Flexible assembling machine

Abstract

The utility model provides a flexible assembling machine which comprises a jig, a conveying control mechanism, a first positioning mechanism and a first magnetic core assembling mechanism, the first positioning mechanism comprises a first control mechanism, a first moving seat, a first driving mechanism and two first positioning claws, and the first magnetic core assembling mechanism comprises a first multi-axis robot and a first operating mechanism. The first operating mechanism comprises a first mounting seat, a first clamping control mechanism, two first clamping jaws, a first push plate, a first limiting plate, a first supporting seat and a first elastic compression spring, two first elastic pressing pieces are arranged at the push end of the first push plate, and one first elastic pressing piece can elastically abut against the side arm of the magnetic core. The flexible assembling machine has the advantages of being high in quality, precision and efficiency, capable of improving the efficiency of the assembling production takt while ensuring the assembling quality and precision, suitable for production of products of various models, high in universality and capable of achieving flexible production through rapid model changing.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly equipment technology, and in particular to a flexible assembly machine. Background Technology

[0002] An assembled product includes a frame, two E-type magnetic cores, a cover plate, and an iron clamp. A coil is wound on the frame, the two side arms of the E-type magnetic core are located outside the coil, the central arm of the E-type magnetic core is inserted into the through hole of the frame, the two side arms of the two E-type magnetic cores are connected by glue, the cover plate is pressed onto the upper end of the frame away from the pins, the end plates of the iron clamp are closed on the cover plate, and the two end plates of the iron clamp are elastically clamped on the end faces of the two E-type magnetic cores.

[0003] To assemble the skeleton and E-type magnetic core of the aforementioned product, existing assembly machines place the E-type magnetic cores in a slide rail. A servo motor controls a left-right movable pusher block, which then pushes the E-type magnetic cores in the slide rail toward the skeleton one by one for assembly. However, in actual assembly production, during the pusher block's movement of the E-type magnetic cores toward the skeleton, the free ends of the two arms of the E-type magnetic core are prone to warping, affecting assembly accuracy and quality, and consequently, assembly efficiency. Utility Model Content

[0004] To achieve the main objective of this utility model, it provides a high-quality, high-precision, and high-efficiency flexible assembly machine that can improve the efficiency of assembly production cycle while ensuring assembly quality and accuracy. It is applicable to the production of various product models, has strong versatility, and can quickly change models to achieve flexible production.

[0005] To achieve the main objective of this utility model, a flexible assembly machine is provided, comprising a jig, a conveying control mechanism, a first positioning mechanism, and a first magnetic core assembly mechanism. The conveying control mechanism controls the jig to move in the X-axis direction. The jig is used to place a skeleton. The first positioning mechanism is located on one side of the jig in the Y-axis direction and includes a first control mechanism, a first moving seat, a first drive mechanism, and two first positioning claws. The first control mechanism controls the first moving seat to move in the Y-axis direction. The first drive mechanism is mounted on the first moving seat and controls the two first positioning claws to move toward or away from each other in the X-axis direction. First support plates protrude from adjacent sides of the two first positioning claws, forming a first groove between the two first positioning claws and the two first support plates. The first groove extends in the Y-axis direction and is used to place a magnetic core. The first magnetic core assembly mechanism includes a first multi-axis robot and a first operating mechanism. The first operating mechanism includes a first mounting base, a first clamping control mechanism, and two... The first gripper, first pusher plate, first limiting plate, first support base, and first elastic compression spring are arranged on the execution end of the first multi-axis robot. The first multi-axis robot can control the first mounting base to move and rotate in multiple degrees of freedom. The first gripping control mechanism is arranged on the first mounting base and can control the two first grippers to move toward or away from each other. The two first grippers are used to grip the magnetic core. The first pusher plate is movably supported on the first mounting base. The first support base and the first limiting plate are arranged side by side on the first mounting base in the direction of movement of the first pusher plate. The driving end of the first pusher plate is provided with a first slide rod. The first slide rod can slide through and support the first support base in the direction of movement of the first pusher plate. The first elastic compression spring is sleeved on the first slide rod and presses against the driving end of the first support base and the first pusher plate. The protrusion of the first pusher plate near its pushing end can press against the first limiting plate. The pushing end of the first pusher plate is provided with two first elastic pressure plates. One of the first elastic pressure plates can elastically press against the side arm of the magnetic core.

[0006] As can be seen from the above scheme, during the assembly production of the flexible assembly machine of this utility model, the skeleton is placed on the fixture, and the conveying control mechanism controls the fixture to move the skeleton in the X-axis direction to the first positioning mechanism. The first multi-axis robot of the first magnetic core assembly mechanism controls the first mounting seat of the first operating mechanism to move and rotate in multiple degrees of freedom, so that the first clamping control mechanism on the first mounting seat controls the two first jaws to clamp the magnetic core and feed the magnetic core into the first groove formed between the two first positioning jaws and the two first support plates of the first positioning mechanism. Then, the first drive mechanism of the first positioning mechanism controls the two first positioning jaws to move in the X-axis direction to adjust the magnetic core in the first groove, so that the magnetic core in the first groove corresponds to the assembly position of the skeleton on the fixture in the Y-axis direction, and the first control mechanism of the first positioning mechanism controls the first moving seat to move the magnetic core in the first groove in the Y-axis direction. The first multi-axis robot of the first magnetic core assembly mechanism moves and rotates the first mounting base of the first operating mechanism in multiple degrees of freedom, so that the pushing end of the first push plate on the first mounting base is located on the side of the magnetic core away from the skeleton in the first groove in the Y-axis direction. At this time, the two first elastic pressure plates of the pushing end of the first push plate elastically press against the two sides of the magnetic core. Then, the pushing end of the first push plate pushes the magnetic core in the first groove to the skeleton of the fixture in the Y-axis direction. During the process of the magnetic core in the first groove being pushed and assembled onto the skeleton of the fixture, the two first elastic pressure plates of the pushing end of the first push plate can always elastically press against the two sides of the magnetic core, preventing the two sides of the magnetic core from tilting up, thereby ensuring that the two sides of the magnetic core are assembled flat onto the skeleton of the fixture, thereby improving the assembly accuracy and assembly quality between the magnetic core and the skeleton. Meanwhile, the first push plate of this utility model is movably supported on the first mounting base. The driving end of the first push plate is provided with a first slide rod. The first slide rod can slide through and support the first support base in the moving direction of the first push plate. The first elastic compression spring is sleeved on the first slide rod and presses against the first support base and the driving end of the first push plate. The protrusion of the first push plate near its pushing end can press against the first limiting plate. Thus, during the process of the pushing end of the first push plate pushing the magnetic core in the first slide groove to assemble it onto the skeleton of the fixture in the Y-axis direction, the first elastic compression spring is in an elastic compression state, so that the first push plate has a flexible and elastic buffering capacity, avoiding rigid and hard pushing of the magnetic core and causing rigid collision damage to the skeleton. This makes the magnetic core assembly flexible and elastic, thereby improving the assembly accuracy and quality between the magnetic core and the skeleton, and realizing fully automated assembly, thereby improving the assembly production efficiency.

[0007] Therefore, the flexible assembly machine of this utility model has the characteristics of high quality, high precision and high efficiency. It can improve the efficiency of assembly production cycle while ensuring assembly quality and assembly precision. It is applicable to the production of various models of products, has strong versatility, and can quickly change models to achieve flexible production.

[0008] A further embodiment is that the first operating mechanism also includes a transfer control mechanism, a transfer seat, a clamping control mechanism, and two coil claws. The transfer control mechanism is mounted on the first mounting seat and can control the transfer seat to move relative to the first mounting seat. The clamping control mechanism is mounted on the transfer seat and can control the two coil claws to move toward or away from each other. The two coil claws are used to clamp the coil on the frame to adjust the outer circumference shape of the coil.

[0009] A further embodiment includes a flexible assembly machine that further comprises a second positioning mechanism and a second magnetic core assembly mechanism. The second positioning mechanism and the first positioning mechanism are positioned opposite each other on opposite sides of the fixture in the Y-axis direction. The second positioning mechanism includes a second control mechanism, a second movable seat, a second drive mechanism, and two second positioning claws. The second control mechanism can control the second movable seat to move in the Y-axis direction. The second drive mechanism is mounted on the second movable seat and can control the two second positioning claws to move toward or away from each other in the X-axis direction. Second support plates protrude from adjacent sides of the two second positioning claws, forming a second sliding groove between the two second positioning claws and the two second support plates. The second sliding groove extends in the Y-axis direction and is used to place another magnetic core. The second magnetic core assembly mechanism includes a second multi-axis robot and a second operating mechanism. The second operating mechanism includes a second mounting base, a second clamping control mechanism, two second grippers, a second push plate, a second limiting plate, a second support base, and... A second elastic compression spring and a second mounting base are disposed at the execution end of the second multi-axis robot. The second multi-axis robot can control the second mounting base to move and rotate in multiple degrees of freedom. A second clamping control mechanism is disposed on the second mounting base and can control the two second grippers to move toward or away from each other. The two second grippers are used to clamp the magnetic core. A second push plate is movably supported on the second mounting base. A second support base and a second limiting plate are disposed side by side on the second mounting base in the moving direction of the second push plate. A second slide rod is protruding from the driving end of the second push plate. The second slide rod can slide through and be supported on the second support base in the moving direction of the second push plate. A second elastic compression spring is sleeved on the second slide rod and presses against the driving end of the second support base and the second push plate. The protrusion of the second push plate near its pushing end can press against the second limiting plate. The pushing end of the second push plate is provided with two second elastic pressure plates. One of the second elastic pressure plates can elastically press against the side arm of the magnetic core.

[0010] A further embodiment is that the flexible assembly machine also includes a magnetic core dispensing mechanism, which includes a third control mechanism, a third moving seat, a dispensing head, and an industrial camera. The third control mechanism can control the third moving seat to move in the X-axis direction and / or the Y-axis direction and the Z-axis direction. The industrial camera and the dispensing head are respectively mounted on the third moving seat. The dispensing head is used to dispense adhesive at the joint of the side arms of the two magnetic cores located on the fixture.

[0011] A further embodiment is that the flexible assembly machine also includes a cover plate assembly mechanism, which includes a third multi-axis robot and a third operating mechanism. The third operating mechanism includes a third mounting base, a third drive mechanism, and a first suction plate. The third mounting base is located at the execution end of the third multi-axis robot, which can control the third mounting base to move and rotate in multiple degrees of freedom. The third drive mechanism is located on the third mounting base and can control the first suction plate to move relative to the third mounting base. The suction end of the first suction plate is provided with a first vacuum nozzle and two first pressure heads. The two first pressure heads are symmetrically arranged about the first vacuum nozzle. The first vacuum nozzle is used to adsorb the cover plate, and the first pressure heads can press against the cover plate.

[0012] A further embodiment is that the flexible assembly machine also includes a first correction mechanism, which is located near the cover plate assembly mechanism. The first correction mechanism includes two sets of adjustment components, which are arranged opposite each other on both sides of the fixture in the Y-axis direction. Each set of adjustment components includes a support base, a push control mechanism, a sliding base, a push rod, a first spring, a clamping control mechanism, and two clamping blocks. The push control mechanism is located on the support base and can control the push rod to move in the Y-axis direction. The push rod is provided with a first baffle and a second baffle. The sliding base can be movably supported on the support base in the direction of movement of the push rod, and a linkage plate is provided at one end of the sliding base near the push rod. The first baffle and the second baffle are located on both sides of the linkage plate in the direction of movement of the push rod. The first baffle can press against the linkage plate. The first spring is sleeved on the push rod and presses against the linkage plate and the second baffle. The clamping control mechanism is located at the other end of the sliding base near the fixture and can control the two clamping blocks to move toward or away from each other in the X-axis direction. The two clamping blocks are used to clamp the product on the correction fixture.

[0013] A further embodiment of the flexible assembly machine includes a clamp assembly mechanism, which comprises a fourth multi-axis robot and a fourth operating mechanism. The fourth operating mechanism includes a fourth mounting base, a fourth drive mechanism, a second suction plate, a fourth control mechanism, a fourth moving base, a third clamping control mechanism, and two unloading claws. The fourth mounting base is located at the execution end of the fourth multi-axis robot, which can control the fourth mounting base to move and rotate in multiple degrees of freedom. The fourth drive mechanism is located on the fourth mounting base and can control the second suction plate to move relative to the fourth mounting base. The suction end of the second suction plate is equipped with a second vacuum nozzle and two second pressure heads, which are symmetrically arranged about the second vacuum nozzle. The second vacuum nozzle is used to adsorb the end plate of the clamp, and the second pressure heads can press against the end plate of the clamp. The fourth control mechanism is located on the fourth mounting base and can control the fourth moving base to move relative to the fourth mounting base. The third clamping control mechanism is located on the fourth moving base and can control the two unloading claws to move toward or away from each other.

[0014] A further embodiment is that the flexible assembly machine also includes a second correction mechanism. The second correction mechanism is located close to the iron clamp assembly mechanism and includes a floating control mechanism, a floating seat, a limiting block, a floating rod, a second spring, a correction pressure head, and two correction grippers. The floating control mechanism can control the floating seat to move in the Z-axis direction. The limiting block is located on the floating seat. The upper end of the floating rod can be moved in the Z-axis direction and supported on the limiting block. The correction pressure head is located at the lower end of the floating rod. The second spring is sleeved on the floating rod and presses against the limiting block and the correction pressure head. The correction pressure head can press against the cover plate. The correction control mechanism is located on the floating seat and can control the two correction grippers to move toward or away from each other in the X-axis direction. The two correction grippers can clamp the two ends of the cover plate in the X-axis direction. The correction pressure head is located between the two correction grippers in the X-axis direction.

[0015] A further embodiment is that the flexible assembly machine also includes a testing mechanism, which includes a fifth control mechanism, a fifth movable seat, a pressure rod, a third spring, a sixth control mechanism, and two test seats. The two test seats are located on opposite sides of the fixture in the Y-axis direction. The sixth control mechanism can control the two test seats to move toward or away from each other. Each test seat is equipped with a test probe. The pressure rod is located above the fixture in the Z-axis direction. The fifth control mechanism can control the fifth movable seat to move in the Z-axis direction. The pressure rod is movably supported on the fifth movable seat in the Z-axis direction. The pressure rod has a shoulder near its pressing end. The third spring is sleeved on the pressure rod and presses against the shoulder and the fifth movable seat. Attached Figure Description

[0016] Figure 1 This is a first-view structural diagram of an embodiment of a flexible assembly machine according to this utility model.

[0017] Figure 2 This is a second-view structural diagram of an embodiment of a flexible assembly machine according to this utility model.

[0018] Figure 3 This is a structural diagram showing the cooperation between the fixture and the conveying control mechanism in an embodiment of a flexible assembly machine according to this utility model.

[0019] Figure 4 This is a structural diagram showing the cooperation between the first positioning mechanism and the second positioning mechanism in an embodiment of a flexible assembly machine according to this utility model.

[0020] Figure 5 This is a partial structural diagram of the cooperation between the first positioning mechanism and the second positioning mechanism in an embodiment of a flexible assembly machine of this utility model.

[0021] Figure 6 This is a structural diagram of the first magnetic core assembly mechanism in an embodiment of a flexible assembly machine of this utility model.

[0022] Figure 7 This is a first-view structural diagram of the first operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0023] Figure 8 This is a second-view structural diagram of the first operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0024] Figure 9 This is a structural diagram of the second magnetic core assembly mechanism in an embodiment of a flexible assembly machine of this utility model.

[0025] Figure 10 This is a first-view structural diagram of the second operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0026] Figure 11 This is a second-view structural diagram of the second operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0027] Figure 12 This is a structural diagram of the magnetic core dispensing mechanism in an embodiment of a flexible assembly machine according to this utility model.

[0028] Figure 13 This is a structural diagram of the first correction mechanism in an embodiment of a flexible assembly machine of this utility model.

[0029] Figure 14 This is a structural diagram of the cover plate assembly mechanism in an embodiment of a flexible assembly machine of this utility model.

[0030] Figure 15 This is a first-view structural diagram of the third operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0031] Figure 16 This is a second-view structural diagram of the third operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0032] Figure 17 This is a structural diagram of the second correction mechanism in an embodiment of a flexible assembly machine of this utility model.

[0033] Figure 18 This is a structural diagram of the iron clamp assembly mechanism in an embodiment of a flexible assembly machine of this utility model.

[0034] Figure 19 This is a first-view structural diagram of the fourth operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0035] Figure 20 This is a second-view structural diagram of the fourth operating mechanism in an embodiment of a flexible assembly machine of this utility model.

[0036] Figure 21This is a structural diagram of the testing mechanism in an embodiment of a flexible assembly machine of this utility model.

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0038] See Figures 1 to 11This embodiment discloses a flexible assembly machine 20, including a fixture 21 and a conveying control mechanism 22. The conveying control mechanism 22 can control the fixture 21 to move in the X-axis direction. The fixture 21 is used to place a frame 11 with coils 16 wound on it. Specifically, in this embodiment, the conveying control mechanism 22 is a linear movement control mechanism composed of a motor, a lead screw, etc. Meanwhile, the flexible assembly machine 20 in this embodiment also includes a first positioning mechanism 23 and a first magnetic core assembly mechanism 25. The first positioning mechanism 23 is located on one side of the fixture 21 in the Y-axis direction, and the first positioning mechanism 23 includes a first control mechanism 231, a first moving seat 232, a first driving mechanism 233 and two first positioning claws 234. The first control mechanism 231 can control the first moving seat 232 to move in the Y-axis direction. The first driving mechanism 233 is disposed on the first moving seat 232 and can control the two first positioning claws 234 to move toward or away from each other in the X-axis direction. The adjacent sides of the two first positioning claws 234 are respectively provided with first support plates 2341. A first groove (not shown) is formed between the two first positioning claws 234 and the two first support plates 2341. The first groove extends in the Y-axis direction and is used to place a magnetic core. Furthermore, the first magnetic core assembly mechanism 25 in this embodiment includes a first multi-axis robot 251 and a first operating mechanism 252. The first operating mechanism 252 includes a first mounting base 2521, a first clamping control mechanism 2522, two first grippers 2523, a first push plate 2524, a first limiting plate 2527, a first support base 2526, and a first elastic compression spring 2529. The first mounting base 2521 is disposed at the execution end of the first multi-axis robot 251. The first multi-axis robot 251 can control the first mounting base 2521 to move and rotate in multiple degrees of freedom. The first clamping control mechanism 2522 is disposed on the first mounting base 2521 and can control the two first grippers 2523 to move toward or away from each other. The two first grippers 2523 are used to clamp the magnetic core. In addition, in this embodiment, the first push plate 2524 is movably supported on the first mounting base 2521. The first support base 2526 and the first limiting plate 2527 are arranged side by side on the first mounting base 2521 in the moving direction of the first push plate 2524. The driving end of the first push plate 2524 is provided with a first slide rod 2528. The first slide rod 2528 can slide through and be supported on the first support base 2526 in the moving direction of the first push plate 2524. The first elastic compression spring 2529 is sleeved on the first slide rod 2528 and presses against the driving end of the first support base 2526 and the first push plate 2524. The protrusion of the first push plate 2524 near its pushing end can press against the first limiting plate 2527. The pushing end of the first push plate 2524 is provided with two first elastic pressure plates 2525. One of the first elastic pressure plates 2525 can elastically press against the side arm of the magnetic core.

[0039] In this embodiment, during assembly production, the flexible assembly machine 20 places the skeleton 11 on the fixture 21. The conveying control mechanism 22 controls the fixture 21 to move the skeleton 11 in the X-axis direction to the first positioning mechanism 23. The first multi-axis robot 251 of the first magnetic core assembly mechanism 25 controls the first mounting base 2521 of the first operating mechanism 252 to move and rotate in multiple degrees of freedom. This allows the first clamping control mechanism 2522 on the first mounting base 2521 to control the two first grippers 2523 to clamp the magnetic core and feed the magnetic core into the first groove formed between the two first positioning claws 234 and the two first support plates 2341 of the first positioning mechanism 23. Then, the first drive mechanism 233 of the first positioning mechanism 23 controls the two first positioning claws 234 to move in the X-axis direction to adjust the magnetic core in the first groove, so that the magnetic core in the first groove corresponds to the assembly position of the skeleton 11 on the fixture 21 in the Y-axis direction. The first control mechanism 231 of the first positioning mechanism 23 controls the first moving seat 232 to move the magnetic core in the first groove in the Y-axis direction. The first multi-axis robot 251 of the first magnetic core assembly mechanism 25 moves upward to the assembly position via the fixture 21. Then, the first mounting base 2521 of the first operating mechanism 252 moves and rotates in multiple degrees of freedom, causing the pushing end of the first push plate 2524 on the first mounting base 2521 to be located on the side of the magnetic core away from the frame 11 in the first groove along the Y-axis. At this time, the two first elastic pressure plates 2525 of the pushing end of the first push plate 2524 elastically press against the two sides of the magnetic core. Then, the first push plate 252... The pushing end of the first push plate 2524 pushes the magnetic core in the first groove onto the frame 11 of the fixture 21 in the Y-axis direction. During the process of the magnetic core in the first groove being pushed onto the frame 11 of the fixture 21, the two first elastic pressure plates 2525 of the pushing end of the first push plate 2524 can always elastically press against the two sides of the magnetic core, preventing the two sides of the magnetic core from tilting up, thereby ensuring that the two sides of the magnetic core are assembled flat onto the frame 11 of the fixture 21, thereby improving the assembly accuracy and assembly quality between the magnetic core and the frame 11.Meanwhile, in this embodiment, the first push plate 2524 is movably supported on the first mounting base 2521. A first slide rod 2528 protrudes from the driving end of the first push plate 2524. The first slide rod 2528 slidably passes through and supports the first support base 2526 in the moving direction of the first push plate 2524. A first elastic compression spring 2529 is sleeved on the first slide rod 2528 and presses against the first support base 2526 and the driving end of the first push plate 2524. The protrusion of the first push plate 2524 near its pushing end can press against the first limiting plate 25. On 27, during the process of the pushing end of the first push plate 2524 pushing and assembling the magnetic core in the first groove onto the frame 11 of the fixture 21 in the Y-axis direction, the first elastic compression spring 2529 is in an elastic compression state, which makes the first push plate 2524 have flexible and elastic buffering capabilities, avoiding rigid and hard pushing of the magnetic core and causing rigid collision damage to the frame 11. This makes the magnetic core assembly flexible and elastic, thereby improving the assembly accuracy and quality between the magnetic core and the frame 11, and realizing fully automated assembly, thereby improving assembly production efficiency.

[0040] Therefore, the flexible assembly machine 20 in this embodiment has the characteristics of high quality, high precision and high efficiency. It can improve the efficiency of assembly production cycle while ensuring assembly quality and assembly precision. It is applicable to the production of various models of products, has strong versatility, and can quickly change models to achieve flexible production.

[0041] To further improve assembly quality and accuracy, the first operating mechanism 252 in this embodiment also includes a transfer control mechanism 25210, a transfer seat 25211, a clamping control mechanism 25212, and two coil claws 25213. The transfer control mechanism 25210 is mounted on the first mounting seat 2521 and can control the transfer seat 25211 to move relative to the first mounting seat 2521. The clamping control mechanism 25212 is mounted on the transfer seat 25211 and can control the two coil claws 25213 to move toward or away from each other. The two coil claws 25213 are used to clamp the coil 16 on the frame 11 to adjust the outer circumference shape of the coil 16, thereby avoiding damage to the coil 16 during core assembly due to the outer circumference of the coil 16 protruding from the frame 11. Specifically, in this embodiment, the first control mechanism 231 is a linear motion control mechanism composed of a motor, a lead screw, etc., the first drive mechanism 233 is a gripper cylinder, the first clamping control mechanism 2522 is a gripper cylinder, the transfer control mechanism 25210 is a cylinder, and the clamping control mechanism 25212 is a gripper cylinder.

[0042] To further improve assembly production efficiency, the flexible assembly machine 20 in this embodiment also includes a second positioning mechanism 24 and a second magnetic core assembly mechanism 26. The second positioning mechanism 24 and the first positioning mechanism 23 are arranged opposite to each other on both sides of the fixture 21 in the Y-axis direction. The second positioning mechanism 24 includes a second control mechanism 241, a second moving seat 242, a second drive mechanism 243, and two second positioning claws 244. The second control mechanism 241 can control the second moving seat 242 to move in the Y-axis direction. The second drive mechanism 243 is disposed on the second moving seat 242 and can control the two second positioning claws 244 to move toward or away from each other in the X-axis direction. The two second positioning claws 244 have adjacent sides with protruding second support plates 2441. A second sliding groove (not shown) is formed between the two second positioning claws 244 and the two second support plates 2441. The second sliding groove extends in the Y-axis direction and is used to place another magnetic core. In this embodiment, the second magnetic core assembly mechanism 26 includes a second multi-axis robot 261 and a second operating mechanism 262. The second operating mechanism 262 includes a second mounting base 2621, a second clamping control mechanism 2622, two second grippers 2623, a second push plate 2624, a second limiting plate 2628, a second support base 2626, and a second elastic... A compression spring 2627 and a second mounting base 2621 are disposed at the execution end of the second multi-axis robot 261. The second multi-axis robot 261 can control the second mounting base 2621 to move and rotate in multiple degrees of freedom. A second clamping control mechanism 2622 is disposed on the second mounting base 2621 and can control the two second grippers 2623 to move toward or away from each other. The two second grippers 2623 are used to clamp the magnetic core. In addition, in this embodiment, a second push plate 2624 is movably supported on the second mounting base 2621. A second support base 2626 and a second limiting plate 2628 are disposed side by side on the second mounting base in the direction of movement of the second push plate 2624. On 2621, a second slide rod 2629 is provided on the driving end of the second push plate 2624. The second slide rod 2629 can be slidably inserted and supported on the second support seat 2626 in the moving direction of the second push plate 2624. A second elastic compression spring 2627 is sleeved on the second slide rod 2629 and presses against the driving end of the second support seat 2626 and the second push plate 2624. The protrusion of the second push plate 2624 near its pushing end can press against the second limiting plate 2628. The pushing end of the second push plate 2624 is provided with two second elastic pressure plates 2625. One of the second elastic pressure plates 2625 can elastically press against the side arm of the magnetic core.

[0043] Therefore, in this embodiment, while the first positioning mechanism 23 and the first magnetic core assembly mechanism 25 cooperate to flexibly assemble one side of the magnetic core on the frame 11 of the jig, the second positioning mechanism 24 and the second magnetic core assembly mechanism 26 also simultaneously cooperate to flexibly assemble the other side of the magnetic core on the frame 11 of the jig. This allows the magnetic cores on both sides of the frame 11 to be assembled synchronously, efficiently, with high precision, and with high quality, thereby improving the assembly production efficiency of the flexible assembly machine 20 in this embodiment. Specifically, in this embodiment, the second control mechanism 241 is a linear movement control mechanism composed of a motor, lead screw, etc., the second drive mechanism 243 is a gripper cylinder, and the second clamping control mechanism 2622 is a gripper cylinder.

[0044] See Figure 12 In this embodiment, the flexible assembly machine 20 also includes a magnetic core dispensing mechanism 27. The magnetic core dispensing mechanism 27 includes a third control mechanism 271, a third moving seat 272, a dispensing head 274, and an industrial camera 273. The third control mechanism 271 can control the third moving seat 272 to move in the X-axis direction and / or the Y-axis direction and the Z-axis direction. The industrial camera 273 and the dispensing head 274 are respectively disposed on the third moving seat 272. The dispensing head 274 is used to dispense adhesive at the joint of the side arms of the two magnetic cores located on the fixture 21. In this embodiment, after the first positioning mechanism 23 and the first magnetic core assembly mechanism 25 of the flexible assembly machine 20 cooperate, and the second positioning mechanism 24 and the second magnetic core assembly mechanism 26 cooperate to flexibly assemble two magnetic cores on the skeleton 11 of the fixture 21, the conveying control mechanism 22 controls the fixture 21 to move the skeleton 11 with the two assembled magnetic cores in the X-axis direction to the magnetic core dispensing mechanism 27. Then, the industrial camera 273 of the magnetic core dispensing mechanism 27 detects the position of the bonding point of the side arms of the two magnetic cores, and then controls the dispensing head 274 to accurately dispense glue at the bonding point of the side arms of the two magnetic cores, so that the two magnetic cores assembled on the fixture 21 onto the skeleton 11 are stably fitted onto the skeleton 11. Specifically, in this embodiment, the third control mechanism 271 is a linear movement control mechanism composed of a motor, lead screw, cylinder, etc.

[0045] See Figures 13 to 16In this embodiment, the flexible assembly machine 20 also includes a cover plate assembly mechanism 29. The cover plate assembly mechanism 29 includes a third multi-axis robot 291 and a third operating mechanism 292. The third operating mechanism 292 includes a third mounting base 2921, a third driving mechanism 2926, and a first suction plate 2927. The third mounting base 2921 is disposed at the execution end of the third multi-axis robot 291. The third multi-axis robot 291 can control the third mounting base 2921 to move and rotate in multiple degrees of freedom. The third driving mechanism 2926 is disposed on the third mounting base 2921 and can control the first suction plate 2927 to move relative to the third mounting base 2921. The suction end of the first suction plate 2927 is provided with a first vacuum nozzle 2928 and two first pressure heads 2929. The two first pressure heads 2929 are symmetrically arranged about the first vacuum nozzle 2928. The first vacuum nozzle 2928 is used to adsorb the cover plate, and the first pressure heads 2929 can press against the cover plate.

[0046] In this embodiment, after the magnetic core dispensing mechanism 27 of the flexible assembly machine 20 precisely dispenses adhesive at the joint of the side arms of the two magnetic cores assembled on the jig 21 onto the skeleton 11, the conveying control mechanism 22 controls the jig 21 to move the skeleton 11, which has completed the assembly of the two magnetic cores, in the X-axis direction to the cover plate assembly mechanism 29 of this embodiment. Then, the third multi-axis robot 291 of the cover plate assembly mechanism 29 controls the third mounting base 2921 of the third operating mechanism 292 to move and rotate in multiple degrees of freedom, so that the first vacuum suction on the third mounting base 2921... The nozzle 2928 adsorbs the cover plate and delivers it to the top of the frame 11. Then, the third drive mechanism 2926 on the third mounting base 2921 controls the first suction plate 2927 to drive the first vacuum nozzle 2928 and the two first pressure heads 2929 to move downward. At this time, the first vacuum nozzle 2928 cancels the vacuum suction force. As the first suction plate 2927 continues to move downward, the two first pressure heads 2929 on the first suction plate 2927 press against the cover plate to press the cover plate onto the upper end of the frame 11, thereby automatically completing the cover plate assembly.

[0047] To improve the accuracy of cover plate assembly, the third operating mechanism 292 in this embodiment further includes a seventh control mechanism 2922, a seventh moving seat 2923, a seventh clamping control mechanism 2924, and two clamping claws 2925. The seventh control mechanism 2922 is mounted on the third mounting seat 2921 and can control the seventh moving seat 2923 to move relative to the third mounting seat 2921. The seventh clamping control mechanism 2924 is mounted on the seventh moving seat 2923 and can control the two clamping claws 2925 to move toward or away from each other, so that the two clamping claws 2925 can clamp the cover plate placed on the frame 11 to adjust the position of the cover plate to correspond with the installation position of the frame 11. Then, the two first pressure heads 2929 on the first suction plate 2927 press against the cover plate to accurately press the cover plate onto the upper end of the frame 11. Specifically, the third driving mechanism 2926 in this embodiment is a cylinder, the seventh control mechanism 2922 in this embodiment is a cylinder, and the seventh clamping control mechanism 2924 in this embodiment is a clamping claw cylinder.

[0048] To further improve assembly accuracy, the flexible assembly machine 20 in this embodiment also includes a first correction mechanism 28. The first correction mechanism 28 is located near the cover plate assembly mechanism 29, and includes two sets of adjustment components 281. The two sets of adjustment components 281 are arranged opposite each other on both sides of the fixture 21 in the Y-axis direction. Each set of adjustment components 281 includes a support seat 2810, a push control mechanism 2811, a sliding seat 2813, a push rod 2812, a first spring 2816, a clamping control mechanism 2817, and two clamping blocks 2818. The push control mechanism 2811 is located on the support seat 2810 and can control the push rod 2812 to move in the Y-axis direction. The push rod 2812 is provided with a first baffle 2814 and a second baffle 2815. 813 is movably supported on the support seat 2810 in the moving direction of the push rod 2812, and a linkage plate 28131 is provided at one end of the sliding seat 2813 near the push rod 2812. The first baffle 2814 and the second baffle 2815 are respectively located on both sides of the linkage plate 28131 in the moving direction of the push rod 2812. The first baffle 2814 can press against the linkage plate 28131. The first spring 2816 is sleeved on the push rod 2812 and presses against the linkage plate 28131 and the second baffle 2815. The clamping control mechanism 2817 is provided at the other end of the sliding seat 2813 near the fixture 21 and can control the two clamping blocks 2818 to move toward or away from each other in the X-axis direction. The two clamping blocks 2818 are used to clamp the product on the correction fixture 21.

[0049] Before the cover plate assembly mechanism 29 assembles the cover plate in this embodiment, the conveying control mechanism 22 controls the fixture 21 to move the skeleton 11 with the two magnetic cores assembled in the X-axis direction to the first correction mechanism 28 in this embodiment. Then, the two sets of adjustment components 281 of the first correction mechanism 28 in this embodiment control the push rod 2812 to move in the Y-axis direction through the push control mechanism 2811. Under the action of the first spring 2816 and the second stop 2815, the sliding seat 2813 is synchronously forced to move towards the fixture 21 in the Y-axis direction. The clamping control mechanism 2817 on the sliding seat 2813 controls the two clamping blocks 2818 to move towards each other in the X-axis direction to clamp the magnetic cores on the fixture 21. With the elastic push of the first spring 2816, the two magnetic cores after dispensing are corrected. Specifically, the push control mechanism 2811 in this embodiment is a cylinder, and the clamping control mechanism 2817 in this embodiment is a gripper cylinder.

[0050] See Figures 17 to 20 In this embodiment, the flexible assembly machine 20 also includes a clamp assembly mechanism 211. The clamp assembly mechanism 211 includes a fourth multi-axis robot 2111 and a fourth operating mechanism 2112. The fourth operating mechanism 2112 includes a fourth mounting base 21121, a fourth drive mechanism 21124, a second suction plate 21123, a fourth control mechanism 21127, a fourth moving base 21128, a third clamping control mechanism 21129, and two unloading claws 21122. The fourth mounting base 21121 is disposed at the execution end of the fourth multi-axis robot 2111. The fourth multi-axis robot 2111 can control the fourth mounting base 21121 to move and rotate in multiple degrees of freedom. The fourth drive mechanism 21124 is disposed on the fourth mounting base 21121. The second suction plate 21123 can be controlled to move relative to the fourth mounting base 21121. The suction end of the second suction plate 21123 is provided with a second vacuum nozzle 21126 and two second pressure heads 21125. The two second pressure heads 21125 are symmetrically arranged about the second vacuum nozzle 21126. The second vacuum nozzle 21126 is used to adsorb the end plate of the iron clamp. The second pressure heads 21125 can press against the end plate of the iron clamp. The fourth control mechanism 21127 is provided on the fourth mounting base 21121 and can control the fourth moving base 21128 to move relative to the fourth mounting base 21121. The third clamping control mechanism 21129 is provided on the fourth moving base 21128 and can control the two unloading claws 21122 to move toward or away from each other.

[0051] After the cover plate assembly mechanism 29 assembles the cover plate in this embodiment, the conveying control mechanism 22 controls the fixture 21 to move the skeleton 11, which has completed the cover plate assembly, in the X-axis direction to the clamp assembly mechanism 211 in this embodiment. Then, the fourth multi-axis robot 2111 of the clamp assembly mechanism 211 controls the fourth mounting base 21121 of the fourth operating mechanism 2112 to move and rotate in multiple degrees of freedom, so that the second vacuum nozzle 21126 on the fourth mounting base 21121 adsorbs the end plate of the clamp and sends the clamp to the top of the cover plate located on the fixture 21. Subsequently, The fourth drive mechanism 21124 on the fourth mounting base 21121 controls the second suction plate 21123 to drive the second vacuum nozzle 21126 and the two second pressure heads 21125 to move downwards. At this time, the second vacuum nozzle 21126 cancels the vacuum suction force. As the second suction plate 21123 continues to move downwards, the two second pressure heads 21125 on the second suction plate 21123 press against the end plates of the iron clamp to elastically clamp the two end plates of the iron clamp onto the end faces of the two magnetic cores, and the end plates of the iron clamp close to the cover plate, thereby automatically completing the assembly of the iron clamp. Afterwards, the fourth control mechanism 21127 on the fourth mounting base 21121 can control the fourth moving base 21128, and the third clamping control mechanism 21129 on the fourth moving base 21128 can control the two unloading claws 21122 to move toward or away from each other to unload the assembled product on the fixture 21 after the iron clamp assembly is completed. Specifically, in this embodiment, the fourth driving mechanism 21124 is a cylinder, the fourth control mechanism 21127 is a cylinder, and the third clamping control mechanism 21129 is a gripper cylinder.

[0052] To further improve assembly accuracy, the flexible assembly machine 20 in this embodiment also includes a second correction mechanism 210. The second correction mechanism 210 is located near the clamp assembly mechanism 211 and includes a floating control mechanism 2101, a floating seat 2102, a limiting block 2108, a floating rod 2104, a second spring 2105, a correction pressure head 2103, a correction control mechanism 2106, and two correction grippers 2107. The floating control mechanism 2101 can control the floating seat 2102 to move in the Z-axis direction. The limiting block 2108 is disposed on the floating seat 2102, and the upper end of the floating rod 2104 can... The correction pressure head 2103 is located at the lower end of the floating rod 2104 and is movably supported on the limiting block 2108 in the Z-axis direction. The second spring 2105 is sleeved on the floating rod 2104 and presses against the limiting block 2108 and the correction pressure head 2103. The correction pressure head 2103 can press against the cover plate. The correction control mechanism 2106 is located on the floating seat 2102 and can control the two correction grippers 2107 to move toward or away from each other in the X-axis direction. The two correction grippers 2107 can clamp the two ends of the cover plate in the X-axis direction. The correction pressure head 2103 is located between the two correction grippers 2107 in the X-axis direction.

[0053] After the cover plate assembly mechanism 29 assembles the cover plate in this embodiment, and before the iron clamp assembly mechanism 211 assembles the iron clamp in this embodiment, the conveying control mechanism 22 controls the fixture 21 to move the frame 11, which has completed the cover plate assembly, in the X-axis direction to the second correction mechanism 210 in this embodiment. Then, the floating control mechanism 2101 of the second correction mechanism 210 controls the floating seat 2102 to move in the Z-axis direction, so that the correction pressure head 2103 elastically presses against the cover plate. Furthermore, the correction control mechanism 2106 of the second correction mechanism 210 controls the two correction grippers 2107 to move toward each other in the X-axis direction to clamp the two ends of the cover plate, thereby correcting the assembled cover plate. Specifically, the floating control mechanism 2101 in this embodiment is a cylinder, and the correction control mechanism 2106 in this embodiment is a gripper cylinder.

[0054] See Figure 21 In this embodiment, the flexible assembly machine 20 also includes a testing mechanism 212. The testing mechanism 212 includes a fifth control mechanism 2121, a fifth moving seat 2122, a pressing rod 2123, a third spring 2124, a sixth control mechanism 2125, and two testing seats 2126. The two testing seats 2126 are located on both sides of the fixture 21 in the Y-axis direction. The sixth control mechanism 2125 can control the two testing seats 2126 to move toward or away from each other. Each testing seat 2126 is equipped with... A test probe 2127 is provided. The pressing rod 2123 is located above the fixture 21 in the Z-axis direction. The fifth control mechanism 2121 can control the fifth moving seat 2122 to move in the Z-axis direction. The pressing rod 2123 is movably supported on the fifth moving seat 2122 in the Z-axis direction. The pressing rod 2123 has a shoulder 21231 near its pressing end. The third spring 2124 is sleeved on the pressing rod 2123 and presses against the shoulder 21231 and the fifth moving seat 2122.

[0055] After the clamp assembly mechanism 211 assembles the clamp in this embodiment, the conveying control mechanism 22 controls the fixture 21 to move the assembled product in the X-axis direction to the testing mechanism 212 in this embodiment. Then, the fifth control mechanism 2121 of the testing mechanism 212 controls the fifth moving seat 2122 to move in the Z-axis direction, so that the pressing rod 2123, which is movably supported on the fifth moving seat 2122, elastically presses against the end plate of the clamp of the assembled product on the fixture 21 for positioning. Subsequently, the sixth control mechanism 2125 controls the two test seats 2126 to move toward each other, so that the test probes 2127 on the test seats 2126 align with the pins of the assembled product on the fixture 21, thereby testing the assembled product on the fixture 21 to ensure the quality of the manufactured products. Specifically, the fifth control mechanism 2121 in this embodiment is a cylinder, and the sixth control mechanism 2125 in this embodiment is a gripper cylinder.

[0056] The above embodiments are merely preferred examples of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles of this utility model patent application should be included within the scope of this utility model patent application.

Claims

1. A flexible assembly machine, comprising a fixture and a conveying control mechanism, wherein the conveying control mechanism can control the fixture to move in the X-axis direction, and the fixture is used to place a skeleton, characterized in that: The flexible assembly machine further includes a first positioning mechanism and a first magnetic core assembly mechanism. The first positioning mechanism is located on one side of the fixture in the Y-axis direction, and the first positioning mechanism includes a first control mechanism, a first moving seat, a first driving mechanism, and two first positioning claws. The first control mechanism can control the first moving seat to move in the Y-axis direction. The first driving mechanism is disposed on the first moving seat and can control the two first positioning claws to move toward or away from each other in the X-axis direction. The adjacent sides of the two first positioning claws are respectively provided with first support plates. A first groove is formed between the two first positioning claws and the two first support plates. The first groove extends in the Y-axis direction and is used to place a magnetic core. The first magnetic core assembly mechanism includes a first multi-axis robot and a first operating mechanism. The first operating mechanism includes a first mounting base, a first clamping control mechanism, two first grippers, a first push plate, a first limiting plate, a first support base, and a first elastic compression spring. The first mounting base is disposed at the execution end of the first multi-axis robot. The first multi-axis robot can control the first mounting base to move and rotate in multiple degrees of freedom. The first clamping control mechanism is disposed on the first mounting base and can control the two first grippers to move toward or away from each other. The two first grippers are used to clamp the magnetic core. The first push plate is movably supported on the first mounting base. The first support base and the first limiting plate are arranged side by side on the first mounting base in the moving direction of the first push plate. The driving end of the first push plate is provided with a first slide rod. The first slide rod can slide through and be supported on the first support base in the moving direction of the first push plate. The first elastic compression spring is sleeved on the first slide rod and presses against the first support base and the driving end of the first push plate. The protrusion of the first push plate near its pushing end can press against the first limiting plate. The pushing end of the first push plate is provided with two first elastic pressure plates. One of the first elastic pressure plates can elastically press against the side arm of the magnetic core.

2. The flexible assembly machine according to claim 1, characterized in that: The first operating mechanism further includes a transfer control mechanism, a transfer seat, a clamping control mechanism, and two coil claws. The transfer control mechanism is disposed on the first mounting seat and can control the transfer seat to move relative to the first mounting seat. The clamping control mechanism is disposed on the transfer seat and can control the two coil claws to move toward or away from each other. The two coil claws are used to clamp the coil on the frame to adjust the outer peripheral shape of the coil.

3. The flexible assembly machine according to claim 1 or 2, characterized in that: The flexible assembly machine further includes a second positioning mechanism and a second magnetic core assembly mechanism. The second positioning mechanism and the first positioning mechanism are arranged opposite to each other on both sides of the fixture in the Y-axis direction. The second positioning mechanism includes a second control mechanism, a second moving seat, a second drive mechanism, and two second positioning claws. The second control mechanism can control the second moving seat to move in the Y-axis direction. The second drive mechanism is arranged on the second moving seat and can control the two second positioning claws to move toward or away from each other in the X-axis direction. The adjacent sides of the two second positioning claws are respectively provided with second support plates. A second groove is formed between the two second positioning claws and the two second support plates. The second groove extends in the Y-axis direction and is used to place another magnetic core. The second magnetic core assembly mechanism includes a second multi-axis robot and a second operating mechanism. The second operating mechanism includes a second mounting base, a second clamping control mechanism, two second grippers, a second push plate, a second limiting plate, a second support base, and a second elastic compression spring. The second mounting base is disposed at the execution end of the second multi-axis robot. The second multi-axis robot can control the second mounting base to move and rotate in multiple degrees of freedom. The second clamping control mechanism is disposed on the second mounting base and can control the two second grippers to move toward or away from each other. The two second grippers are used to clamp the magnetic core. The second push plate is movably supported on the second mounting base. The second support base and the second limiting plate are arranged side by side on the second mounting base in the moving direction of the second push plate. The driving end of the second push plate is provided with a second slide rod. The second slide rod can slide through and be supported on the second support base in the moving direction of the second push plate. The second elastic compression spring is sleeved on the second slide rod and presses against the driving end of the second support base and the second push plate. The protrusion of the second push plate near its pushing end can press against the second limiting plate. The pushing end of the second push plate is provided with two second elastic pressure plates. One of the second elastic pressure plates can elastically press against the side arm of the magnetic core.

4. The flexible assembly machine according to claim 3, characterized in that: The flexible assembly machine also includes a magnetic core dispensing mechanism, which includes a third control mechanism, a third moving seat, a dispensing head, and an industrial camera. The third control mechanism can control the third moving seat to move in the X-axis direction and / or the Y-axis direction and the Z-axis direction. The industrial camera and the dispensing head are respectively mounted on the third moving seat. The dispensing head is used to dispense adhesive at the joint of the side arms of the two magnetic cores located on the fixture.

5. The flexible assembly machine according to claim 4, characterized in that: The flexible assembly machine also includes a cover plate assembly mechanism, which includes a third multi-axis robot and a third operating mechanism. The third operating mechanism includes a third mounting base, a third drive mechanism, and a first suction plate. The third mounting base is disposed at the execution end of the third multi-axis robot, and the third multi-axis robot can control the third mounting base to move and rotate in multiple degrees of freedom. The third driving mechanism is mounted on the third mounting base and can control the first suction plate to move relative to the third mounting base. The suction end of the first suction plate is provided with a first vacuum nozzle and two first pressure heads. The two first pressure heads are symmetrically arranged about the first vacuum nozzle. The first vacuum nozzle is used to adsorb the cover plate, and the first pressure heads can press against the cover plate.

6. The flexible assembly machine according to claim 5, characterized in that: The flexible assembly machine also includes a first correction mechanism, which is located close to the cover plate assembly mechanism. The first correction mechanism includes two sets of adjustment components, which are arranged opposite to each other on both sides of the fixture in the Y-axis direction. Each set of adjustment components includes a support base, a push control mechanism, a sliding base, a push rod, a first spring, a clamping control mechanism, and two clamping blocks. The push control mechanism is mounted on the support base and can control the push rod to move in the Y-axis direction. The push rod is provided with a first stop plate and a second stop plate. The sliding base is movably supported on the support base in the direction of movement of the push rod, and a linkage plate is provided at one end of the sliding base near the push rod. The first stop plate and the second stop plate are respectively located on both sides of the linkage plate in the direction of movement of the push rod. The first stop plate can press against the linkage plate. The first spring is sleeved on the push rod and presses against the linkage plate and the second stop plate. The clamping control mechanism is located at the other end of the sliding base near the fixture and can control the two clamping blocks to move toward or away from each other in the X-axis direction. The two clamping blocks are used to clamp and correct the product on the fixture.

7. The flexible assembly machine according to claim 5 or 6, characterized in that: The flexible assembly machine also includes a clamp assembly mechanism, which includes a fourth multi-axis robot and a fourth operating mechanism. The fourth operating mechanism includes a fourth mounting base, a fourth drive mechanism, a second suction plate, a fourth control mechanism, a fourth moving base, a third clamping control mechanism, and two unloading claws. The fourth mounting base is located at the execution end of the fourth multi-axis robot, and the fourth multi-axis robot can control the fourth mounting base to move and rotate in multiple degrees of freedom. The fourth driving mechanism is mounted on the fourth mounting base and can control the second suction plate to move relative to the fourth mounting base. The suction end of the second suction plate is provided with a second vacuum nozzle and two second pressure heads. The two second pressure heads are symmetrically arranged about the second vacuum nozzle. The second vacuum nozzle is used to adsorb the end plate of the iron clamp, and the second pressure head can press against the end plate of the iron clamp. The fourth control mechanism is disposed on the fourth mounting base and can control the fourth movable base to move relative to the fourth mounting base. The third clamping control mechanism is disposed on the fourth movable base and can control the two unloading claws to move toward or away from each other.

8. The flexible assembly machine according to claim 7, characterized in that: The flexible assembly machine also includes a second correction mechanism, which is located close to the iron clamp assembly mechanism. The second correction mechanism includes a floating control mechanism, a floating seat, a limiting block, a floating rod, a second spring, a correction pressure head, and two correction grippers. The floating control mechanism can control the floating seat to move in the Z-axis direction. The limiting block is located on the floating seat. The upper end of the floating rod is movable in the Z-axis direction and supported on the limiting block. The correction pressure head is located at the lower end of the floating rod. The second spring is sleeved on the floating rod and presses against the limiting block and the correction pressure head. The correction pressure head can press against the cover plate. The correction control mechanism is mounted on the floating seat and can control the two correction jaws to move toward or away from each other in the X-axis direction. The two correction jaws can clamp the two ends of the cover plate in the X-axis direction, and the correction pressure head is located between the two correction jaws in the X-axis direction.

9. The flexible assembly machine according to claim 7, characterized in that: The flexible assembly machine also includes a testing mechanism, which includes a fifth control mechanism, a fifth moving seat, a pressure rod, a third spring, a sixth control mechanism, and two testing seats. The two testing seats are located on both sides of the fixture in the Y-axis direction. The sixth control mechanism can control the two testing seats to move toward or away from each other. Each testing seat is provided with a test probe. The pressing rod is located above the fixture in the Z-axis direction. The fifth control mechanism can control the fifth moving seat to move in the Z-axis direction. The pressing rod can be movably supported on the fifth moving seat in the Z-axis direction. The pressing rod has a shoulder near its pressing end. The third spring is sleeved on the pressing rod and presses against the shoulder and the fifth moving seat.

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