Assembly robot

Abstract

The utility model belongs to the technical field of robots, and provides an assembly robot which comprises a mounting base, a mechanical arm, an assembly tool, a bearing assembly, a video acquisition assembly and a control assembly. Wherein the mounting seat comprises a seat body and a locking assembly, and the locking assembly is connected to the seat body; the mechanical arm is provided with a fixed end and a moving end, and the fixed end is detachably connected with the base body; the assembling tool is connected to the moving end of the mechanical arm. The bearing assembly is used for bearing a fastener to be installed and connected to the base body. The video acquisition assembly is connected to the moving end of the mechanical arm, and the video acquisition assembly is used for acquiring position information of the fastener; the control assembly is in communication connection with the video acquisition assembly and the mechanical arm. The device aims at improving mechanization when fasteners are assembled in a narrow space, reducing labor intensity and improving working efficiency.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to an assembly robot. Background Art

[0002] The assembly operation of components in an automobile is one of the most important technological processes in the manufacturing process of automobile products. For example, the assembly of fasteners in component assembly. During the assembly of fasteners, the on-site station layout is compact and the internal space of the vehicle body is narrow. However, some fastener assembly operations need to be carried out in the narrow space.

[0003] In the related art, the assembly of fasteners in a narrow space needs to be completed by manually holding an assembly tool, resulting in high labor intensity and low work efficiency of the staff. Summary of the Utility Model

[0004] The purpose of this application is to provide an assembly robot, aiming to solve the technical problems of low work efficiency and high labor intensity in manual assembly of fasteners in a narrow space.

[0005] In a first aspect, this application provides an assembly robot, including:

[0006] A mounting seat, including a seat body and a locking component, the locking component is connected to the seat body;

[0007] A robotic arm, having a fixed end and a moving end, the fixed end is detachably connected to the seat body;

[0008] An assembly tool, connected to the moving end of the robotic arm;

[0009] A bearing component, used to bear the fasteners to be installed, the bearing component is connected to the seat body;

[0010] A video acquisition component, connected to the moving end of the robotic arm, the video acquisition component is used to obtain the position information of the fasteners;

[0011] A control component, communicatively connected to both the video acquisition component and the robotic arm.

[0012] In one embodiment, the locking component includes a locking seat and a magnetic component connected to the locking seat, the locking seat is connected to the seat body; or

[0013] The locking component includes a locking seat and a buckle component connected to the locking seat, the locking seat is connected to the seat body; or

[0014] The locking component includes a locking seat and a bolt component connected to the locking seat, the locking seat is connected to the seat body.

[0015] In one embodiment, the mounting base further includes a positioning component connected to the base body, and the positioning component is used for plugging and mating with an external component.

[0016] In one embodiment, the assembly robot includes a first disassembly and assembly seat connected to the fixed end and a second disassembly and assembly seat connected to the base body, and the first disassembly and assembly seat is elastically clamped with the second disassembly and assembly seat.

[0017] In one embodiment, the first disassembly and assembly seat is plugged and mated with the second disassembly and assembly seat along a preset direction, and the first disassembly and assembly seat and the second disassembly and assembly seat are connected by an elastic clamping structure. The elastic clamping structure includes a clamping groove and an elastically telescopic clamping body. The clamping body is plugged and mated with the clamping groove perpendicular to the preset direction. Any one of the clamping body and the clamping groove is connected to the first disassembly and assembly seat, and the other of the clamping body and the clamping groove is connected to the second disassembly and assembly seat.

[0018] In one embodiment, the bearing assembly includes a bearing frame and a limiting component. The bearing frame is connected to the base body, and the bearing frame is used for bearing the fastener. The limiting component is connected to the bearing frame. The limiting component includes a fixing part and a limiting part movably connected to the fixing part. The fixing part is connected to the bearing frame, and the limiting part can move to a position where it abuts against the fastener to limit the rotation of the fastener relative to the bearing frame.

[0019] In one embodiment, the bearing assembly further includes a crimping component; there are multiple limiting components, and there are multiple fasteners. Each limiting part is arranged in one-to-one correspondence with each fastener. A crimping groove is formed on each limiting part, and the crimping component can be plugged into the multiple crimping grooves so that the limiting part rotates relative to the fixing part by gravity, and the limiting part is separated from the fastener.

[0020] In one embodiment, the crimping component is connected to the limiting part to rotate the limiting part to an open position. In the open position, the included angle between the limiting part and the horizontal direction is less than 90°.

[0021] In one embodiment, the base body includes a mounting plate and a support frame connected to one side of the mounting plate. The locking assembly is connected to the mounting plate, and the fixed end and the bearing assembly are both connected to the support frame.

[0022] In one embodiment, the assembly robot further includes a 5G module, and the 5G module is communicatively connected to the control component, the video acquisition component, and the robotic arm.

[0023] The beneficial effects of the assembly robot of the present application are as follows: In this assembly robot, a locking component is provided on the seat body of the mounting seat, enabling the seat body to be easily and flexibly assembled with external components. For the narrow space inside the vehicle, only by fixing the mounting seat to the structure on the vehicle adjacent to the narrow space, this robot can transmit signals through the video acquisition component and the control component, and then control the manipulator to work, enabling the assembly tool to complete the work of picking and assembling parts, so that this robot can replace manual labor to perform assembly operations in a narrow space, which is beneficial to reducing the labor intensity of the operator and improving work efficiency. Moreover, the manipulator is detachably connected to the seat body, making the assembly of this assembly robot and the vehicle more flexible.

[0024] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically gives the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application or the description of the prior art. Obviously, the following described drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0026] Figure 1 Structural schematic diagram of the assembly robot provided by some embodiments of the present application;

[0027] Figure 2 Structural schematic diagram of the bearing component in the assembly robot provided by some embodiments of the present application;

[0028] Figure 3 Schematic diagram of the state of the bearing component in the assembly robot provided by some embodiments of the present application when in the open position;

[0029] Figure 4 Exploded structural schematic diagram of the first disassembly and assembly seat and the second disassembly and assembly seat in the assembly robot provided by some embodiments of the present application Figure 1 ;

[0030] Figure 5 Exploded structural schematic diagram of the first disassembly and assembly seat and the second disassembly and assembly seat in the assembly robot provided by some embodiments of the present application Figure 2 ;

[0031] Figure 6 For Figure 5 Structural schematic diagram of the first disassembly and assembly seat in

[0032] Figure 7 is Figure 5 a schematic structural diagram of the second disassembly and assembly seat in

[0033] Description of the reference numerals in the drawings:

[0034] 100, assembly robot; 110, assembly tool; 120, video acquisition component; 121, camera; 122, light source; 130, robotic arm; 131, fixed end; 1311, first disassembly and assembly seat; 13111, convex part; 13112, clamping body; 13113, screwing body; 13114, second limiting structure; 132, moving end; 133, mounting bracket; 140, bearing component; 141, bearing frame; 142, limiting component; 1421, limiting part; 1422, fixing part; 1423, crimping groove; 143, crimping component; 150, fastener; 160, mounting seat; 161, seat body; 1611, mounting plate; 1612, support frame; 1613, positioning component; 1614, through-hole structure; 162, locking component; 163, second disassembly and assembly seat; 1631, groove part; 1632, clamping groove; 1633, screwing groove; 1634, first limiting structure; 170, power supply component; 171, quick-connect Harding; 180, 5G module; X, preset direction. Specific embodiments

[0035] The embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, so they are only examples and cannot be used to limit the protection scope of the present application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the description of the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0037] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of the present application, "a plurality" means more than two unless otherwise specifically defined.

[0038] Reference to "embodiments" in this document means that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] In the description of the embodiments of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after.

[0040] In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two). Similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0041] In the description of the embodiments of the present application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation on the embodiments of the present application.

[0042] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0043] The assembly operation of components in an automobile is one of the most important technological processes in the manufacturing process of automobile products. For example, the assembly of fasteners in component assembly, the on-site station layout during the fastener assembly process is compact, and the internal space of the vehicle body is narrow. However, partial fastener assembly operations need to be carried out in the narrow space.

[0044] In the related art, the assembly of fasteners in a narrow space needs to be completed by manually holding an assembly tool, resulting in high labor intensity and low work efficiency for the staff.

[0045] Therefore, the present application provides an assembly robot 100. By connecting a locking component 162 to the mounting base 160, the assembly robot 100 can be flexibly assembled with external components through the locking component 162. The robotic arm 130 is detachably connected to the base body 161, making the assembly robot 100 more flexible during the assembly and disassembly processes. The assembly robot 100 can improve the intelligence of the assembly operation, eliminating the need for manual operation, which is beneficial to reducing the labor intensity and improving the work efficiency.

[0046] Specifically, according to some embodiments of the present application, referring to Figure 1 and Figure 2 As shown, the present application embodiment provides an assembly robot 100, which includes a mounting base 160, a robotic arm 130, an assembly tool 110, a carrying component 140, a video acquisition component 120, and a control component. Among them, the mounting base 160 includes a base body 161 and a locking component 162, and the locking component 162 is connected to the base body 161. The robotic arm 130 has a fixed end 131 and a moving end 132, and the fixed end 131 is detachably connected to the base body 161. The assembly tool 110 is connected to the moving end 132 of the robotic arm 130. The carrying component 140 is used to carry the fastener 150 to be installed, and the carrying component 140 is connected to the base body 161. The video acquisition component 120 is connected to the moving end 132 of the robotic arm 130, and the video acquisition component 120 is used to obtain the position information of the fastener 150. The control component is communicatively connected to both the video acquisition component 120 and the robotic arm 130.

[0047] Regarding the mounting base 160, the mounting base 160 can adopt various structural forms. For example, the mounting base 160 can adopt a solid structure, a frame structure, a plate structure, a shell structure, etc. The mounting base 160 is used for assembling with external components. In this example, the external component is taken as a vehicle. For example, the external component is the frame of a vehicle, so the mounting base 160 can be assembled with the frame.

[0048] Among them, the mounting base 160 includes a base body 161 and a locking component 162. The locking component 162 is connected to the base body 161, and the locking component 162 can be connected to an external component, so as to lock the base body 161 to the external component. The locking component 162 plays a role in connecting the base body 161 and the external component. For example, when assembling in a narrow space inside a vehicle, the assembly robot 100 can be placed inside the vehicle, and the base body 161 can be fixed to the vehicle frame through the locking component 162, realizing the assembly and fixation of the assembly robot 100.

[0049] The robotic arm 130 includes a plurality of arm bodies that are sequentially movably connected. The robotic arm 130 has multiple degrees of freedom. The robotic arm 130 is communicatively connected to the control component, and the control component controls the movement of the robotic arm 130 by sending control signals. The robotic arm 130 has a certain extended length. One extended end of the robotic arm 130 is a fixed end 131, and the other extended end is a moving end 132. The fixed end 131 is used for detachably connecting to the base body 161. Among them, the detachable connection methods may include magnetic connection, snap connection, bolt connection, etc. When the assembly robot 100 is assembled with the vehicle, the robotic arm 130 can be first assembled with the base body 161, and then the base body 161 can be assembled with the vehicle. Or, the base body 161 can be first assembled with the robotic arm 130, and then the base body 161 can be assembled with the vehicle, making the robotic arm more flexible during assembly and use.

[0050] The assembly tool 110 is used to install the fastener 150 at the position to be installed. For example, the fastener 150 is assembled to the vehicle to assemble and fix parts, etc. The assembly tool 110 may include one or a combination of a tightening gun, an electric claw, a pneumatic claw, a camera, a suction cup, a torque sensor, etc. For example, the claw (or gripper) can realize the rapid handling of the fastener 150. The assembly tool 110 is a multi-functional module that can realize one or more of the functions of tightening, grasping, sucking, image capturing, torque monitoring, item transfer, handling, and fixing of the fastener 150. The assembly tool 110 is detachably connected to the moving end 132 of the robotic arm 130. An installation bracket 133 can be provided at the moving end 132 of the robotic arm 130. The robotic arm 130 is assembled with the assembly tool 110 through the installation bracket 133, and the robotic arm 130 is also assembled with the video acquisition component 120 through the installation bracket 133. The assembly tool 110 and the robotic arm 130 can be connected in a detachable manner. For example, a quick-release module (or quick-change structure) is provided between the assembly tool 110 and the robotic arm 130 to realize the quick installation and disassembly of the assembly tool 110 and the robotic arm 130. For example, the quick-release module can adopt a magnetic structure, an elastic snap structure, etc.

[0051] The carrier component 140 is used to carry the fastener 150 to be installed. For example, the fastener 150 may include bolts, etc. In the following, the fastener 150 can be described by taking the bolt as an example. The fasteners 150 can be regularly placed on the carrier component 140. For example, a plurality of insertion slots arranged in an array are provided on the carrier component 140, and each bolt is correspondingly inserted into each insertion slot.

[0052] The video acquisition component 120 is used to obtain the position information of the fastener 150. Specifically, the video acquisition component 120 may include a camera 121 and a light source 122. The camera 121 in the video acquisition component 120 is used to obtain the image information of the fastener 150 on the carrier component 140, and the light source 122 is used for illumination so that the camera 121 can obtain clear image information under sufficient light conditions. The video acquisition component 120 may include a camera (such as the camera 121), an image processor, an encoder, and other related hardware and software, etc. The above components work together to capture, process, and transmit video data. It can be seen that in this example, the position information may be a kind of image information. The video acquisition component 120 takes pictures of the carrier component 140 to obtain the image of the fastener 150 on the carrier component 140. The video acquisition component 120 is communicatively connected to the control component, so that the control component can obtain the image information. The control component analyzes the image information and finally obtains the position of the corresponding fastener 150. The control component then controls the manipulator 130 to work. The moving end 132 of the manipulator 130 carries the assembly tool 110 to reach the target position where the fastener 150 is located, sucks or grabs one or more corresponding fasteners 150. The control component then controls the movement of the manipulator 130 so that the moving end 132 of the manipulator 130 carries the assembly tool 110 to reach the final assembly position. The assembly tool 110 works to fix the fastener 150 at the corresponding position on the vehicle.

[0053] In addition, the video acquisition component 120 can also obtain the image information of the assembly position, and then transmit the image information of the assembly position to the control component. Through the analysis of the control component, a movement path is finally established to make the moving end 132 of the manipulator 130 move from the picking position where the fastener 150 is located on the carrier component 140 to the assembly position. The assembly position may refer to the position where the fastener 150 is finally installed on the vehicle.

[0054] The control component is the control center of the present assembly robot 100. The control component is communicatively connected to the video acquisition component 120, so as to be able to obtain the position information of the fastener 150 output by the video acquisition component 120. This position information may include the position information of the fastener 150 on the carrier component 140 and the image information of the assembly position of the fastener 150. The control component analyzes the position information, and then establishes the movement path of the robotic arm 130. The control component is communicatively connected to the robotic arm 130. Therefore, the control component can control the movement of the robotic arm 130 according to the above-mentioned position information, so that the robotic arm 130 carries the assembly tool 110 to complete the work of grasping the fastener 150 and installing the fastener 150. It can be seen that the present robot has the function of intelligent teaching. When the operator holds the robotic arm 130 to perform an operation once, the control component can make the robotic arm 130 reproduce the movement trajectory (or movement path), which can effectively reduce the operation difficulty and debugging cost.

[0055] In this example, a locking component 162 is provided on the seat body 161 of the mounting seat 160, so that the seat body 161 can be easily and flexibly assembled with external components. For the narrow space inside the vehicle, only need to fix the mounting seat 160 to the structure on the vehicle adjacent to the narrow space. Then, this robot can transmit signals through the video acquisition component 120 and the control component, and then control the robotic arm 130 to work, so that the assembly tool 110 completes the work of picking and installing parts, enabling this robot to replace manual labor to perform assembly operations in a narrow space, which is beneficial to reducing the labor intensity of the operator and improving work efficiency. Moreover, the robotic arm 130 is detachably connected to the seat body 161, making the assembly of the present assembly robot 100 with the vehicle more flexible. In addition, both the video acquisition component 120 and the assembly tool 110 are mounted on the robotic arm 130. During disassembly, the video acquisition component 120 and the assembly tool 110 can be directly detached from the mounting seat when mounted on the robotic arm 130, making the installation, disassembly, and storage of this robot more convenient.

[0056] In some examples, the locking component 162 includes a locking seat and a magnetic component (not shown in the figure) connected to the locking seat. The locking seat is connected to the seat body 161.

[0057] Specifically, the magnetic component can connect the locking seat to an external component made of metal material through magnetic force. For example, the magnetic component can be adsorbed and connected to the metal components of the vehicle frame. The locking seat is used to carry the magnetic component, and the locking seat can be fixedly or detachably connected to the seat body 161. For example, the locking seat and the seat body 161 can be connected by bolts or welding.

[0058] In this example, in the locking component 162, by providing a magnetic component, the mounting base 160 can be connected to the metal part of the external component in a magnetic adsorption manner. The mounting base 160 and the external component can be adsorbed and fixed when they are close to each other, making the installation and disassembly of the assembly robot 100 and the external component more convenient.

[0059] In some examples, the locking component 162 includes a locking base and a buckle component (not shown in the figure) connected to the locking base, and the locking base is connected to the base body 161.

[0060] Specifically, the buckle component includes a locking arm that is curved in an arc shape. One end of the locking arm is rotatably connected to the locking base, and the other end of the locking arm can be engaged with the locking base so that the locking arm encloses to form a locking space. When the locking component 162 is connected to the external component, the locking arm can enclose the outside of the external component and clamp the external component, so that the buckle component and the locking base can be fixed on the external component, and further the base body 161 connected to the locking base is fixedly connected to the external component.

[0061] In this example, in the locking component 162, by providing a buckle component, the mounting base 160 can be connected to the external component in a snap - connection manner, making the installation and disassembly of the mounting base 160 and the external component more convenient.

[0062] In some examples, the locking component 162 includes a locking base and a bolt component (not shown in the figure) connected to the locking base, and the locking base is connected to the base body 161.

[0063] Specifically, the locking base is fixedly or detachably connected to the base body 161. The locking base is used to carry the bolt component, and the bolt component is rotatably connected to the base body 161. External threads are formed on the bolt component. Correspondingly, threaded holes need to be opened on the external component, and the external threads are matched with the internal threads of the threaded holes. By screwing the bolt component, the locking base is fixed on the external component, and further the base body 161 connected to the locking base is fixedly connected to the external component.

[0064] In this example, in the locking component 162, by providing a bolt component, the mounting base 160 can be connected to the external component in a threaded connection manner, making the installation and disassembly of the mounting base 160 and the external component more convenient.

[0065] In some examples, referring to Figure 1 As shown, the mounting base 160 further includes a positioning component 1613 connected to the base body 161, and the positioning component 1613 is used for plug - in cooperation with the external component.

[0066] Specifically, the positioning component 1613 may include positioning posts. One or more positioning posts may be provided, and the multiple positioning posts may be spaced apart and arranged in parallel. Correspondingly, positioning holes may be provided on the external component. For example, the external component may be a sheet metal structure on a vehicle, and the hole structure formed on the sheet metal structure is the positioning hole. The positioning posts are inserted into the positioning holes to achieve accurate positioning of the mounting seat 160 and the external component.

[0067] The positioning component 1613 and the seat body 161 may be connected in a fixed or detachable manner. For example, the positioning component 1613 and the seat body 161 may be connected by bolts or welding.

[0068] In this example, by connecting the positioning component 1613 to the seat body 161, the preliminary positioning work between the mounting seat 160 and the external component can be completed, facilitating the determination of the orientation of the assembly robot 100.

[0069] In some examples, as shown in Figure 4 the assembly robot 100 includes a first disassembly and assembly seat 1311 connected to the fixed end 131 and a second disassembly and assembly seat 163 connected to the seat body 161. The first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are elastically clamped.

[0070] Specifically, the first disassembly and assembly seat 1311 is connected to the fixed end 131 of the robotic arm 130 in a fixed or detachable manner. For example, the first disassembly and assembly seat 1311 is connected to the fixed end 131 by welding, bolt connection, etc. The second disassembly and assembly seat 163 can also be connected to the seat body 161 in a fixed or detachable manner. For example, the second disassembly and assembly seat 163 is connected to the sub-seat body 161 by welding, bolt connection, etc.

[0071] The first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are detachably connected by elastic clamping. For example, the first disassembly and assembly seat 1311 has an elastic end (such as the clamping body 13112 described below) that can elastically expand and contract. A clamping groove 1632 is formed on the second disassembly and assembly seat 163. When the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are connected, the elastic end is clamped with the clamping groove 1632, thereby realizing the limit between the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163, and further realizing the rapid connection between the robotic arm 130 and the seat body 161. When disassembling the robotic arm 130, an external force acts on the robotic arm 130, causing the elastic end to be compressed and the elastic end to disengage from the clamping groove 1632, so that the robotic arm 130 disengages from the seat body 161.

[0072] In this example, the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are connected by an elastic snap connection, making the installation and disassembly between the robotic arm 130 and the mounting seat 160 more convenient, which is conducive to improving the assembly and disassembly efficiency of the assembly robot 100.

[0073] In some examples, referring to Figure 4 As shown, the first disassembly and assembly seat 1311 is inserted and matched with the second disassembly and assembly seat 163 along the preset direction X, and the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are connected by an elastic snap connection structure. The elastic snap connection structure includes a snap groove 1632 and an elastically telescopic snap body 13112. The snap body 13112 is inserted and matched with the snap groove 1632 perpendicular to the preset direction X. Any one of the snap body 13112 and the snap groove 1632 is connected to the first disassembly and assembly seat 1311, and the other of the snap body 13112 and the snap groove 1632 is connected to the second disassembly and assembly seat 163.

[0074] Specifically, the way the first disassembly and assembly seat 1311 is inserted and matched with the second disassembly and assembly seat 163 includes: one way is that the first disassembly and assembly seat 1311 is formed with a protrusion 13111, and the second disassembly and assembly seat 163 is provided with a groove 1631, and the protrusion 13111 is inserted into the groove 1631; another way is that the first disassembly and assembly seat 1311 is formed with a groove 1631, and the second disassembly and assembly seat 163 is formed with a protrusion 13111, and the protrusion 13111 is inserted into the groove 1631. The insertion direction of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 is the preset direction X. That is to say, the outward protruding extension direction of the protrusion 13111 is the preset direction X. That is to say, the groove depth direction of the groove 1631 is the preset direction X.

[0075] The elastic clamping structure is connected between the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163. Either the clamping body 13112 or the clamping groove 1632 is connected to the first disassembly and assembly seat 1311, and the other of the clamping body 13112 and the clamping groove 1632 is connected to the second disassembly and assembly seat 163. Specifically, in one structural mode, a convex portion 13111 is formed on the first disassembly and assembly seat 1311, and a groove portion 1631 is provided on the second disassembly and assembly seat 163. Then, the clamping body 13112 is connected to the convex portion 13111, that is, the clamping body 13112 is connected to the first disassembly and assembly seat 1311. An elastic member is connected between the clamping body 13112 and the first disassembly and assembly seat 1311. The elastic member can be a spring member, so that the clamping body 13112 can elastically expand and contract relative to the first disassembly and assembly seat 1311. The elastic expansion and contraction direction of the clamping body 13112 is perpendicular to the preset direction X. The clamping groove 1632 is opened on the groove wall of the groove portion 1631, and the groove depth direction of the clamping groove 1632 is perpendicular to the preset direction X. Therefore, when the clamping body 13112 and the clamping groove 1632 face each other, the clamping body 13112 extends out and is inserted into the clamping groove 1632, thereby restricting the separation of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163. In another structural mode, a groove portion 1631 is formed on the first disassembly and assembly seat 1311, and a convex portion 13111 is provided on the second disassembly and assembly seat 163. Similarly, the clamping body 13112 is connected to the convex portion 13111, the clamping groove 1632 is opened on the groove wall of the groove portion 1631, and the groove depth direction of the clamping groove 1632 is perpendicular to the preset direction X. Therefore, when the clamping body 13112 and the clamping groove 1632 face each other, the clamping body 13112 extends out and is inserted into the clamping groove 1632, thereby restricting the separation of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163.

[0076] A plurality of clamping bodies 13112 and clamping grooves 1632 can be respectively provided. The plurality of clamping bodies 13112 can be arranged around the central axis direction of the convex portion 13111 in a circumferential and spaced manner, and the plurality of clamping grooves 1632 can be arranged around the central axis direction of the clamping groove 1632 in a circumferential and spaced manner. One clamping body 13112 can be correspondingly inserted and matched with one clamping groove 1632.

[0077] In this example, by setting the elastically expandable and contractible clamping body 13112 and clamping groove 1632 to continue the insertion and matching in the direction perpendicular to the preset direction X, the separation of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 can be restricted, making the installation and disassembly between the robotic arm 130 and the mounting seat 160 more convenient, which is beneficial to improving the assembly and disassembly efficiency of the assembly robot 100.

[0078] In some examples, referring to Figures 5 - 7As shown, the first disassembly and assembly seat 1311 is inserted and cooperated with the second disassembly and assembly seat 163 along the preset direction X, and the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 are connected through a rotating clamping structure. The rotating clamping structure includes a rotating connection groove 1633 and a rotating connection body 13113. A first limiting structure 1634 is formed in the rotating connection groove 1633, and a second limiting structure 13114 is formed on the rotating connection body 13113. The rotating connection body 13113 is inserted and cooperated with the rotating connection groove 1633 along the preset direction X. The rotating connection body 13113 rotates relative to the rotating connection groove 1633, so that the first limiting structure 1634 is connected to the second limiting structure 13114 to limit the rotating connection body 13113 from disengaging from the rotating connection groove 1633. Any one of the rotating connection body 13113 and the rotating connection groove 1633 is connected to the first disassembly and assembly seat 1311, and the other of the rotating connection body 13113 and the rotating connection groove 1633 is connected to the second disassembly and assembly seat 163.

[0079] For example, the rotating connection body 13113 is arranged on the first disassembly and assembly seat 1311, and the rotating connection groove 1633 is opened on the second disassembly and assembly seat 163. The first limiting structure 1634 is a convex structure formed in the rotating connection groove 1633, and the second limiting structure 13114 is a groove structure opened on the side of the rotating connection body 13113. After the rotating connection body 13113 is inserted into the rotating connection groove 1633, the rotating connection body 13113 rotates relative to the rotating connection groove 1633 around the central axis of the first disassembly and assembly seat 1311, so that the rotating connection body 13113 is inserted into the rotating connection groove 1633. The insertion direction of the rotating connection body 13113 and the rotating connection groove 1633 is perpendicular to the preset direction X, so that the rotating connection body 13113 and the rotating connection groove 1633 are limited in the direction perpendicular to the preset direction X, and further the locking of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 is realized; during disassembly, the first disassembly and assembly seat 1311 is rotated in the reverse direction, so that the rotating connection body 13113 is disengaged from the rotating connection groove 1633, and the rotating connection body 13113 can be disengaged from the rotating connection groove 1633 to realize the disassembly of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163.

[0080] A plurality of rotating connection bodies 13113 and rotating connection grooves 1633 can be respectively provided. The plurality of rotating connection bodies 13113 can be arranged around and spaced along the central axis direction of the first disassembly and assembly seat 1311, and the plurality of rotating connection grooves 1633 can be arranged around and spaced along the central axis direction of the second disassembly and assembly seat 163. One rotating connection body 13113 can be correspondingly inserted and cooperated with one rotating connection groove 1633.

[0081] In this example, by providing the rotating connection body 13113 and the rotating connection groove 1633, the separation of the first disassembly and assembly seat 1311 and the second disassembly and assembly seat 163 can be restricted, making the installation and disassembly between the robotic arm 130 and the mounting seat 160 more convenient, which is beneficial to improving the assembly and disassembly efficiency of the assembly robot 100.

[0082] In some examples, referring toFigure 2 and Figure 3 As shown in Figure 3 , the carrier assembly 140 includes a carrier frame 141 and a limiting assembly 142. The carrier frame 141 is connected to the seat body 161. The carrier frame 141 is used to carry the fasteners 150. The limiting assembly 142 is connected to the carrier frame 141. The limiting assembly 142 includes a fixing part 1422 and a limiting part 1421 movably connected to the fixing part 1422. The fixing part 1422 is connected to the carrier frame 141. The limiting part 1421 can move to a position where it abuts against the fastener 150 to limit the rotation of the fastener 150 relative to the carrier frame 141.

[0083] Specifically, a plurality of fasteners 150 can be arranged in an array on the carrier frame 141. For example, the carrier frame 141 has a bearing surface, and a plurality of mounting grooves are formed on the bearing surface. Each fastener 150 is correspondingly inserted into the mounting groove. The assembly tool 110 can grasp the fastener 150 to remove the fastener 150 from the mounting groove.

[0084] For the limiting assembly 142, the limiting assembly 142 is connected to the carrier frame 141. The limiting assembly 142 includes a fixing part 1422 and a limiting part 1421. The limiting part 1421 is movably connected to the fixing part 1422, so that the limiting part 1421 can move relative to the fixing part 1422. The function of the limiting part 1421 is to limit the rotation of the fastener 150 around its own central axis, that is, to limit the rotation of the fastener 150 around the central axis of the mounting groove in the mounting groove. The movement mode of the limiting part 1421 includes rotation or movement. The limiting part 1421 rotates or moves relative to the fixing part 1422, so that the limiting part 1421 can abut against the fastener 150, thereby being able to limit the rotation of the fastener 150 in the mounting groove. For example, the fastener 150 is a hexagon bolt. The hexagon bolt is inserted into the mounting groove. The nut of the hexagon bolt is located outside the mounting groove. The side of the nut of the hexagon bolt includes six side surfaces connected in sequence at the ends. The limiting part 1421 can abut against the side surface of the nut to limit the rotation of the hexagon bolt around its own central axis in the mounting groove.

[0085] Since the limiting part 1421 can move, it can be understood that when the assembly tool 110 does not grasp the fastener 150, the limiting part 1421 moves to a position where it abuts against the fastener 150. When the assembly tool 110 grasps the fastener 150, the limiting part 1421 moves away from the fastener 150, and the limiting part 1421 no longer limits the fastener 150. The movement of the limiting part 1421 can be manually operated, or a power component can be set. The power component is connected to the limiting part 1421 to control the automatic movement of the limiting part 1421, making the use of the limiting assembly 142 more intelligent.

[0086] In this example, by providing a limiting component 142 on the carrier 141, the limiting portion 1421 on the limiting component 142 can move. The limiting portion 1421 can move to a position where it abuts against the fastener 150, thereby restricting the rotation of the fastener 150. The limiting portion 1421 can also move to a position where it disengages from the fastener 150, thus not affecting the picking of the part by the assembly tool 110. The limiting component 142 can play a role in limiting the fastener 150, which is beneficial to improving the connection stability of the fastener 150 on the carrier 141.

[0087] In some examples, referring to Figure 3 As shown, the carrier assembly 140 further includes a crimping member 143; there are multiple limiting components 142, and there are multiple fasteners 150. Each limiting portion 1421 is provided in one-to-one correspondence with each fastener 150. A crimping groove 1423 is formed on each limiting portion 1421. The crimping member 143 can be inserted into the multiple crimping grooves 1423 so that the limiting portion 1421 rotates relative to the fixing portion 1422 by gravity, causing the limiting portion 1421 to disengage from the fastener 150.

[0088] Specifically, the limiting portion 1421 is rotatably connected to the fixing portion 1422. The crimping member 143 has a certain weight. The crimping member 143 is the force-applying member that causes the limiting portion 1421 to rotate. After the crimping member 143 is placed in the crimping groove 1423 on the limiting portion 1421, the gravity of the crimping member 143 enables the limiting portion 1421 to rotate relative to the fixing portion 1422, causing the limiting portion 1421 to switch from the state of abutting against the fastener 150 to the state of disengaging from the fastener 150.

[0089] There are multiple limiting components 142, and the multiple limiting components 142 are spaced apart from each other. Correspondingly, there are multiple fasteners 150. One limiting component 142 is provided in correspondence with one fastener 150, and the limiting portion 1421 of one limiting component 142 can correspondingly abut against one fastener 150.

[0090] One crimping member 143 can be provided. One crimping member 143 can be inserted into and cooperate with the crimping grooves 1423 on multiple limiting portions 1421 at the same time. Relying on the gravity of the crimping member 143, the crimping member 143 exerts a force on the limiting portion 1421, and this force causes the multiple limiting portions 1421 to rotate relative to the fixing portion 1422, so that each limiting portion 1421 can disengage from the fastener 150.

[0091] Referring to Figure 2 As shown, a placement groove can be formed on the carrier 141 for the crimping member 143 to be accommodated in the placement groove after the crimping member 143 disengages from the crimping groove 1423. The carrier 141 can play a role in placing the crimping member 143.

[0092] In this example, by setting the crimping component 143, due to the gravitational force of the crimping component 143, each limiting portion 1421 can rotate relative to the fixing portion 1422, so that each limiting portion 1421 moves to disengage from the fastener 150. The limiting portion 1421 no longer limits the fastener 150, and then the assembly tool 110 can smoothly grasp the fastener 150 for installation.

[0093] In some examples, as shown in Figure 3 the crimping component 143 is connected to the limiting portion 1421 to rotate the limiting portion 1421 to the open position. In the open position, the included angle between the limiting portion 1421 and the horizontal direction is less than 90°.

[0094] Specifically, when the crimping component 143 is not connected to the limiting portion 1421, the limiting portion 1421 is in the initial position in contact with the fastener 150. For example, the limiting portion 1421 is rod-shaped. In this position, the central axis of the limiting portion 1421 is parallel to the horizontal direction, and the included angle between the limiting portion 1421 and the horizontal direction is 0°. When the crimping component 143 is connected to the limiting portion 1421, that is, after the crimping component 143 is inserted into the crimping groove 1423, due to the gravitational force of the crimping component 143, the limiting portion 1421 rotates relative to the fixing portion 1422. After rotating a preset angle, it rotates to the open position. In the open position, the included angle between the central axis of the limiting portion 1421 and the horizontal direction is less than 90°. Therefore, it can be known that when the crimping component 143 is removed from the limiting portion 1421 at this time, the limiting portion 1421 can move in the reverse direction under its own gravity and rotate towards the horizontal direction until it returns to the initial position in contact with the fastener 150 again.

[0095] Therefore, it can be known that during the operation of the assembly robot 100, first, the fastener 150 needs to be loaded. At this time, the crimping component 143 needs to be connected to the limiting portion 1421, so that the limiting portion 1421 rotates to the open position, so as not to interfere with the feeding process of the fastener 150. After the feeding work is completed, the crimping component 143 is removed, so that the crimping component 143 is not connected to the limiting portion 1421, and then the limiting portion 1421 rotates to the position in contact with the fastener 150, so as to achieve the purpose of restricting the rotation of the fastener 150. When the assembly tool 110 needs to grasp the fastener 150, the crimping component 143 is inserted into the crimping groove 1423 of the limiting portion 1421, and the limiting portion 1421 rotates to disengage from the fastener 150 and rotates to the open position, then the assembly tool 110 can smoothly grasp the fastener 150. After completing one assembly work, the feeding process can be continued for cyclic operation.

[0096] In this example, by controlling the rotation angle of the limiting portion 1421, the angle between the limiting portion 1421 and the horizontal direction is less than 90° when the limiting portion 1421 is in the open position. Then, after the crimping component 143 is removed, the limiting portion 1421 can rely on the action of gravity to return to the position where it abuts against the fastener 150 again, thereby making the use of the limiting portion 1421 more flexible and convenient.

[0097] In some examples, referring to Figure 1 As shown, the seat body 161 includes a mounting plate 1611 and a support frame 1612 connected to one side of the mounting plate 1611. The locking assembly 162 is connected to the mounting plate 1611, and the fixed end 131 and the bearing assembly 140 are both connected to the support frame 1612.

[0098] Specifically, the mounting plate 1611 is in a sheet shape, and a plurality of through-hole structures 1614 can be formed on the mounting plate 1611. On the one hand, it can reduce the weight of the mounting plate 1611. On the other hand, the through-hole structures 1614 can avoid the protruding portions 13111 of the external components, facilitating the improvement of the fitting degree between the mounting plate 1611 and the surface of the external components. The locking assembly 162 is connected to the mounting plate 1611, thereby locking and fixing between the mounting plate 1611 and the external components.

[0099] The support frame 1612 can adopt a frame type, a plate type or a solid structure, etc. The fixed end 131 of the robotic arm 130 is detachably connected to the support frame 1612, and the second disassembly and assembly seat 163 can be connected to the support frame 1612. The support frame 1612 can be fixedly or detachably connected to the mounting plate 1611. By adopting a detachable connection method, the support frame 1612 and the mounting plate 1611 can be flexibly assembled to flexibly adapt to the situation of a narrow space and improve the convenience of use.

[0100] In this example, the seat body 161 adopts the combination of the mounting plate 1611 and the support frame 1612, making the installation and disassembly of the seat body 161 more convenient and the use of the seat body 161 more flexible.

[0101] In some examples, referring to Figure 1 As shown, the assembly robot 100 further includes a 5G module 180, and the 5G module 180 is communicatively connected to the control component, the video acquisition component 120 and the robotic arm 130.

[0102] Specifically, the 5G module 180 is a communication device for realizing 5G network connection. The 5G module 180 usually includes one or more 5G wireless communication chips and necessary hardware and software components to communicate with the 5G network infrastructure.

[0103] In this example, by setting up the 5G module 180, the video acquisition component 120, the robotic arm 130, etc. can effectively transmit signals with the control component, thereby improving the sensitivity of the video acquisition component 120, the robotic arm 130, etc. during operation.

[0104] In some examples, reference Figure 1 As shown, the assembly robot 100 also includes a power supply component 170, which is electrically connected to the video acquisition component 120, the mechanical arm 130, and the control component. The power supply component 170 adopts a parallel power supply, that is, the power supply component 170 includes a plurality of power modules arranged in parallel. When one power module is powered off, the other power modules can continue to work, so that the probability of power failure of the assembly robot 100 is reduced. The power supply component 170 can also be provided with a quick-plug Harding 171, which is an interface structure that can achieve quick connection. The use of the quick-plug Harding 171 can reduce wiring and improve the simplicity of the overall structure of the robot.

[0105] The above are only preferred embodiments of the present application, and only specifically describe the technical principles of the present application. These descriptions are only for explaining the principles of the present application and cannot be interpreted as limiting the scope of protection of the present application in any way. Based on the explanation here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application, and other specific implementation methods of the present application that can be associated with the technicians in this field without creative work, should be included in the scope of protection of the present application.

Claims

1. An assembly robot, characterized in that, Comprising: A mounting base, including a base body and a locking component, the locking component being connected to the base body; A robotic arm, having a fixed end and a moving end, the fixed end being detachably connected to the base body; An assembly tool, connected to the moving end of the robotic arm; A carrying component, for carrying fasteners to be installed, the carrying component being connected to the base body; A video acquisition component, connected to the moving end of the robotic arm, the video acquisition component being used to obtain the position information of the fasteners; A control component, being communicatively connected to both the video acquisition component and the robotic arm.

2. The assembly robot according to claim 1, characterized in that, The locking component includes a locking base and a magnetic component connected to the locking base, the locking base being connected to the base body; or The locking component includes a locking base and a snap component connected to the locking base, the locking base being connected to the base body; or The locking component includes a locking base and a bolt component connected to the locking base, the locking base being connected to the base body.

3. The assembly robot according to claim 1, characterized in that, The mounting base further includes a positioning component connected to the base body, the positioning component being used for plugging and mating with an external component.

4. The assembly robot according to any one of claims 1-3, characterized in that, The assembly robot includes a first disassembly and assembly base connected to the fixed end and a second disassembly and assembly base connected to the base body, the first disassembly and assembly base being elastically clamped with the second disassembly and assembly base.

5. The assembly robot according to claim 4, wherein, The first disassembly and assembly base is plugged and mated with the second disassembly and assembly base along a preset direction, and the first disassembly and assembly base and the second disassembly and assembly base are connected through an elastic clamping structure. The elastic clamping structure includes a clamping groove and an elastically telescopic clamping body. The clamping body is plugged and mated with the clamping groove perpendicular to the preset direction. Any one of the clamping body and the clamping groove is connected to the first disassembly and assembly base, and the other of the clamping body and the clamping groove is connected to the second disassembly and assembly base.

6. The assembly robot according to any one of claims 1 to 3, characterized in that, The carrying component includes a carrying frame and a limiting component. The carrying frame is connected to the base body, the carrying frame is used for carrying the fasteners, the limiting component is connected to the carrying frame, the limiting component includes a fixing part and a limiting part movably connected to the fixing part, the fixing part is connected to the carrying frame, and the limiting part can move to a position where it abuts against the fastener to limit the rotation of the fastener relative to the carrying frame.

7. The assembly robot according to claim 6, characterized in that, The carrying component further includes a pressing component; there are multiple limiting components, and there are multiple fasteners. Each limiting part is arranged in one-to-one correspondence with each fastener. Pressing grooves are formed on each limiting part, and the pressing component can be plugged into the multiple pressing grooves so that the limiting part rotates relative to the fixing part by gravity, causing the limiting part to disengage from the fastener.

8. The assembly robot according to claim 7, characterized in that, The pressing component is connected to the limiting part to rotate the limiting part to an open position. In the open position, the included angle between the limiting part and the horizontal direction is less than 90°.

9. The assembly robot according to any one of claims 1 to 3, characterized in that, The base body includes a mounting plate and a support frame connected to one side of the mounting plate. The locking component is connected to the mounting plate, and the fixed end and the carrying component are both connected to the support frame.

10. The assembly robot according to any one of claims 1-3, characterized in that, The assembly robot further includes a 5G module, and the 5G module is communicatively connected to the control component, the video acquisition component, and the robotic arm.

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