to remove screws, which greatly improves the equipment utilization rate.

[0068] In summary, this embodiment solves many problems existing in the prior art through mechanical structure design: By utilizing a circular track and linkage mechanism, passive rotation without motor drive is achieved, simplifying the structure and reducing costs; By utilizing magnetic connections, the fixtures can be changed in seconds, thus improving production efficiency. By utilizing a gravity slider (with inclined groove), a passive safety mechanism of "tilting and locking" is creatively realized, which solves the problem of poor reliability of magnetic clamps under flipping conditions; By utilizing the linkage between the positioning pin 5231 and the gripper 524, automatic high-precision positioning of the workpiece is achieved.

[0069] The organic combination of these technical features makes this assembly equipment particularly suitable for the production of complex products such as robot vacuum cleaner blade assemblies, which require multi-angle assembly and are produced in large quantities, giving it extremely high industrial application value.

[0070] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An assembly device for a robot vacuum cleaner blade assembly, comprising a base and a rotating worktable mounted on the base, wherein the rotating worktable has an mounting groove at its edge, and a plurality of positioning fixtures are mounted in the mounting groove, characterized in that, The mounting slot is equipped with a connecting assembly for connecting to the positioning fixture. The connecting assembly includes a control assembly and two sets of inserts. One set of inserts is located near the inner edge of the mounting slot and is connected to the control assembly. The other set of inserts is hinged near the outer edge of the mounting slot. The control assembly controls the rotation of the insert set at the inner edge of the mounting slot relative to the other set of sliders. The bottom of the positioning fixture has a groove that matches the inserts, and the inserts and grooves are magnetically connected. The inserts have a first inclined groove, and the groove has a second inclined groove that can mate with the first inclined groove. A locking block is slidably installed in the first inclined groove. When the positioning fixture is in a horizontal state, the inserts are completely located in the first inclined groove. When the positioning fixture rotates, the first and second inclined grooves gradually tilt in the other direction, and one end of the insert enters the second inclined groove under the action of gravity.

2. The assembly equipment for the sweeping robot blade assembly according to claim 1, characterized in that, Two magnets that can attract each other are respectively provided on the top of the insert and the bottom of the slot.

3. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 1, characterized in that, The control component includes a drive rod, the top end of which is hinged to the insert block, and the bottom end of which passes through the mounting groove and is located below the rotary table. The drive rod and the mounting groove are hinged together by a connecting rod. A drive component for driving the drive rod to rise and fall is provided below the rotary table.

4. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 3, characterized in that, The driving component includes an annular track fixedly mounted on the base. The bottom end of the driving component slides along the annular track. The annular track is provided with a rising section. When the bottom end of the driving component moves in the rising section, the driving rod gradually rises to rotate the positioning clamp.

5. The assembly equipment for the sweeping robot blade assembly according to claim 4, characterized in that, The bottom of the drive unit is provided with two guide wheels that respectively clamp the upper and lower sides of the annular track.

6. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 4, characterized in that, The circular track is composed of multiple detachable and connectable track modules.

7. The assembly equipment for the sweeping robot blade assembly according to claim 3, characterized in that, The bottom of the insert is detachably connected to a mounting base, which is hinged to the drive rod and the mounting slot.

8. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 7, characterized in that, The upper surface of the mounting base has a rectangular array of positioning posts, and the bottom of the insert block has insertion holes evenly spaced from the positioning posts. The insert block is provided with a fixing component for locking the positioning posts.

9. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 8, characterized in that, The positioning post is wider at the top and narrower at the bottom, and the fixing component includes grippers on both sides of the insertion block, with the bottom end of the grippers matching the inclined side of the positioning post.

10. The assembly equipment for the robot vacuum cleaner blade assembly according to claim 9, characterized in that, The top of the gripper is hinged to the top of the insert block. When the insert block is fully inserted into the groove, the groove fits against the outer side of the gripper, and the gripper is in full contact with the positioning post.

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