Robot joint shell flexible grabbing and automatic assembly equipment

Abstract

The application discloses a kind of robot joint shell flexible grabbing and automatic assembly equipment, it is related to automatic assembly equipment technical field, including mechanical arm, multiple clamps, the fixed mounting of mechanical arm end is provided with fixed box, driving assembly is arranged on the fixed box, positioning assembly is arranged in the fixed box, the driving assembly includes servo motor fixedly installed on fixed box.Occupation in to assist shell assembly process, by the asymmetric triangle layout between multiple clamps, the stability of the equipment to shell clamping and subsequent auxiliary shell assembly can be effectively improved, while through damping component, the deflection friction damping force of equipment to shell can be adaptively increased according to the reaction force of assembly shell, effectively inhibit the deflection and displacement trend of shell in press fitting, nesting and other processes due to assembly reaction force, improve the stability and assembly effect of equipment auxiliary shell assembly.

Description

Technical Field

[0001] This invention relates to the field of automated assembly equipment technology, and in particular to a robot joint shell flexible gripping and automated assembly equipment. Background Technology

[0002] Robot joint housings are the core load-bearing structural components of joint modules for industrial robots and humanoid robots. Inside, precision transmission components such as reducers, motors, and bearings need to be assembled sequentially. Currently, the robot industry is rapidly developing towards lightweighting, high assembly precision, and mass production. Developing dedicated automated assembly equipment for joint housings has become a core piece of equipment for improving production efficiency and ensuring product assembly consistency. In this automated assembly equipment, flexible gripping fixtures undertake the key functions of gripping, handling, positioning, and assisting assembly of the housings. They are the core execution unit connecting upstream material supply and downstream precision assembly. However, existing flexible gripping fixtures generally suffer from a constant clamping force during the assembly of auxiliary housings. Currently, commonly used pneumatic or electric grippers mostly use a preset constant clamping force to grip the housing. This clamping force can meet the requirements during the gripping and handling of the housing, but when the fixture assists the housing in assembly processes such as pressing and fitting, the reaction force generated by the assembly action will be transmitted through the housing to the contact surface between the fixture and the housing. Since the clamping force is constant, the maximum static friction between the fixture and the housing is a fixed value. When the assembly reaction force exceeds this upper limit of friction, the housing will experience a slight slippage relative to the fixture, which will lead to accuracy problems such as assembly datum offset, affecting the final assembly quality of the joint module. To address this issue, we propose a flexible gripping and automatic assembly device for robot joint housings. Summary of the Invention

[0003] The purpose of this invention is to solve the problems mentioned in the background art by providing a flexible gripping and automatic assembly device for robot joint shells.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A flexible gripping and automatic assembly device for robot joint shells includes a robotic arm and multiple grippers. A fixing box is fixedly installed on the end of the robotic arm. A drive component is provided on the fixing box, and a positioning component is provided inside the fixing box. The drive assembly includes a servo motor fixedly mounted on a fixed box. A drive shaft is fixedly mounted on the drive end of the servo motor. Two reciprocating lead screws are mounted on the drive shaft via two one-way bearings. The threads of the two reciprocating lead screws are in opposite directions. Sliding rings are mounted on both reciprocating lead screws via ball nuts. Support plates are fixedly mounted on both sliding rings. A damping assembly is provided between the two support plates. The damping assembly includes two fixed plates that pass through and slide on the right support plate. A locking component is installed between the two fixed plates and the right support plate. Ball seats are fixedly installed on the inner walls of the left support plate and the two fixed plates. Ball pins are rotatably installed on each ball seat, and each ball pin is fixedly connected to a corresponding clamp. A blocking mechanism is installed between the ball pins.

[0005] In the above-mentioned flexible gripping and automatic assembly equipment for robot joint housing, the engaging component includes multiple engaging holes formed on the right support plate, telescopic rods are fixedly installed on both fixed plates, and two locking rods are fixedly installed on each of the two telescopic rods.

[0006] In the aforementioned flexible gripping and automatic assembly equipment for robot joint housings, the obstruction mechanism includes locking rings fixedly installed on the left support plate and two fixed plates respectively, and ball pins are rotatably installed on the corresponding locking rings. Friction rollers evenly distributed in a ring are fixedly installed on each ball pin. Conical friction pads that cooperate with the corresponding friction rollers are fixedly installed on the inner wall of each locking ring. A spring-loaded component is installed between the ball pins.

[0007] In the above-mentioned flexible gripping and automatic assembly equipment for robot joint housings, the spring-loaded component includes discs respectively fixedly mounted on ball joint pins, and compression springs are fixedly mounted on the inner walls of the left support plate and the two fixed plates, with one end of each compression spring fixedly connected to the corresponding disc.

[0008] In the above-mentioned flexible gripping and automatic assembly equipment for robot joint housing, the positioning component includes sliding grooves respectively opened on two support plates, a bidirectional telescopic plate is slidably installed between the two sliding grooves, a limiting component is installed on the bidirectional telescopic plate, a pushing component is installed between the bidirectional telescopic plate and the fixed box, and an air guiding component is installed on the fixed box.

[0009] In the above-mentioned flexible gripping and automatic assembly equipment for robot joint housings, the limiting component includes multiple limiting tubes that are sealed through and fixedly installed on a bidirectional telescopic plate. Each clamp has a circular hole that mates with the corresponding limiting tube, and each clamp has an elastic sealing component that mates with the corresponding circular hole installed on its inner wall.

[0010] In the above-mentioned flexible gripping and automatic assembly equipment for robot joint housings, the pushing component includes a round rod fixedly installed on the inner wall of the fixed box. A connecting plate is sealed through and slidably installed on the round rod, and one end of the connecting plate is fixedly connected to a bidirectional telescopic plate. A plate body is fixedly installed on the other end of the connecting plate, and an eccentric wheel is installed on the drive shaft through a one-way bearing.

[0011] In the aforementioned flexible gripping and automatic assembly equipment for robot joint housings, the air guiding component includes a partition fixedly installed on the inner wall of a fixed box. A telescopic cylinder is fixedly connected to the partition, and the fixed end of the telescopic cylinder is sealed through and fixedly installed on the partition. A fan is installed on the robotic arm, and an air supply pipe is fixedly connected to the fan. A conduit is fixedly connected between the air supply pipe and the fixed box. Each clamp is fixedly connected to suction cups that are linearly and evenly distributed, and each clamp is equipped with an exhaust valve.

[0012] Compared with existing technologies, the advantages of this invention are: 1. In the auxiliary housing assembly process, the present invention uses a drive component in conjunction with a clamp and a suction cup to adsorb and hold the housing. The asymmetrical triangular layout of multiple clamps can effectively improve the stability of the device in holding the housing and in subsequent auxiliary housing assembly. At the same time, the locking component can adaptively adjust the spacing between two adjacent clamps according to the size, shape characteristics or center of gravity of the housing, thereby helping to improve the clamping compatibility of the device with different types of joint housings.

[0013] 2: In the process of assembling the auxiliary housing, the present invention uses a damping component to increase the deflection friction damping force of the equipment on the housing according to the reaction force of the assembled housing. This can generate a progressive damping constraint that matches the stress condition at the moment the assembly reaction force appears, effectively suppressing the deflection and displacement trend of the housing caused by the assembly reaction force in the pressing, fitting and other processes, and improving the stability and assembly effect of the auxiliary housing assembly. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of a flexible gripping and automatic assembly device for robot joint shells proposed in this invention; Figure 2 for Figure 1 A schematic diagram of the structure after rotating a local component by a certain angle; Figure 3 for Figure 2 A schematic diagram of the structure of the fixed box after it has been rotated at a certain angle; Figure 4 for Figure 3 A frontal view of the central fixing box after sectional view; Figure 5 for Figure 4 A three-dimensional schematic diagram of the internal components of the central fixing box; Figure 6 for Figure 5 A schematic diagram of the structure of the central drive shaft and its local components after rotating at a certain angle; Figure 7 for Figure 6 A schematic diagram of the structure after the two fixed plates and their components are rotated at a certain angle; Figure 8 for Figure 7 Top view of a partial component after cross-section; Figure 9 for Figure 7 A cross-sectional view of the middle support plate after it has been rotated at a certain angle; Figure 10 for Figure 5 A schematic diagram of the positioning component; Figure 11 for Figure 10 Schematic diagram of the middle pushing component; Figure 12 for Figure 11 A schematic diagram of the structure of part A; Figure 13 for Figure 5 A frontal view of the cross-section of the intermediate damping component; Figure 14 for Figure 13 A three-dimensional schematic diagram of a partial component.

[0015] In the diagram: 1. Robotic arm; 2. Exhaust fan; 3. Air supply pipe; 4. Fixing box; 5. Conduit; 6. Drive assembly; 61. Servo motor; 62. Drive shaft; 63. Reciprocating lead screw; 64. Sliding ring; 65. Support plate; 66. Slide groove; 67. Fixing plate; 68. Engaging hole; 69. Telescopic rod; 610. Locking rod; 7. Partition; 8. Positioning assembly; 81. Eccentric wheel; 82. Round rod; 83. Connecting plate; 84. Plate body; 85. Telescopic cylinder; 86. Two-way telescopic plate; 87. Exhaust valve; 88. Limiting tube; 89. Round hole; 810. Elastic sealing component; 9. Damping assembly; 91. Locking ring; 92. Ball seat; 93. Compression spring; 94. Disc; 95. Ball pin; 96. Friction roller; 97. Conical friction pad; 10. Fixture; 11. Suction cup. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Reference Figures 1-14A flexible gripping and automatic assembly device for robot joint shells includes a robotic arm 1 and multiple grippers 10. A fixing box 4 is fixedly installed on the end of the robotic arm 1. A drive component 6 is provided on the fixing box 4, and a positioning component 8 is provided inside the fixing box 4.

[0018] The drive assembly 6 includes a servo motor 61 fixedly mounted on the fixed box 4. A drive shaft 62 is fixedly mounted on the drive end of the servo motor 61. Two reciprocating lead screws 63 are mounted on the drive shaft 62 through two one-way bearings. The threads of the two reciprocating lead screws 63 are opposite. A sliding ring 64 is mounted on each of the two reciprocating lead screws 63 through ball nuts. A support plate 65 is fixedly mounted on each of the two sliding rings 64. A damping assembly 9 is provided between the two support plates 65.

[0019] The positioning component 8 includes grooves 66 respectively formed on two support plates 65. A bidirectional telescopic plate 86 is slidably installed between the two grooves 66. (The purpose of adding grooves 66 between the bidirectional telescopic plate 86 and the two support plates 65 is that when the two support plates 65 are subjected to forces that bring them closer or further apart, the tension or compression force applied to the two ends of the bidirectional telescopic plate 86 by the grooves 66 on the support plates 65 can cause the two ends of the bidirectional telescopic plate 86 to move closer or further apart synchronously. This allows the upper limit tube 88 of the bidirectional telescopic plate 86 to move synchronously with the two support plates 65. In addition, when the bidirectional telescopic plate 86 is subjected to forces along...) Figure 10 When the direction moves up and down, the sliding grooves 66 on the two support plates 65 can facilitate the bidirectional telescopic plate 86 to drive multiple limit tubes 88 to move up and down relative to the two support plates 65. Limiting components are installed on the bidirectional telescopic plate 86, and a pushing component is installed between the bidirectional telescopic plate 86 and the fixed box 4. An air guiding component is installed on the fixed box 4.

[0020] The limiting components include multiple limiting tubes 88 that are sealed through and fixedly installed on the bidirectional telescopic plate 86. Each clamp 10 has a circular hole 89 that mates with the corresponding limiting tube 88. Each clamp 10 has an elastic sealing element 810 installed on its inner wall that mates with the corresponding circular hole 89. Figure 12 It can be seen that each elastic sealing element 810 consists of a fixed rod, a sealing disc, and a return spring. The fixed rods are all fixedly installed on the inner wall of the corresponding clamp 10, the sealing discs are all rotatably installed on the corresponding fixed rods, and the return springs are all fixedly installed between the corresponding sealing discs and the clamp 10. Initially, each elastic sealing element 810 is in the open state, and the return springs are all compressed and stored.

[0021] The pushing component includes a round rod 82 fixedly installed on the inner wall of the fixed box 4. A connecting plate 83 is sealed through and slidably installed on the round rod 82. One end of the connecting plate 83 is fixedly connected to the bidirectional telescopic plate 86, and a plate body 84 is fixedly installed on the other end of the connecting plate 83 (in conjunction with...). Figure 11It can be seen that the connecting plate 83, the plate body 84 and the bidirectional telescopic plate 86 are all hollowed out and interconnected. An eccentric wheel 81 is installed on the drive shaft 62 through a one-way bearing.

[0022] The air guiding component includes a partition 7 fixedly installed on the inner wall of the fixed box 4, a telescopic cylinder 85 fixedly connected to the plate body 84, and the fixed end of the telescopic cylinder 85 is sealed through and fixedly installed on the partition 7. A fan 2 is installed on the robotic arm 1 (the specific working principle and composition of the fan 2 are all existing conventional technologies, so they will not be further described here). An air supply pipe 3 is fixedly connected to the fan 2. A conduit 5 is fixedly connected between the air supply pipe 3 and the fixed box 4. All clamps 10 are fixedly connected to suction cups 11 that are linearly and evenly distributed. All clamps 10 are equipped with exhaust valves 87.

[0023] When the device is needed to grip the robot joint housing and assist in the assembly of the robot joint housing (hereinafter referred to as "housing"), the robotic arm 1 is started first. The operation of the robotic arm 1 can adjust the position of the fixing box 4 and multiple clamps 10 according to the placement position of the housing, until the fixing box 4 is directly above the housing and the housing is in the center of the multiple clamps 10. Then the servo motor 61 is started in the forward direction. At this time, the operation of the servo motor 61 can drive the two reciprocating screws 63 to rotate through the cooperation of the drive shaft 62 and two one-way bearings (at this time, the one-way bearings are in a rotatable state, so the drive shaft 62 will not drive the eccentric wheel 81 to rotate together through the one-way bearings).

[0024] Since the threads of the two reciprocating lead screws 63 are turned in opposite directions, when the two reciprocating lead screws 63 are rotated under force, they will drive the corresponding sliding rings 64 and support plates 65 to move towards each other. As the two support plates 65 are brought closer to each other under force, the thrust applied to the corresponding clamps 10 by the two support plates 65 in cooperation with the corresponding damping mechanism and the limiting tube 88 can push multiple clamps 10 to move closer to each other until the suction cups 11 on the clamps 10 are compressed and tightly attached to the surface of the housing.

[0025] As the multiple clamps 10 and multiple suction cups 11 gradually approach the housing under force, the exhaust fan 2 is activated. The operation of the exhaust fan 2 will first remove dust and other impurities from the position of the suction cups 11 facing the housing by passing through the air supply pipe 3, the fixed box 4, the telescopic cylinder 85, the plate 84, the connecting plate 83, the bidirectional telescopic plate 86, the limiting pipe 88, the clamps 10, and the suction cups 11 (the initial limiting pipe 88 is set to have its air inlet end, i.e., the end of the limiting pipe 88 away from the bidirectional telescopic plate 86 is located inside the corresponding clamp 10, and the elastic sealing parts 810 are all in the open state). This can help improve the stability of the subsequent clamps 10 and multiple suction cups 11 in adsorbing and holding the housing, and improve the stability of the subsequent housing displacement and auxiliary housing assembly of the equipment.

[0026] After the multiple suction cups 11 are compressed and tightly adhered to the surface of the housing, the continuous operation of the exhaust fan 2 will draw air from the inner cavity of the suction cups 11 through the air passage connecting the air supply pipe 3 and the suction cups 11 until a sufficient pressure difference is formed inside and outside the suction cups 11, so that the housing reaches a stable clamping state under the combined adsorption of the multiple suction cups 11, thus completing the adsorption and clamping of the housing by the equipment.

[0027] At the same time, combined Figure 5 As can be seen, the multiple clamps 10 are arranged in an asymmetrical triangular pattern. Compared with the traditional symmetrical two-finger clamping scheme, this layout constructs a stable spatial support surface through three non-collinear clamping points. This effectively resists the tendency of the housing to flip or tilt in any direction during the handling of the housing. Especially for irregularly shaped housings such as joint housings, whose center of gravity may deviate from the geometric center, the envelope area formed by the three points can contain its center of gravity, avoiding shaking or overturning during handling. This helps to improve the stability of the equipment in clamping the housing and subsequent auxiliary housing assembly. In addition, this asymmetrical design allows the equipment to choose to avoid the weak or interference parts of the housing according to its shape characteristics, and instead clamp the stronger areas such as flanges and bosses on the housing. This ensures the stability of the equipment in gripping the housing while improving the versatility of the clamps 10 in clamping housings of different specifications. Furthermore, the dispersion of clamping force by the three clamping points can also reduce the pressure at a single contact point, avoiding the risk of local deformation caused by stress concentration on thin-walled housings, and providing a stable and reliable positioning basis for subsequent precision assembly.

[0028] Reference Figures 4-9 The damping assembly 9 includes two fixed plates 67 that pass through and slide on the right support plate 65. A locking component is installed between the two fixed plates 67 and the right support plate 65. Ball seats 92 are fixedly installed on the inner walls of the left support plate 65 and the two fixed plates 67 (refer to left and right positions in this specification). Figure 5 (The perspective is defined as follows: the side of the reciprocating screw 63 is the right side, and the side of the servo motor 61 is the left side.) Ball pins 95 are rotatably mounted on the ball seat 92, and the ball pins 95 are fixedly connected to the corresponding clamps 10. A blocking mechanism is installed between the ball pins 95.

[0029] The engaging component includes multiple engaging holes 68 on the right support plate 65, telescopic rods 69 fixedly installed on both fixed plates 67, and two locking rods 610 fixedly installed on each of the two telescopic rods 69.

[0030] Before clamping the housing, the spacing between the two clamps 10 on the left side can be adjusted according to the housing's size, shape, or center of gravity position (e.g., Figure 5(As shown in the direction), if it is necessary to increase the adaptability of the spacing between two adjacent clamps 10, the telescopic rod 69 on the right fixed plate 67 can be stretched first (e.g., Figure 8 (In the direction shown), disengage the two locking rods 610 on the fixed end of the telescopic rod 69 on this side from the corresponding engaging holes 68, and then push the fixing plate 67 to the right as needed. After the fixing plate 67 and the clamp 10 on this side move to the appropriate position, compress the telescopic rod 69 on this side again until the two locking rods 610 on the telescopic rod 69 on this side re-engage and insert into the corresponding engaging holes 68. This completes the displacement of the right fixing plate 67 and the clamp 10 and fixes the position after displacement. Then repeat the above operation on the left fixing plate 67 to move the left fixing plate 67 and the clamp 10 to the left to the appropriate position. This allows for adaptive adjustment of the positions of the two adjacent clamps 10 as needed, which helps to further increase the clamping compatibility of the equipment with different models of joint housings and improve the applicability of the equipment.

[0031] Reference Figures 3-6 , Figures 10-14 The blocking mechanism includes locking rings 91 fixedly installed on the left support plate 65 and two fixed plates 67 respectively, and ball pins 95 are rotatably installed on the corresponding locking rings 91. Friction rollers 96 evenly distributed in a ring are fixedly installed on the ball pins 95. Conical friction pads 97 that cooperate with the corresponding friction rollers 96 are fixedly installed on the inner wall of the locking rings 91. A spring-loaded component is installed between the ball pins 95.

[0032] The rebound component includes a disc 94 fixedly mounted on a ball head pin 95. A compression spring 93 is fixedly mounted on the inner wall of the left support plate 65 and the two fixing plates 67, and one end of the compression spring 93 is fixedly connected to the corresponding disc 94.

[0033] Multiple clamps 10 and multiple suction cups 11 work together to adsorb and hold the housing, and move the housing to a suitable position. Before assembling the housing, the servo motor 61 is started in reverse. At this time, the operation of the servo motor 61 will drive the eccentric wheel 81 to rotate through the cooperation of the drive shaft 62 and the one-way bearing (at this time, both one-way bearings are in a rotatable state, so the drive shaft 62 cannot drive the two reciprocating screws 63 to rotate through the one-way bearings). The thrust applied by the rotation of the eccentric wheel 81 to the plate 84 can push the plate 84 upward (along the direction of rotation). Figure 10 direction shown).

[0034] When plate 84 is subjected to force and moves upward (along...) Figure 11(In the direction shown), the bidirectional telescopic plate 86 is pulled upward by the cooperation of the plate 84 and the connecting plate 83. This can drive the bidirectional telescopic plate 86 and the multiple limiting tubes 88 fixed on it to move upward synchronously until the multiple limiting tubes 88 are disengaged from the round holes 89 on the corresponding clamps 10. A certain distance is formed between the lower end of the limiting tube 88 and the clamp 10 (this distance is used to provide clearance space for the subsequent movement of the clamp 10 and avoid the limiting tubes 88 interfering with the displacement of the clamp 10).

[0035] Furthermore, during the upward movement of multiple limit tubes 88 driven by the bidirectional telescopic plate 86, the elastic driving force released by the reset spring on the corresponding elastic sealing component 810 will drive the sealing disc on the elastic sealing component 810 to rotate and reset, thereby sealing the corresponding round hole 89. This ensures that after the bidirectional telescopic plate 86 drives multiple limit tubes 88 to detach from the corresponding clamp 10, the multiple suction cups 11 on the clamp 10 will cooperate to adsorb the housing, thus ensuring the effect of assembling the auxiliary housing of the equipment.

[0036] When multiple clamps 10 and suction cups 11 work together to hold the housing and assist it in assembly processes such as pressing and fitting, the assembly actions (such as bearing pressing, shaft hole interference fit, etc.) will generate a reaction force on the housing. This reaction force will be transmitted to the ball head pin 95 through the housing, suction cups 11 and clamps 10. When the reaction force generated by the housing assembly exceeds the initial friction force between the friction roller 96 and the corresponding conical friction pad 97 on the ball head pin 95, the housing will be driven by the force to deflect the suction cups 11, clamps 10 and ball head pin 95 relative to the corresponding ball seat 92 and locking ring 91.

[0037] When the housing is subjected to assembly reaction force, and the reverse drive clamp 10 and ball pin 95 deflect relative to the corresponding ball seat 92 and locking ring 91, the ball pin 95 will drive multiple friction rollers 96 on it to deflect synchronously relative to the corresponding conical friction pad 97. During this process, as the gap between the conical surface of the conical friction pad 97 and the friction roller 96 gradually decreases along the deflection direction, the normal pressure and friction between the friction roller 96 and the corresponding conical friction pad 97 will increase as the clamp 10 and ball pin 95 cooperate to drive the friction roller 96 to deflect, and decrease as the deflection decreases.

[0038] This positive feedback mechanism results in greater frictional damping between the friction roller 96 and the conical friction pad 97 when the assembly reaction force is greater and the deflection angle of the ball pin 95 is greater. This creates a gradually stronger suppression effect on the further deflection of the ball pin 95, effectively resisting the displacement tendency of the housing caused by the assembly reaction force. This helps to improve the stability of the auxiliary housing assembly of the equipment and the effect of the auxiliary housing assembly.

[0039] Meanwhile, when the assembly reaction force deflects the housing drive clamp 10 and ball pin 95 relative to the corresponding locking ring 91 and ball seat 92, the ball pin 95 will drive the corresponding disc 94 to deflect synchronously and compress the corresponding compression spring 93. When the compression spring 93 is compressed, it will generate elastic deformation and store elastic potential energy. After the assembly reaction force disappears or weakens, the elastic driving force released by the compression spring 93 can drive the housing to reset through the cooperation of the ball pin 95 with the clamp 10 and suction cup 11, thereby ensuring the effect of the equipment assisting the housing assembly.

[0040] Multiple friction rollers 96 are made of elastic materials, such as polyurethane and silicone rubber (the specific type can be selected according to the load, ambient temperature and contact surface condition of the actual assembly). The elasticity of the friction rollers 96 allows them to undergo adaptive elastic deformation when in contact with the conical friction pad 97. This not only increases the actual contact area between the two and improves the friction damping effect, but also the viscoelastic properties of the elastic material itself can absorb the impact and vibration during the assembly process, making the establishment of damping force more stable and avoiding the adverse effects of instantaneous impact caused by rigid contact on the assembly accuracy of the housing.

[0041] After the auxiliary assembly of the housing is completed, the servo motor 61 is started in reverse. At this time, the operation of the servo motor 61 will drive the bidirectional telescopic plate 86 and the limit tube 88 to move down and reset through the cooperation of the drive shaft 62, the one-way bearing 2, the eccentric wheel 81, and the pushing component, until the limit tube 88 is re-inserted into the corresponding round hole 89 and moves down to push open the corresponding elastic sealing member 810 (along the...). Figure 12 (As shown in the direction) to limit the position of the corresponding clamp 10, and then open multiple exhaust valves 87. The opening of exhaust valves 87 allows external air to enter the suction chamber of suction cup 11 through exhaust valves 87, breaking the vacuum state between suction cup 11 and the housing. After the suction constraint between the housing and suction cup 11 is released, the servo motor 61 is started in the forward direction. At this time, the operation of servo motor 61 will drive the clamps 10 and suction cup 11 on both sides to move away from each other through the cooperation of drive shaft 62, reciprocating screw 63 and support plate 65, and release the assembled housing. This completes a complete gripping, assisted assembly and release work cycle, so that the equipment can perform the gripping and assembly operation of the next housing.

[0042] To further clarify, the aforementioned fixed connection should be interpreted broadly unless otherwise explicitly specified and limited. For example, it may be welding, gluing, or integral molding, or other conventional methods well known to those skilled in the art.

[0043] In this invention, when the device is needed to assist in the assembly of the housing, the servo motor 61 is first started in the forward direction. At this time, the operation of the servo motor 61 will drive the two support plates 65 and the clamps 10 and suction cups 11 on both sides to move closer to each other through the drive shaft 62, two one-way bearings, and two reciprocating screws 63 with opposite screw directions, until the suction cups 11 on both sides are compressed and tightly attached to the surface of the housing. During this process, the exhaust fan 2 is started. The operation of the exhaust fan 2 will first remove dust and other impurities on the position of the suction cups 11 facing the housing through the air passage between the air supply pipe 3 and the suction cups 11, thereby improving the stability of the subsequent clamps 10 and multiple suction cups 11 in adsorbing and holding the housing. When the suction cups 11 are compressed and attached to the housing, the continuous operation of the exhaust fan 2 can evacuate the air inside the suction cups 11 until a sufficient pressure difference is formed inside and outside the suction cups 11, so that the suction cups 11 are firmly adsorbed on the housing, thus completing the adsorption and clamping of the housing by the device.

[0044] After the equipment completes clamping of the housing, before assembling the auxiliary housing, the servo motor 61 is started in reverse. At this time, the operation of the servo motor 61 will drive the bidirectional telescopic plate 86 and multiple limit tubes 88 to move upward (along the drive shaft 62, the one-way bearing 2, the eccentric wheel 81, and the pushing component) through the cooperation of the drive shaft 62, the one-way bearing 2, the eccentric wheel 81, and the pushing component. Figure 12 (in the direction shown) until the limit tube 88 disengages from the corresponding clamp 10, thus completing the release of the clamp 10.

[0045] When the clamp 10 and the suction cup 11 cooperate to assist in the assembly of the housing, the reaction force generated by the assembly action is transmitted to the ball pin 95 through the housing, suction cup 11, and clamp 10. When this reaction force exceeds the initial friction force between the friction roller 96 on the ball pin 95 and the corresponding conical friction pad 97, the reaction force of the assembly action will drive the housing, suction cup 11, clamp 10, and ball pin 95 to deflect relative to the corresponding ball seat 92 and locking ring 91. During this process, the damping component 9 can increase the deflection friction damping force of the equipment on the housing according to the reaction force of the assembly housing, and gradually enhance the suppression effect on the further deflection of the ball pin 95. This can effectively resist the displacement trend of the housing caused by the assembly reaction force, improve the stability of the equipment's auxiliary housing assembly, and thus improve the effect of the equipment's auxiliary housing assembly. When the assembly reaction force on the housing disappears or weakens, the reverse thrust generated by the compression spring 93 on the ball pin 95 can drive the ball pin 95 to move and reset the clamp 10, suction cup 11, and housing, ensuring the subsequent assembly effect of the housing.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A flexible gripping and automatic assembly device for robot joint shells, comprising a robotic arm (1) and multiple grippers (10), characterized in that, A fixed box (4) is fixedly installed on the end of the robotic arm (1), a drive assembly (6) is provided on the fixed box (4), and a positioning assembly (8) is provided inside the fixed box (4). The drive assembly (6) includes a servo motor (61) fixedly mounted on a fixed box (4). A drive shaft (62) is fixedly mounted on the drive end of the servo motor (61). Two reciprocating screws (63) are mounted on the drive shaft (62) through two one-way bearings. The threads of the two reciprocating screws (63) are opposite. Sliding rings (64) are mounted on the two reciprocating screws (63) through ball nuts. Support plates (65) are fixedly mounted on the two sliding rings (64). A damping assembly (9) is provided between the two support plates (65). The damping assembly (9) includes two fixed plates (67) that pass through and slide on the right support plate (65). The two fixed plates (67) and the right support plate (65) are connected by a locking component. Ball seats (92) are fixedly installed on the inner walls of the left support plate (65) and the two fixed plates (67). Ball pins (95) are rotatably installed on the ball seats (92), and the ball pins (95) are fixedly connected to the corresponding clamps (10). A blocking mechanism is installed between the ball pins (95).

2. The robot joint shell flexible gripping and automatic assembly equipment according to claim 1, characterized in that, The engaging component includes multiple engaging holes (68) on the right support plate (65), and telescopic rods (69) are fixedly installed on both of the two fixed plates (67), and two locking rods (610) are fixedly installed on both of the two telescopic rods (69).

3. The robot joint shell flexible gripping and automatic assembly equipment according to claim 1, characterized in that, The blocking mechanism includes locking rings (91) fixedly installed on the left support plate (65) and two fixed plates (67), and ball pins (95) are rotatably installed on the corresponding locking rings (91). Friction rollers (96) evenly distributed in a ring are fixedly installed on each ball pin (95). Conical friction pads (97) that cooperate with the corresponding friction rollers (96) are fixedly installed on the inner wall of each locking ring (91). A spring-loaded component is installed between the ball pins (95).

4. The robot joint shell flexible gripping and automatic assembly equipment according to claim 3, characterized in that, The rebound component includes a disc (94) fixedly mounted on a ball head pin (95). A compression spring (93) is fixedly mounted on the inner wall of the support plate (65) on the left and the two fixing plates (67), and one end of the compression spring (93) is fixedly connected to the corresponding disc (94).

5. The robot joint shell flexible gripping and automatic assembly equipment according to claim 1, characterized in that, The positioning component (8) includes a slide groove (66) respectively opened on two support plates (65), a bidirectional telescopic plate (86) is slidably installed between the two slide grooves (66), a limiting component is installed on the bidirectional telescopic plate (86), a pushing component is installed between the bidirectional telescopic plate (86) and the fixed box (4), and an air guiding component is installed on the fixed box (4).

6. The robot joint shell flexible gripping and automatic assembly equipment according to claim 5, characterized in that, The limiting component includes multiple limiting tubes (88) that are sealed through and fixedly installed on the bidirectional telescopic plate (86). Each clamp (10) has a round hole (89) that mates with the corresponding limiting tube (88). Each clamp (10) has an elastic sealing member (810) that mates with the corresponding round hole (89) installed on its inner wall.

7. The robot joint shell flexible gripping and automatic assembly equipment according to claim 5, characterized in that, The pushing component includes a round rod (82) fixedly installed on the inner wall of the fixed box (4). A connecting plate (83) is sealed through and slidably installed on the round rod (82). One end of the connecting plate (83) is fixedly connected to the bidirectional telescopic plate (86). A plate body (84) is fixedly installed on the other end of the connecting plate (83). An eccentric wheel (81) is installed on the drive shaft (62) through a one-way bearing.

8. The robot joint shell flexible gripping and automatic assembly equipment according to claim 7, characterized in that, The air guiding component includes a partition (7) fixedly installed on the inner wall of the fixed box (4), a telescopic cylinder (85) fixedly connected to the plate (84), and the fixed end of the telescopic cylinder (85) is sealed through and fixedly installed on the partition (7). A fan (2) is installed on the robotic arm (1), an air supply pipe (3) is fixedly connected to the fan (2), a conduit (5) is fixedly connected between the air supply pipe (3) and the fixed box (4), and each clamp (10) is fixedly connected to a suction cup (11) that is linearly and evenly distributed. Each clamp (10) is equipped with an exhaust valve (87).

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