Multi-robot cooperative assembly device

Abstract

The utility model discloses a kind of multi-mechanical hand collaborative assembly equipment, it is related to mechanical hand collaborative assembly equipment technical field, including assembly workstation, the top of assembly workstation is respectively fixedly connected with first mechanical hand and second mechanical hand, assembly workstation top is fixedly connected with middle shaft positioning seat, one side of assembly workstation is equipped with motor rotor belt conveyor, and another side of assembly workstation is equipped with magnetic steel belt conveyor, and multiple motor rotor bodies are equipped on motor rotor belt conveyor.The utility model can drive cleaning brush body to brush back and forth in magnetic steel groove body by brush cleaning mechanism, sweep the impurities remaining on its inner wall;By suction collection mechanism, the impurities swept by cleaning can be sucked and collected by negative pressure effect, so that the impurities are not easy to remain in the magnetic steel groove body, avoid the influence caused by the press fit of magnetic steel body and magnetic steel groove body, thereby avoid the consequence of poor contact, not easy to affect the stability of subsequent motor operation.

Description

Technical Field

[0001] This utility model belongs to the technical field of robotic arm collaborative assembly equipment, and in particular relates to a multi-robotic arm collaborative assembly equipment. Background Technology

[0002] A robotic arm is an automated device that can simulate the movement functions of a human arm and hand, performing tasks such as grasping, handling, and assembly through programming and control systems. It mainly consists of three parts: an actuator, a drive mechanism, and a control system. It can replace manual labor in performing heavy, repetitive, or dangerous operations. Multi-robotic arm collaborative assembly equipment is a device that uses a main controller or control system to control multiple robotic arms to work together to complete complex assembly tasks. It is widely used in automobile manufacturing, electronics assembly, aerospace, medical devices, precision instruments, and other fields.

[0003] Currently, rotor magnet assembly is a critical process in motor manufacturing, often involving multiple robotic arms working together. Under the control of a main controller, one robotic arm picks up the conveyed motor rotor material, places it on a corresponding worktable for fixation, and then another robotic arm picks up the conveyed magnet material and presses it into the magnet slots of the motor rotor. This press-fit method completes the rotor magnet assembly. However, in actual assembly, metal shavings and dust inevitably remain in the magnet slots of the motor rotor during manufacturing and conveying. Furthermore, the multiple robotic arms rarely clean these impurities during the collaborative assembly process. This results in impurity particles occupying the gap between the magnet material and the magnet slots during the subsequent press-fit, leading to insufficient and incomplete interference fit, poor contact, and consequently affecting the smooth operation of the motor. Therefore, this invention proposes a multi-robotic arm collaborative assembly device. Utility Model Content

[0004] This utility model provides a multi-manipulator collaborative assembly device. A gripping mechanism, in conjunction with a first manipulator, grips and cleans the motor rotor body before placing it on the central shaft positioning seat. Then, a second manipulator grips multiple magnet bodies and presses them into multiple magnet slots on the motor rotor body, achieving rotor magnet assembly. A brushing cleaning mechanism drives a cleaning brush to sweep back and forth within the magnet slots, removing residual impurities from their inner walls. A suction and collection mechanism uses negative pressure to collect the swept-off impurities, preventing them from remaining in the magnet slots and affecting the press fit between the magnet bodies and the magnet slots. This avoids poor contact and minimizes the impact on the smooth operation of the subsequent motor. In summary, this device solves the problems in the prior art.

[0005] To solve the above-mentioned technical problems, this utility model is achieved through the following technical solution:

[0006] This utility model discloses a multi-robot collaborative assembly device, comprising:

[0007] An assembly workbench is provided, with a first robotic arm and a second robotic arm fixedly connected to the top of the workbench, and a central shaft positioning seat fixedly connected to the top of the workbench. A motor rotor belt conveyor is provided on one side of the assembly workbench, and a magnetic steel belt conveyor is provided on the other side of the assembly workbench. The motor rotor belt conveyor is provided with multiple motor rotor bodies, and multiple magnetic steel grooves are carved on the motor rotor bodies. The magnetic steel belt conveyor is provided with multiple magnetic steel bodies.

[0008] A gripping mechanism is disposed between the first robotic arm and the second robotic arm, and the gripping mechanism is used to grip the motor rotor body and the magnet body for feeding.

[0009] A brushing and cleaning mechanism is provided on the top of the assembly workbench and is used to clean impurities inside the magnet tank.

[0010] A suction and collection mechanism is embedded in the assembly workbench and is used to suction and collect impurities inside the magnetic steel tank.

[0011] The brushing and cleaning mechanism includes a circular support plate located on the top of the assembly workbench. The circular support plate has multiple drop grooves, each corresponding to a magnetic steel groove. Multiple sliding cylinders are fixedly connected to the top of the circular support plate, and a connecting plate is fixedly connected to the output end of the sliding cylinders. A cleaning brush is fixedly connected to the outer wall of the connecting plate, and both the connecting plate and the cleaning brush are located at the top of the drop grooves.

[0012] Furthermore, the surface of the motor rotor belt conveyor is fixedly connected with multiple spindle seats, and the motor rotor body is sleeved on the outer wall of the spindle seats.

[0013] Furthermore, the surface of the magnetic steel belt conveyor is fixedly connected with multiple multi-groove fixing seats, and the magnetic steel body is located inside the multi-groove fixing seats.

[0014] Furthermore, the gripping mechanism includes a pair of electric telescopic rods, the top ends of which are fixedly connected to the bottom ends of the first and second robotic arms, respectively. A servo motor is fixedly connected to the bottom end of one of the electric telescopic rods, and a bidirectional telescopic cylinder is fixedly connected to the output end of the servo motor. Both output ends of the bidirectional telescopic cylinder are fixedly connected to clamps, and both clamps are located at the bottom of the first robotic arm.

[0015] Furthermore, a first mounting plate is fixedly connected to the bottom end of the electric telescopic rod located on the other side, and a second mounting plate is connected to the first mounting plate by a cross screw. A plurality of electromagnets are fixedly connected to the bottom end of the second mounting plate, and the plurality of electromagnets are all located at the bottom of the second robotic arm.

[0016] Furthermore, the suction and collection mechanism includes a suction bucket embedded in and connected to the assembly workbench. The top end of the suction bucket is fixedly connected to the bottom end of the circular tray. A collection box is fixedly connected to the bottom end of the assembly workbench, and the top end of the collection box is fixedly connected to the bottom end of the suction bucket. An air extractor is fixedly connected to the bottom end of the assembly workbench, and a suction pipe is fixedly connected between the suction end of the air extractor and one side of the collection box. A dust filter is fixedly connected to the inner wall of the suction pipe.

[0017] Furthermore, the outer wall of the collection box is rotatably connected to a sealed box door via a hinge.

[0018] The present invention has the following advantages over the prior art:

[0019] 1. This technical solution uses a gripping mechanism to operate a first robotic arm in conjunction with a bidirectional telescopic cylinder and a pair of clamps to grip the motor rotor body and transport it to the cleaning area. Then, a servo motor drives the motor rotor body to rotate, so that the opening of the magnet slot faces downward, which facilitates the cleaning of impurities in the magnet slot. After cleaning, it is placed on the central shaft positioning seat. Then, the second robotic arm, in conjunction with multiple electromagnets, uses magnetic attraction to attract multiple magnet bodies and press them into the multiple magnet slots on the motor rotor body, thus realizing the assembly of the rotor magnets.

[0020] 2. This technical solution, through the set brushing and cleaning mechanism, can drive multiple sliding cylinders to drive multiple cleaning brushes to simultaneously brush back and forth in multiple magnetic steel tanks, sweeping away the impurities remaining on their inner walls, thereby achieving simultaneous cleaning of the interior of multiple magnetic steel tanks.

[0021] 3. This technical solution, through its suction and collection mechanism, can use the vacuum pump and collection box to collect impurities swept off the cleaning brush by negative pressure. This prevents impurities from remaining in the magnet groove, avoiding any impact on the press fit between the magnet body and the magnet groove, thus avoiding poor contact and minimizing the impact on the smooth operation of the subsequent motor.

[0022] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of a multi-robotic collaborative assembly device according to the present invention;

[0025] Figure 2 This is a partial three-dimensional structural diagram of the first robotic arm and gripping mechanism in this utility model;

[0026] Figure 3 This is a partial disassembled structural diagram of the second robotic arm and gripping mechanism in this utility model;

[0027] Figure 4 This is a three-dimensional structural diagram of the motor rotor belt conveyor, spindle seat, and motor rotor body in this utility model;

[0028] Figure 5 This is a three-dimensional structural diagram of the magnetic steel belt conveyor, the multi-groove fixed base, and the magnetic steel body in this utility model;

[0029] Figure 6 This is a partial cross-sectional structural diagram of the assembly workbench, the brushing and cleaning mechanism, and the suction and collection mechanism in this utility model.

[0030] Figure 7 This utility model Figure 6 Enlarged structural diagram at point A;

[0031] Figure 8 This is a partial disassembly and cross-sectional structural diagram of the brushing cleaning mechanism and the suction collection mechanism in this utility model.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] 1. Assembly workbench; 2. First robotic arm; 3. Second robotic arm; 4. Motor rotor belt conveyor; 5. Magnet belt conveyor; 6. Mandrel seat; 7. Motor rotor body; 8. Multi-slot mounting base; 9. Magnet body; 10. Gripping mechanism; 1001. Electric telescopic rod; 1002. Servo motor; 1003. Bidirectional telescopic cylinder; 1004. Fixture; 1005. First mounting plate; 1006. Second mounting plate; 10 07. Electromagnet; 11. Brush cleaning mechanism; 1101. Circular support plate; 1102. Drop channel; 1103. Slide cylinder; 1104. Connecting plate; 1105. Cleaning brush body; 12. Suction and collection mechanism; 1201. Suction bucket; 1202. Collection box; 1203. Sealed box door; 1204. Air extractor; 1205. Suction pipe; 1206. Dust filter; 13. Central shaft positioning seat; 14. Magnetic trough. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0035] In the description of this utility model, it should be understood that the terms "relative", "one end", "inner", "lateral", "end", "both ends", "both sides", "front", "one end face", "the other end face", etc., which indicate orientation or positional relationship, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Specific Implementation Example 1:

[0037] Please see Figures 1-8 As shown, the present invention provides a multi-robot collaborative assembly device, comprising:

[0038] Assembly workbench 1, with a first robotic arm 2 and a second robotic arm 3 fixedly connected to the top of the assembly workbench 1, and a central shaft positioning seat 13 fixedly connected to the top of the assembly workbench 1. A motor rotor belt conveyor 4 is provided on one side of the assembly workbench 1, and a magnetic steel belt conveyor 5 is provided on the other side of the assembly workbench 1. Multiple motor rotor bodies 7 are provided on the motor rotor body 4, and multiple magnetic steel grooves 14 are carved on the motor rotor body 7. Multiple magnetic steel bodies 9 are provided on the magnetic steel belt conveyor 5.

[0039] The gripping mechanism 10 is disposed between the first robotic arm 2 and the second robotic arm 3, and the gripping mechanism 10 is used to grip the motor rotor body 7 and the magnet body 9 for feeding.

[0040] The brush cleaning mechanism 11 is located on the top of the assembly workbench 1 and is used to clean impurities inside the magnetic steel tank 14.

[0041] The suction and collection mechanism 12 is embedded in the assembly workbench 1 and is used to suction and collect impurities inside the magnetic steel tank 14.

[0042] The brush cleaning mechanism 11 includes a circular support plate 1101 located on the top of the assembly workbench 1. The circular support plate 1101 has multiple drop channels 1102, and each drop channel 1102 corresponds to a multiple magnetic steel groove 14. Multiple sliding cylinders 1103 are fixedly connected to the top of the circular support plate 1101, and a connecting plate 1104 is fixedly connected to the output end of the sliding cylinder 1103. A cleaning brush body 1105 is fixedly connected to the outer wall of the connecting plate 1104, and both the connecting plate 1104 and the cleaning brush body 1105 are located at the top of the drop channels 1102.

[0043] In the specific implementation process, under the control of the main controller, the first robotic arm 2 is driven to grab the motor rotor body 7 conveyed on the motor rotor belt conveyor 4, and after flipping, it is conveyed to the top of the circular pallet 1101, so that the multiple magnetic steel grooves 14 correspond one-to-one with the multiple falling channels 1102. Then, the motor rotor body 7 is placed on the circular pallet 1101, and the multiple cleaning brushes 1105 are extended into the multiple magnetic steel grooves 14. Then, the sliding cylinder 1103 is driven to drive the cleaning brushes 1105 to sweep back and forth in the magnetic steel grooves 14, sweeping away the impurities remaining on their inner walls, realizing the simultaneous cleaning of the interior of multiple magnetic steel grooves 14, removing impurities, and avoiding impurities affecting the press fit between the magnetic steel body 9 and the magnetic steel grooves 14.

[0044] The suction and collection mechanism 12 includes a suction bucket 1201 embedded and connected to the assembly workbench 1. The top end of the suction bucket 1201 is fixedly connected to the bottom end of the circular tray 1101. A collection box 1202 is fixedly connected to the bottom end of the assembly workbench 1, and the top end of the collection box 1202 is fixedly connected to the bottom end of the suction bucket 1201. An air extractor 1204 is fixedly connected to the bottom end of the assembly workbench 1, and a suction pipe 1205 is fixedly connected between the suction end of the air extractor 1204 and one side of the collection box 1202. A dust filter 1206 is fixedly connected to the inner wall of the suction pipe 1205.

[0045] The air extraction fan 1204 draws air from the collection box 1202 through the suction pipe 1205, creating negative pressure inside the collection box 1202. This negative pressure causes the suction bucket 1201 to draw air from the area around the circular tray 1101 downwards. Impurities swept off by the cleaning brush 1105 are also drawn into the collection box 1202 along with this airflow. After being filtered by the dust filter 1206, the impurities remain inside the collection box 1202, while the air continues to flow outwards. This process effectively collects the impurities swept off by the cleaning brush 1105, preventing them from remaining in the magnet trough 14 and affecting the press fit between the magnet body 9 and the magnet trough 14. This avoids poor contact and minimizes the impact on the smooth operation of the subsequent motor.

[0046] The outer wall of the collection box 1202 is connected to a sealed box door 1203 via a hinge.

[0047] By closing the sealing box door 1203, the collection box 1202 can be sealed when it sucks up and collects impurities, while opening the sealing box door 1203 allows staff to clean the impurities inside the collection box 1202. Specific Implementation Example 2:

[0049] Please see Figures 1-5 As shown, in a preferred embodiment, the gripping mechanism 10 includes a pair of electric telescopic rods 1001. The top ends of the pair of electric telescopic rods 1001 are fixedly connected to the bottom ends of the first robotic arm 2 and the second robotic arm 3, respectively. A servo motor 1002 is fixedly connected to the bottom end of the electric telescopic rod 1001 located on one side, and a bidirectional telescopic cylinder 1003 is fixedly connected to the output end of the servo motor 1002. Both output ends of the bidirectional telescopic cylinder 1003 are fixedly connected to clamps 1004, and both clamps 1004 are located at the bottom of the first robotic arm 2.

[0050] In the specific implementation process, the first manipulator 2 drives the bidirectional telescopic cylinder 1003 and a pair of clamps 1004 to move to the motor rotor belt conveyor 4. Then, driven by the electric telescopic rod 1001 on one side, the bidirectional telescopic cylinder 1003 and a pair of clamps 1004 move to the outside of the motor rotor body 7. The bidirectional telescopic cylinder 1003 drives the pair of clamps 1004 to clamp the motor rotor body 7 for material handling and conveying it to the circular pallet 1101. At the same time, the position of the motor rotor body 7 is switched by the rotation of the servo motor 1002 so that the openings of the multiple magnetic steel grooves 14 face downwards for easy cleaning. Afterwards, it is picked up and placed on the central shaft positioning seat 13 for subsequent assembly.

[0051] Among them, multiple spindle seats 6 are fixedly connected to the surface of the motor rotor belt conveyor 4, and the motor rotor body 7 is sleeved on the outer wall of the spindle seat 6.

[0052] The motor rotor belt conveyor 4 is mainly used to transport the motor rotor body 7, and the motor rotor body 7 is fixed and limited by the spindle seat 6, so as to drive the motor rotor body 7 to be transported. The belt conveyor is a common continuous conveying equipment in the prior art, which mainly uses the conveyor belt for transport, and is common knowledge known in the prior art.

[0053] The surface of the magnetic steel belt conveyor 5 is fixedly connected with multiple multi-groove fixed seats 8, and the magnetic steel body 9 is located inside the multi-groove fixed seats 8.

[0054] Multiple magnet bodies 9 are placed sequentially into multiple slots of the multi-slot fixed base 8, and the magnet bodies 9 can be transported by the magnet belt conveyor 5.

[0055] Among them, the bottom end of the electric telescopic rod 1001 located on the other side is fixedly connected to the first mounting plate 1005, and the first mounting plate 1005 is connected to the second mounting plate 1006 by cross screws. The bottom end of the second mounting plate 1006 is fixedly connected to multiple electromagnets 1007, and the multiple electromagnets 1007 are all located at the bottom of the second robotic arm 3.

[0056] The second robotic arm 3 drives multiple electromagnets 1007 to the top of the multi-slot fixed base 8, and then drives the electric telescopic rod 1001 on the other side to make multiple electromagnets 1007 contact with multiple magnetic steel bodies 9 respectively. When energized, the electromagnets 1007 generate magnetism and use magnetic attraction to attract multiple magnetic steel bodies 9 for feeding. They are pressed into multiple magnetic steel slots 14 on the motor rotor body 7, realizing the assembly of rotor magnets under the coordinated work of the first robotic arm 2 and the second robotic arm 3. The second mounting plate 1006 has multiple screw holes. The first mounting plate 1005 is connected to the second mounting plate 1006 by cross screws. The number of electromagnets 1007 can be replaced according to the number of magnetic steel slots 14 on the motor rotor body 7 to meet its usage requirements.

[0057] The circuits, electronic components, and chip modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this utility model does not involve any improvement to the software and methods.

[0058] All standard parts used in the application documents can be purchased from the market. All components in this application document can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The electrical components mentioned in this document are all electrically connected to the external main controller and power supply, and the main controller is a conventional known device that can play a control role.

[0059] The working principle of this utility model is as follows:

[0060] In use, under the control of the main controller, the first robotic arm 2 is driven to move the bidirectional telescopic cylinder 1003 and a pair of clamps 1004 to the motor rotor belt conveyor 4. Then, driven by the electric telescopic rod 1001 on one side, the bidirectional telescopic cylinder 1003 and the pair of clamps 1004 move to the outside of the motor rotor body 7, and the bidirectional telescopic cylinder 1003 drives the pair of clamps 1004 to clamp the motor rotor body 7 for material handling, and then transport it to the circular pallet 1101. Then, the servo motor 1002 drives the bidirectional telescopic cylinder 1003 to move the pair of clamps 1004 to pick up the material. 003 and the motor rotor body 7 rotate, causing the openings of multiple magnet slots 14 to face downwards and correspond one-to-one with multiple falling channels 1102. Next, the motor rotor body 7 is placed on the circular support plate 1101, and multiple cleaning brushes 1105 extend into the multiple magnet slots 14. The sliding cylinder 1103 then drives the cleaning brushes 1105 to sweep back and forth within the magnet slots 14, removing residual impurities from their inner walls. Simultaneously, the vacuum pump 1204 draws air from the collection box 1202 through the suction pipe 1205, causing the air to flow outwards. A negative pressure is created inside the collection box 1202. This negative pressure causes the suction bucket 1201 to draw in air from around the circular tray 1101, causing it to flow downwards. Impurities swept off by the cleaning brush 1105 are also drawn into the collection box 1202 along with this airflow. After passing through the dust filter 1206, the impurities remain inside the collection box 1202, while the air continues to escape. This process effectively collects the impurities swept off by the cleaning brush 1105, preventing them from remaining in the magnetic trough 14. After cleaning, the first robotic arm 2 is driven again to rotate the motor. The sub-body 7 is placed on the central shaft positioning seat 13 for limiting and fixing. Next, the second robot arm 3 is driven to move multiple electromagnets 1007 to the top of the multi-slot fixing seat 8. Then, the electric telescopic rod 1001 on the other side is driven to make multiple electromagnets 1007 contact with multiple magnetic steel bodies 9 respectively. When the electromagnets 1007 are energized, they generate magnetism and use magnetic attraction to attract multiple magnetic steel bodies 9 for feeding. They are pressed into multiple magnetic steel slots 14 on the motor rotor body 7, thus realizing the assembly of rotor magnets under the coordinated work of the first robot arm 2 and the second robot arm 3.

[0061] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-robot collaborative assembly device, characterized in that, include: An assembly workbench (1) is provided with a first robotic arm (2) and a second robotic arm (3) fixedly connected to the top of the assembly workbench (1) respectively. A central shaft positioning seat (13) is fixedly connected to the top of the assembly workbench (1). A motor rotor belt conveyor (4) is provided on one side of the assembly workbench (1), and a magnetic steel belt conveyor (5) is provided on the other side of the assembly workbench (1). Multiple motor rotor bodies (7) are provided on the motor rotor belt conveyor (4), and multiple magnetic steel grooves (14) are carved on the motor rotor bodies (7). Multiple magnetic steel bodies (9) are provided on the magnetic steel belt conveyor (5). The gripping mechanism (10) is located between the first manipulator (2) and the second manipulator (3), and the gripping mechanism (10) is used to grip the motor rotor body (7) and the magnet body (9) for feeding. A brush cleaning mechanism (11) is provided on the top of the assembly workbench (1) and is used to clean the impurities inside the magnetic steel tank (14). A suction and collection mechanism (12) is embedded in the assembly workbench (1) and is used to suction and collect impurities inside the magnetic steel tank (14); The brush cleaning mechanism (11) includes a circular support plate (1101) located on the top of the assembly workbench (1). The circular support plate (1101) has multiple drop channels (1102) carved on it, and the multiple drop channels (1102) correspond one-to-one with multiple magnetic steel grooves (14). The top of the circular support plate (1101) is fixedly connected to multiple sliding cylinders (1103), and the output end of the sliding cylinders (1103) is fixedly connected to a connecting plate (1104). The outer wall of the connecting plate (1104) is fixedly connected to a cleaning brush body (1105), and the connecting plate (1104) and the cleaning brush body (1105) are both located on the top of the drop channels (1102).

2. The multi-robot collaborative assembly equipment according to claim 1, characterized in that, The surface of the motor rotor belt conveyor (4) is fixedly connected with multiple spindle seats (6), and the motor rotor body (7) is sleeved on the outer wall of the spindle seat (6).

3. The multi-robot collaborative assembly equipment according to claim 1, characterized in that, The surface of the magnetic steel belt conveyor (5) is fixedly connected with multiple multi-groove fixed seats (8), and the magnetic steel body (9) is located inside the multi-groove fixed seats (8).

4. The multi-robot collaborative assembly equipment according to claim 1, characterized in that, The gripping mechanism (10) includes a pair of electric telescopic rods (1001). The top ends of the pair of electric telescopic rods (1001) are fixedly connected to the bottom ends of the first manipulator (2) and the second manipulator (3), respectively. A servo motor (1002) is fixedly connected to the bottom end of the electric telescopic rod (1001) located on one side. A bidirectional telescopic cylinder (1003) is fixedly connected to the output end of the servo motor (1002). Both output ends of the bidirectional telescopic cylinder (1003) are fixedly connected to clamps (1004), and both clamps (1004) are located at the bottom of the first manipulator (2).

5. A multi-robot collaborative assembly device according to claim 4, characterized in that, The bottom end of the electric telescopic rod (1001) located on the other side is fixedly connected to a first mounting plate (1005), and the first mounting plate (1005) is connected to a second mounting plate (1006) by a cross screw. The bottom end of the second mounting plate (1006) is fixedly connected to a plurality of electromagnets (1007), and the plurality of electromagnets (1007) are all located at the bottom of the second robotic arm (3).

6. The multi-robot collaborative assembly equipment according to claim 1, characterized in that, The suction and collection mechanism (12) includes a suction bucket (1201) embedded in and connected to the assembly workbench (1). The top end of the suction bucket (1201) is fixedly connected to the bottom end of the circular tray (1101). A collection box (1202) is fixedly connected to the bottom end of the assembly workbench (1), and the top end of the collection box (1202) is fixedly connected to the bottom end of the suction bucket (1201). An air extractor (1204) is fixedly connected to the bottom end of the assembly workbench (1), and a suction pipe (1205) is fixedly connected between the suction end of the air extractor (1204) and one side of the collection box (1202). A dust filter (1206) is fixedly connected to the inner wall of the suction pipe (1205).

7. A multi-robot collaborative assembly device according to claim 6, characterized in that, The outer wall of the collection box (1202) is rotatably connected to a sealed box door (1203) via a hinge.

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