CN120644949B - Robotic arm assembly equipment - Google Patents

Abstract

The invention discloses equipment for assembling a robot arm, which relates to the technical field of robots and comprises a conveying line, a first feeding device, a second feeding device and a locking device, wherein the locking device comprises a machine seat, a transferring assembly, a tightening assembly and a turnover assembly, the turnover assembly is provided with a first locking position and a second locking position, the turnover assembly comprises a base plate, a placing plate and a pressing mechanism, the placing plate is provided with the first locking position and the second locking position, when the turnover assembly is switched to the first locking position, the placing plate slides to the first locking position, the tightening assembly can tighten a screw on the first end face of the robot arm, and when the turnover assembly is switched to the second locking position, the placing plate slides to the second locking position and is fixed, and the tightening assembly can tighten a screw on the second end face of the robot arm. The technical scheme of the invention can solve the technical problems of low assembly efficiency and high cost of the robot arm.

Description

Robotic arm assembly equipment

Technical Field

This invention relates to the field of assembly equipment technology, and more particularly to an assembly equipment for a robotic arm.

Background Technology

The robotic arm is the core actuator of a robot, capable of mimicking the functions of a human arm to perform various tasks. It is one of the most critical components in industrial automation and service robots. However, assembling robotic arms presents technical challenges, including low assembly efficiency and high costs.

Therefore, it is necessary to provide a new assembly device for robotic arms to solve the above-mentioned technical problems.

Summary of the Invention

The main objective of this invention is to provide an assembly device for a robotic arm, which aims to solve the technical problems of low assembly efficiency and high cost of robotic arms.

To achieve the above objectives, the present invention proposes an assembly device for a robotic arm, comprising a conveyor line, a first feeding device, at least one second feeding device, and at least one locking device. The conveyor line includes a conveying mechanism and a pallet fixture, the pallet fixture being disposed on the conveying mechanism, and the first feeding device being disposed on one side of the conveying mechanism. The second feeding device and the locking device are alternately disposed on one side of the first feeding device along the conveying direction of the conveying mechanism.

The locking device includes a base, a transfer assembly, a tightening assembly, and a flipping assembly. The flipping assembly is rotatably mounted on the base and has a first locking position and a second locking position. The flipping assembly includes a base plate, a placement plate, and a pressing mechanism disposed on the base plate. The placement plate is slidably disposed on the base plate and has a first locking position located on one side of the pressing mechanism and a second locking position corresponding to the pressing mechanism. The transfer assembly is used to transfer the tray fixture between the conveying mechanism and the placement plate. The tightening assembly is used to tighten the screws of the robot arm. The pressing mechanism is used to press the tray fixture.

When the flipping assembly switches to the first locking position, the placement plate slides to the first locking position, and the tightening assembly can tighten the screws on the first end face of the robot arm; when the flipping assembly switches to the second locking position, the placement plate slides to the second locking position, the clamping mechanism clamps the tray fixture, and the tightening assembly can sequentially pass through the base plate, the placement plate and the tray fixture and tighten the screws on the second end face of the robot arm.

In one embodiment, the substrate is provided with a mounting surface, and the placement plate is slidably disposed on the mounting surface;

When the flipping assembly is switched to the first locking position, the mounting surface is away from the base, and the placement plate slides to the first locking position; when the flipping assembly is switched to the second locking position, the mounting surface is facing the base, the placement plate slides to the second locking position, and the clamping mechanism clamps the tray fixture.

In one embodiment, the flipping assembly further includes a support plate, a first driving member, and a second driving member. The support plate is rotatably disposed on the base, and the base plate is disposed on the support plate. The first driving member is used to drive the support plate to rotate, so that the flipping assembly switches between a first locking position and a second locking position. The second driving member is disposed on the base plate and connected to the placement plate, and is used to drive the placement plate to slide.

The clamping mechanism includes a mounting plate, a third driving member, and a clamping plate. The mounting plate is disposed on the base plate, the third driving member is disposed on the mounting plate, and the clamping plate is disposed at the output end of the third driving member and facing the mounting surface. The third driving member is used to drive the clamping plate to move in a direction closer to or away from the mounting surface.

When the flipping assembly is switched to the first locking position, the mounting surface is away from the base, and the second driving member drives the placement plate to slide to the first locking position; when the flipping assembly is switched to the second locking position, the mounting surface is facing the base, the second driving member drives the placement plate to slide to the second locking position, and the third driving member drives the pressure plate to move towards the mounting surface, so that the pressure plate presses against the tray fixture.

In one embodiment, the tightening assembly includes a first robotic arm disposed on the base, a tightening gun disposed on the first robotic arm, a bit disposed on the tightening gun, and a positioning camera disposed on one side of the tightening gun. The tightening gun is used to drive the bit to rotate to tighten the screws of the robotic arm. The positioning camera is electrically connected to the first robotic arm and is used to acquire the position information of the screws of the robotic arm.

In one embodiment, the transfer assembly includes a mounting frame, a sliding plate, a fixing block, a first drive unit, a second drive unit, a third drive unit, a fourth drive unit, and two grippers. The mounting frame is slidably disposed on the base along a first direction of the base, the sliding plate is slidably disposed on the mounting frame along a second direction of the base, and the fixing block is slidably disposed on the sliding plate along a third direction of the base. Both grippers are slidably disposed on the fixing block and can move towards or away from each other. The first drive unit drives the mounting frame to slide, the second drive unit drives the sliding plate to slide, the third drive unit drives the fixing block to slide, and the fourth drive unit drives the two grippers to move towards or away from each other.

In one embodiment, the substrate is provided with a mounting surface, and the placement plate is slidably disposed on the mounting surface;

When the flipping assembly switches to the first locking position, the mounting surface is away from the base, and the placement plate slides to the first locking position; when the flipping assembly switches to the second locking position, the mounting surface is away from the conveying mechanism, the placement plate slides to the second locking position, and the pressing mechanism presses the tray fixture.

In one embodiment, both the first feeding device and the second feeding device include a mounting base disposed on one side of the conveying mechanism, a second robotic arm disposed on the mounting base, a storage rack disposed on the mounting base, and a clamping mechanism disposed on the second robotic arm. The storage rack is used to store the parts of the robot arm, and the second robotic arm is used to transfer the parts of the robot arm stored in the storage rack to the tray fixture.

The clamping mechanism includes a drive cylinder and two clamping blocks disposed on the drive cylinder; the drive cylinder is disposed on the second manipulator and can drive the two clamping blocks to move toward each other or away from each other.

In one embodiment, the assembly equipment for the robotic arm further includes a continuity testing device, an airtightness testing device, and a transfer manipulator. The first feeding device, the continuity testing device, and the airtightness testing device are arranged sequentially along the conveying direction of the conveying mechanism. The second feeding device and the locking device are arranged alternately between the first feeding device and the continuity testing device along the conveying direction of the conveying mechanism. The continuity testing device is used to detect the electrical circuits of the robotic arm, the airtightness testing device is used to detect the airtightness of the robotic arm, and the transfer manipulator is used to transfer the tray fixture containing the assembled robotic arm to the airtightness testing device.

In one embodiment, the airtightness testing device includes a base, a support disposed on the base, a detection block slidably disposed on the support along the height direction of the base, a placement plate slidably disposed on the base, and a drive body disposed on the support. The robot arm is provided with a docking joint, and the detection block is provided with a detection joint. When the placement plate on which the tray fixture is placed slides to directly below the support, the drive body can drive the detection block to slide so that the detection joint connects with the docking joint.

In one embodiment, the placement plate is provided with multiple placement positions, and the detection block is provided with the detection connector at each of the placement positions.

The technical solution of this invention, by setting up a first feeding device, a second feeding device, and a locking device including a flipping component, a tightening component, and a transfer component, can complete the assembly work such as feeding, flipping, and screw tightening of a robot arm, thereby improving assembly efficiency and reducing production costs. In this embodiment, the first feeding device is used to transfer one component of the robot arm to the pallet fixture, the second feeding device is used to transfer other components of the robot arm to the pallet fixture, and the locking device is used to flip the robot arm and tighten the screws on the two opposite end faces of the robot arm. The locking device includes a base, a transfer component for transferring the pallet fixture between the conveying mechanism and the placement plate, a tightening component for tightening the screws, and a flipping component for flipping the pallet fixture. The flipping component includes a base plate, a placement plate for placing the pallet fixture, and a clamping mechanism for fixing the position of the pallet fixture. By flipping the pallet fixture using the flipping component, the screws on the opposite first and second end faces of the robot arm can be exposed, facilitating the tightening component to tighten the screws. Specifically, when tightening the screws on the first end face of the robotic arm, the placement plate slides to the first locking position, the transfer component transfers the tray fixture from the conveying mechanism to the placement plate, and the flipping component switches to the first locking position to expose the screws on the first end face of the robotic arm. At this time, the tightening component can tighten the screws on the first end face of the robotic arm. When tightening the screws on the second end face of the robotic arm, the placement plate slides to the second locking position, the clamping mechanism clamps the tray fixture to fix the tray fixture in the second locking position, and the flipping component switches to the second locking position to expose the screws on the second end face of the robotic arm. At this time, the tightening component can tighten the screws on the second end face of the robotic arm. This robotic arm assembly equipment, by setting up a first feeding device, a second feeding device, and a locking device including a flipping component, a tightening component, and a transfer component, can replace manual labor to complete assembly work such as feeding, flipping, and screw tightening of the robotic arm, improving the assembly efficiency of the robotic arm and reducing production costs.

Attached Figure Description

To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

Figure 1 is a schematic diagram of the structure of a robot arm assembly device in one embodiment of the present invention;

Figure 2 is a schematic diagram of the locking device in one embodiment of the present invention;

Figure 3 is a schematic diagram of Figure 2 from another perspective;

Figure 4 is an enlarged view of point A in Figure 3;

Figure 5 is a schematic diagram of the structure of the flipping component in one embodiment of the present invention;

Figure 6 is a schematic diagram of the structure of the first feeding device in an embodiment of the present invention;

Figure 7 is a schematic diagram of the structure of an energizing test device in one embodiment of the present invention;

Figure 8 is a schematic diagram of the airtightness testing device in one embodiment of the present invention;

Figure 9 is a schematic diagram from another perspective of Figure 8.

Explanation of icon numbers:

100. Conveyor line; 110. Conveying mechanism; 120. Pallet fixture; 130. Lifting device; 200. First feeding device; 210. Mounting base; 220. Second robotic arm; 230. Storage rack; 240. Clamping mechanism; 300. Second feeding device; 400. Locking device; 410. Base; 420. Transfer assembly; 421. Mounting frame; 422. Slide plate; 423. Fixing block; 424. First drive unit; 425. Second drive unit; 426. Third drive unit; 427. Gripper; 430. Tightening assembly; 431. First robotic arm; 432. Tightening gun; 433. 434. Bit; 445. Positioning camera; 446. Flipping assembly; 447. Base plate; 448. Mounting surface; 449. Placement plate; 400. Clamping mechanism; 441. Mounting plate; 442. Third drive component; 443. Support plate; 444. First drive component; 500. Continuity test device; 510. Conveyor belt; 520. Test module; 600. Air tightness test device; 610. Base; 620. Bracket; 630. Detection block; 631. Detection connector; 640. Placement plate; 650. Drive body; 700. Transfer robot; 800. Robot arm; 810. Docking connector.

The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed Implementation

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

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

Furthermore, if the embodiments of the present invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if "and/or" or "and/or" appears throughout the text, its meaning includes three parallel solutions. For example, "A and/or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously.

Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

The robotic arm is the core actuator of a robot, capable of mimicking the functions of a human arm to perform various tasks. It is one of the most critical components in industrial automation and service robots. In actual production and research, researchers have found that the assembly of traditional robotic arms is usually done manually. However, manual operation is limited by the worker's skill level and physical strength, which affects the assembly speed and reduces the assembly efficiency of the robotic arm. Furthermore, manual assembly requires a large number of skilled workers, increasing production costs. Additionally, because the screws on the opposite ends of the robotic arm need to be tightened, workers need to repeatedly flip the robotic arm during assembly, which significantly impacts the assembly speed and reduces its efficiency.

This invention proposes an assembly device for a robotic arm, aiming to solve the technical problems of low assembly efficiency and high cost of robotic arms.

Referring to Figures 1 to 3, in one embodiment of the present invention, the assembly equipment for the robotic arm 800 includes a conveyor line 100, a first feeding device 200, at least one second feeding device 300, and at least one locking device 400. The conveyor line 100 includes a conveying mechanism 110 and a tray fixture 120, with the tray fixture 120 disposed on the conveying mechanism 110. The first feeding device 200 is disposed on one side of the conveying mechanism 110. The second feeding device 300 and the locking device 400 are alternately disposed on one side of the first feeding device 200 along the conveying direction of the conveying mechanism 110. The locking device 400 includes a base 410, a transfer component 420, a tightening component 430, and a flipping component 440. The flipping component 440 is rotatably disposed on the base 410 and has a first locking position and a second locking position. The flipping component 440 includes a base plate 441, a placement plate 442, and a mounting plate disposed on the base plate 441. The clamping mechanism 443 is used to transfer the tray fixture 120 between the conveying mechanism 110 and the tray fixture 120. The tightening mechanism 430 is used to tighten the screws of the robot arm 800, and the clamping mechanism 443 is used to clamp the tray fixture 120. When the flipping mechanism 440 switches to the first locking position, the tray fixture 442 slides to the first locking position, and the tightening mechanism 430 can tighten the screws on the first end face of the robot arm 800. When the flipping mechanism 440 switches to the second locking position, the tray fixture 120 slides to the second locking position, the clamping mechanism 443 clamps the tray fixture 120, and the tightening mechanism 430 can pass through the substrate 441, the tray fixture 442 and the tray fixture 120 in sequence to tighten the screws on the second end face of the robot arm 800. The conveying direction of the conveying mechanism 110 is the direction indicated by M in Figure 1.

The technical solution of the present invention, by setting up a first feeding device 200, a second feeding device 300, and a locking device 400 including a flipping component 440, a tightening component 430, and a transfer component 420, can complete the assembly work such as feeding, flipping, and screw tightening of the robot arm 800, thereby improving assembly efficiency and reducing production costs. In this embodiment, the first feeding device 200 is used to transfer one component of the robot arm 800 to the pallet fixture 120, the second feeding device 300 is used to transfer other components of the robot arm 800 to the pallet fixture 120, and the locking device 400 is used to flip the robot arm and tighten the screws on the two opposite end faces of the robot arm 800. The locking device 400 includes a base 410, a transfer assembly 420 for transferring the pallet fixture 120 between the conveying mechanism 110 and the placement plate 442, a tightening assembly 430 for tightening screws, and a flipping assembly 440 for flipping the pallet fixture 120. The flipping assembly 440 includes a base plate 441, a placement plate 442 for placing the pallet fixture 120, and a clamping mechanism 443 for fixing the position of the pallet fixture 120. By flipping the pallet fixture 120 by the flipping assembly 440, the screws on the first end face and the second end face of the robot arm 800, which are set opposite each other, can be exposed so that the tightening assembly 430 can tighten the screws. Specifically, when tightening the screws on the first end face of the robot arm 800, the placement plate 442 slides to the first locking position, the transfer assembly 420 transfers the tray fixture 120 on the conveying mechanism 110 to the placement plate 442, and the flipping assembly 440 switches to the first locking position to expose the screws on the first end face of the robot arm 800. At this time, the tightening assembly 430 can tighten the screws on the first end face of the robot arm 800. When tightening the screws on the second end face of the robot arm 800, the placement plate 442 slides to the second locking position, the clamping mechanism 443 clamps the tray fixture to fix the tray fixture 120 in the second locking position, and the flipping assembly 440 switches to the second locking position to expose the screws on the second end face of the robot arm 800. At this time, the tightening assembly 430 can tighten the screws on the second end face of the robot arm 800. The assembly equipment for the robotic arm 800, by setting up a first feeding device 200, a second feeding device 300, and a locking device 400 including a flipping component 440, a tightening component 430, and a transfer component 420, can replace manual labor to complete assembly work such as feeding, flipping, and screw tightening of the robotic arm 800, thereby improving the assembly efficiency of the robotic arm 800 and reducing production costs.

In this embodiment, the tray fixture 120 has a first through hole corresponding to the screw position on the second end face of the robot arm 800, the placement plate 442 has a second through hole corresponding to the first through hole, and the base plate 441 has a third through hole corresponding to the second locking position of the placement plate 442. When the flipping assembly 440 switches to the second locking position and the tray fixture 120 slides to the second locking position, the tightening assembly 430 can pass through the third through hole, the second through hole, and the first through hole in sequence to tighten the screw on the second end face of the robot arm 800.

Referring to Figures 3 and 5, in one embodiment of the present invention, the substrate 441 is provided with a mounting surface 4411, and the placement plate 442 is slidably disposed on the mounting surface 4411. When the flipping assembly 440 switches to the first locking position, the mounting surface 4411 is disposed away from the base 410, and the placement plate 442 slides to the first locking position. When the flipping assembly 440 switches to the second locking position, the mounting surface 4411 is disposed towards the base 410, the placement plate 442 slides to the second locking position, and the clamping mechanism 443 clamps the tray fixture 120. In this embodiment, the flipping assembly 440 drives the substrate 441 to flip, thereby driving the tray fixture 120 to flip, so that the screws on the first end face or the second end face of the robot arm 800 are exposed. This enables the tightening assembly 430 to maintain a consistent feed direction when tightening the screws on the first end face and the second end face of the robot arm 800, thereby reducing the position adjustment of the tightening assembly 430 and reducing the complexity of operation.

In addition, the flipping assembly 440 can also expose the screws on the first and second end faces of the robot arm 800 by flipping the substrate 441 to a horizontal or vertical state. Specifically, in another embodiment of the present invention, the substrate 441 is provided with a mounting surface 4411, and the placement plate 442 is slidably disposed on the mounting surface 4411; when the flipping assembly 440 switches to the first locking position, the mounting surface 4411 is disposed away from the base 410 and is in a horizontal state, and the placement plate 442 slides to the first locking position; when the flipping assembly 440 switches to the second locking position, the mounting surface 4411 is disposed away from the conveying mechanism 110 and is in a vertical state, the placement plate 442 slides to the second locking position, and the clamping mechanism 443 clamps the tray fixture 120. It should be noted that when using the above-described method to flip the pallet fixture 120, the first robot 431 of the tightening assembly 430 should be configured as a multi-degree-of-freedom robot so that the first robot 431 can tighten the screws on the first and second end faces of the robot in two mutually perpendicular directions.

Referring to Figure 5, in one embodiment of the present invention, the flipping assembly 440 further includes a support plate 444, a first driving member 445, and a second driving member. The support plate 444 is rotatably disposed on the base 410, and the substrate 441 is disposed on the support plate 444. The first driving member 445 is used to drive the support plate 444 to rotate, so that the flipping assembly 440 switches between a first locking position and a second locking position. The second driving member is disposed on the substrate 441 and connected to the placement plate 442, and is used to drive the placement plate 442 to slide. In this embodiment, the first driving member 445 drives the support plate 444 to rotate, so that the substrate 441 is flipped, thereby flipping the tray fixture 120. The second driving member is used to drive the placement plate 442 to slide, so that the placement plate 442 switches between a first locking position and a second locking position. In a specific embodiment, the placement plate 442 is slidably disposed on the substrate 441 by means of a slide rail and a slider. Both the first driving member 445 and the second driving member can be drive motors.

Referring to Figure 5, in one embodiment of the present invention, the clamping mechanism 443 includes a mounting plate 4431, a third driving member 4432, and a clamping plate. The mounting plate 4431 is disposed on the base plate 441, the third driving member 4432 is disposed on the mounting plate 4431, and the clamping plate is disposed at the output end of the third driving member 4432 and faces the mounting surface 4411. The third driving member 4432 is used to drive the clamping plate to move towards or away from the mounting surface 4411. When the flipping assembly 440 is switched to the first locking position, the mounting surface 4411 is disposed away from the base 410, and the second driving member drives the placement plate 442 to slide to the first locking position. When the flipping assembly 440 is switched to the second locking position, the mounting surface 4411 is disposed towards the base 410, the second driving member drives the placement plate 442 to slide to the second locking position, and the third driving member 4432 drives the clamping plate to move towards the mounting surface 4411, so that the clamping plate clamps the tray fixture 120. In this embodiment, the third driving member 4432 drives the clamping plate to move towards or away from the mounting surface 4411, thereby pressing or releasing the tray fixture 120. This design features a simple structure, simplifying the structure of the flipping assembly 440 and consequently the assembly equipment of the robot arm 800, reducing manufacturing difficulty. Simultaneously, as the third driving member 4432 drives the clamping plate towards or away from the mounting surface 4411 to press the tray fixture 120, it directly applies the clamping force perpendicular to the mounting surface 4411 to the tray fixture 120, reducing lateral forces and thus lowering the risk of vibration or displacement of the tray fixture 120 when the screws are tightened by the tightening assembly 430. In a specific embodiment, the third driving member 4432 may be a drive motor.

Referring to Figure 2, in one embodiment of the present invention, the tightening assembly 430 includes a first robotic arm 431 disposed on a base 410, a tightening gun 432 disposed on the first robotic arm 431, a screwdriver bit 433 disposed on the tightening gun 432, and a positioning camera 434 disposed on one side of the tightening gun 432. The tightening gun 432 is used to drive the screwdriver bit 433 to rotate to tighten the screws of the robotic arm 800. The positioning camera 434 is electrically connected to the first robotic arm 431 and is used to acquire the position information of the screws of the robotic arm 800. In this embodiment, the tightening gun 432 is used to drive the screwdriver bit 433 to rotate to tighten the screws of the robotic arm 800. The positioning camera 434 can capture and acquire the position information of the screws on the robot arm 800 in real time. The external controller can then control the first robotic arm 431 to move the tightening gun 432 to the screw on the robot arm 800 based on this information, and align the screwdriver bit 433 with the screw. In a specific embodiment, to accommodate the height change caused by the flipping assembly 440 when flipping the tray fixture 120, the tightening gun 432 is slidably mounted on the first robotic arm 431 along the height direction of the base 410. The first robotic arm 431 is equipped with a fourth driving component for driving the tightening gun 432 to slide; this fourth driving component can be a drive motor. In this embodiment, the first robotic arm 431 includes a base, a first robotic arm, and a second robotic arm. The base is mounted on the base 410, the first robotic arm is rotatably mounted on the base, and the second robotic arm is rotatably mounted on the end of the first robotic arm away from the base. The rotation axes of the first and second robotic arms are parallel.

Referring to Figures 3 and 4, in one embodiment of the present invention, the transfer assembly 420 includes a mounting frame 421, a sliding plate 422, a fixing block 423, a first drive unit 424, a second drive unit 425, a third drive unit 426, a fourth drive unit, and two grippers 427. The mounting frame 421 is slidably disposed on the base 410 along a first direction, the sliding plate 422 is slidably disposed on the mounting frame 421 along a second direction, and the fixing block 423 is slidably disposed on the sliding plate 422 along a third direction. Both grippers 427 are slidably disposed on the fixing block 423 and can move toward each other or toward each other. The first drive unit 424 is used to drive the mounting frame 421 to slide, the second drive unit 425 is used to drive the sliding plate 422 to slide, the third drive unit 426 is used to drive the fixing block 423 to slide, and the fourth drive unit is used to drive the two grippers 427 to move toward each other or toward each other. In this embodiment, the first direction refers to the direction indicated by X in Figure 2, the second direction is the direction indicated by Y in Figure 2, and the third direction is the direction indicated by Z in Figure 2. In this embodiment, two grippers 427 are used to grip the tray fixture 120. By sliding the mounting bracket 421 along the first direction of the base 410 onto the base 410, sliding the slide plate 422 along the second direction of the base 410 onto the mounting bracket 421, and sliding the fixing block 423 along the third direction of the base 410 onto the slide plate 422, the two grippers 427 can work together to transfer the tray fixture 120 on the conveying mechanism 110 to the placement plate 442, or transfer the tray fixture 120 on the placement plate 442 to the conveying mechanism 110. In a specific embodiment, the first drive unit 424, the second drive unit 425, the third drive unit 426, and the fourth drive unit can all be drive motors.

In this embodiment, the conveying mechanism 110 conveys the pallet fixture 120 via two rows of spaced-apart conveying rollers. To ensure that the two grippers 427 can accurately clamp the pallet fixture 120 on the conveying mechanism 110 or place the pallet fixture 120 on the conveying mechanism 110, the conveying mechanism 110 is provided with a lifting device 130 corresponding to the position of each locking device 400. The lifting device 130 includes a lifting cylinder and a lifting rod. The lifting rod is disposed on the lifting cylinder, and the lifting cylinder is used to drive the lifting rod to lift the pallet fixture 120, thereby separating the pallet fixture 120 from the conveying mechanism 110. In a specific embodiment, to improve conveying efficiency, a conveying plate can be provided on the conveying mechanism 110, and multiple pallet fixtures 120 can be placed on the conveying plate for conveying to improve conveying efficiency.

The process of the locking device 400 locking the screws of the robotic arm is as follows: 1. The pallet fixture 120, which has been loaded, moves to the locking device 400. The lifting cylinder drives the lifting rod to lift the pallet fixture 120. The transfer assembly 420 clamps the pallet fixture 120 and transfers it to the placement plate 442, which is in the first locking position. 2. Based on the screw position information of the robotic arm 800 obtained by the positioning camera 434, the controller controls the first robotic arm 431 to move the bit 433 to the robotic arm. Directly above the screw on the first end face of the robot arm 800, the fourth drive unit drives the tightening gun 432 to slide along the height direction of the base 410 until the bit 433 aligns with the screw. Then, the tightening gun 432 drives the bit 433 to rotate to tighten the screw. 3. Repeat step 2 until all screws on the first end face of the robot arm 800 are tightened. The first robot arm 431 returns to its original position, the second drive unit drives the placement plate 442 to slide to the second locking position, and the third drive unit 4432 drives the pressure plate to move to press the tray fixture 120. The first drive unit... 4. The drive support plate 444 rotates to switch the flip assembly 440 to the second locking position; 4. The controller controls the first robotic arm 431 to move according to the screw position information of the robot arm 800 obtained by the positioning camera 434, moving the bit 433 directly above the screw on the first end face of the robot arm 800. The fourth drive unit drives the tightening gun 432 to slide along the height direction of the base 410 until the bit 433 aligns with the screw. Then the tightening gun 432 drives the bit 433 to rotate to tighten the screw; 5. Repeat Step 4: Once all screws on the second end face of the robot arm 800 are tightened, the first drive member 445 drives the support plate 444 to rotate, so that the flipping assembly 440 switches to the first locking position. The third drive member 4432 drives the pressure plate to move to release the pallet fixture 120. The second drive member drives the placement plate 442 to slide to the first locking position. The transfer assembly 420 then transfers the pallet fixture 120 to the lifting device 130. Subsequently, the lifting cylinder drives the lifting rod to move, so that the pallet fixture 120 is repositioned on the conveying mechanism 110.

Referring to Figure 6, in one embodiment of the present invention, both the first feeding device 200 and the second feeding device 300 include a mounting base 210 disposed on one side of the conveying mechanism 110, a second robotic arm 220 disposed on the mounting base 210, a storage rack 230 disposed on the mounting base 210, and a clamping mechanism 240 disposed on the second robotic arm 220. The storage rack 230 is used to store the parts of the robot arm 800, and the second robotic arm 220 is used to transfer the parts of the robot arm 800 stored in the storage rack 230 to the tray fixture 120. The clamping mechanism 240 includes a drive cylinder and two clamping blocks disposed on the drive cylinder. The drive cylinder is disposed on the second robotic arm 220 and can drive the two clamping blocks to move in a direction closer to or further away from each other. In this embodiment, the two clamping blocks are driven to move in a direction closer to or further away from each other by the drive cylinder to clamp or release the parts of the robot arm 800. This has the characteristics of simple structure, which can simplify the structure of the assembly equipment of the robot arm 800 and reduce the manufacturing difficulty. In a specific embodiment, the drive cylinder can be a bidirectional drive cylinder. In this embodiment, the second robotic arm 220 has the same structure as the first robotic arm 431, and will not be described again here. To ensure that the gripping mechanism 240 can grip the parts of the robotic arm 800 at different heights, the gripping mechanism 240 is vertically and vertically mounted on the second robotic arm 220 via a lead screw. In a specific embodiment, the storage rack 230 can be transported using a transfer trolley; that is, the assembly equipment of the robotic arm 800 can use the transfer trolley to transfer the storage rack 230 containing the parts of the robotic arm 800 to the loading device, or remove the empty storage rack 230 from the loading device.

Referring to Figure 7, in one embodiment of the present invention, the assembly equipment for the robot arm 800 further includes a continuity test device 500, an airtightness test device 600, and a transfer robot 700. The first feeding device 200, the continuity test device 500, and the airtightness test device 600 are arranged sequentially along the conveying direction of the conveying mechanism 110; the second feeding device 300 and the locking device 400 are arranged alternately between the first feeding device 200 and the continuity test device 500 along the conveying direction of the conveying mechanism 110. The continuity test device 500 is used to detect the electrical circuits of the robot arm 800, the airtightness test device 600 is used to detect the airtightness of the robot arm 800, and the transfer robot 700 is used to transfer the tray fixture 120 containing the assembled robot arm 800 to the airtightness test device 600. In this embodiment, the continuity testing device 500 is used to test the electrical wiring of the robot arm 800, and the airtightness testing device 600 is used to test the airtightness of the robot arm 800. By testing the electrical wiring and airtightness of the robot arm 800, it can be confirmed whether the production quality of the assembled robot arm 800 meets the requirements. In a specific embodiment, the continuity testing device 500 includes a conveyor belt 510 and a test module 520 disposed on one side of the conveyor belt 510. When testing the electrical wiring of the robot arm 800, a worker transfers the pallet fixture 120 onto the conveyor belt 510 and inserts the terminals of the robot arm 800 into the test module 520. Then, the robot arm 800 is powered on, and the voltage and internal resistance at both ends of the motor of the robot arm 800 are tested to see if they are within the normal range.

Please refer to Figures 8 and 9. In one embodiment of the present invention, the airtightness testing device 600 includes a base 610, a support 620 disposed on the base 610, a detection block 630 slidably disposed on the support 620 along the height direction of the base 610, a placement plate 640 slidably disposed on the base 610, and a drive body 650 disposed on the support 620. The robot arm 800 is provided with a docking joint 810, and the detection block 630 is provided with a detection joint 631. When the placement plate 640, on which the tray fixture 120 is placed, slides to directly below the support 620, the drive body 650 can drive the detection block 630 to slide so that the detection joint 631 connects with the docking joint 810. In this embodiment, when the placement plate 640 slides directly below the support 620, the drive body 650 drives the detection block 630 to slide, connecting the detection connector 631 with the docking connector 810. Subsequently, the airtightness of the robot arm 800 can be tested by an airtightness testing instrument to ensure the production quality of the robot arm 800. In a specific embodiment, the placement plate 640 is provided with multiple placement positions, and the detection block 630 is provided with a detection connector 631 corresponding to each placement position. By providing multiple placement positions on the placement plate 640 and multiple detection connectors 631 on the detection block 630, the airtightness of multiple robot arms 800 can be tested simultaneously, improving work efficiency.

It should be noted that during the manufacturing process of the assembly equipment for the robotic arm 800, multiple second feeding devices 300 and locking devices 400 can be configured according to actual needs to meet the manufacturing requirements of the multi-joint robotic arm 800. For example, in this embodiment, there are three second feeding devices 300 and three locking devices 400, and the three second feeding devices 300 and the three locking devices 400 are alternately arranged between the first feeding device 200 and the continuity test device 500 along the conveying direction of the conveying mechanism 110.

The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct/indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims (10)

1. The equipment for assembling the robot arm is characterized by comprising a conveying line, a first feeding device, at least one second feeding device and at least one locking device, wherein the conveying line comprises a conveying mechanism and a tray jig, the tray jig is arranged on the conveying mechanism, and the first feeding device is arranged on one side of the conveying mechanism;

The locking device comprises a base, a transferring assembly, a tightening assembly and a turnover assembly, wherein the turnover assembly is rotationally arranged on the base and is provided with a first locking position and a second locking position, the turnover assembly comprises a base plate, a placing plate and a pressing mechanism arranged on the base plate, the placing plate is slidingly arranged on the base plate and is provided with a first locking position positioned on one side of the pressing mechanism and a second locking position corresponding to the pressing mechanism, the transferring assembly is used for transferring the tray jig between the conveying mechanism and the placing plate, the tightening assembly is used for tightening screws of the robot arm, and the pressing mechanism is used for pressing the tray jig;

When the turnover assembly is switched to the second locking position, the placing plate slides to the second locking position, the pressing mechanism presses the tray jig, and the tightening assembly can sequentially penetrate through the base plate, the placing plate and the tray jig and tighten the screw of the second end face of the robot arm.

2. The assembling apparatus of a robot arm according to claim 1, wherein the base plate is provided with a mounting surface, and the placement plate is slidably provided to the mounting surface;

When the overturning assembly is switched to the first locking position, the mounting surface is arranged away from the base, and the placing plate slides to the first locking position; when the turnover assembly is switched to the second locking position, the mounting surface faces the base, the placing plate slides to the second locking position, and the pressing mechanism presses the tray jig.

3. The robotic arm assembly apparatus of claim 2, wherein the flipping assembly further comprises a support plate rotatably disposed on the base, a first drive member for driving the support plate to rotate to switch the flipping assembly between the first and second locked positions, and a second drive member disposed on the base and coupled to the placement plate, the second drive member for driving the placement plate to slide;

The pressing mechanism comprises a mounting plate, a third driving piece and a pressing plate, wherein the mounting plate is arranged on the base plate, the third driving piece is arranged on the mounting plate, the pressing plate is arranged at the output end of the third driving piece and is arranged towards the mounting surface, and the third driving piece is used for driving the pressing plate to move towards the direction close to or far away from the mounting surface;

when the turnover assembly is switched to the second locking position, the mounting surface faces towards the base, the second driving piece drives the placing plate to slide to the second locking position, and the third driving piece drives the pressing plate to move towards the direction close to the mounting surface so that the pressing plate presses the tray jig.

4. The robotic arm assembly apparatus of claim 1, wherein the tightening assembly comprises a first manipulator disposed in the base, a tightening gun disposed in the first manipulator, a screwdriver head disposed in the tightening gun, and a positioning camera disposed on one side of the tightening gun, the tightening gun is configured to drive the screwdriver head to rotate to tighten the screw of the robotic arm, the positioning camera is in signal connection with the first manipulator, and the positioning camera is configured to obtain positional information of the screw of the robotic arm.

5. The robotic arm assembly apparatus of claim 1, wherein the transfer assembly comprises a mounting frame slidably disposed in the housing in a first direction of the housing, a slide plate slidably disposed in the mounting frame in a second direction of the housing, a fixed block slidably disposed in the slide plate in a third direction of the housing, a first drive unit for driving the mounting frame to slide, a second drive unit for driving the slide plate to slide, and a fourth drive unit for driving the two jaws to move in directions toward or away from each other, the two jaws being slidably disposed in the fixed block and being movable in directions toward or away from each other.

6. The assembling apparatus of a robot arm according to claim 1, wherein the base plate is provided with a mounting surface, and the placement plate is slidably provided to the mounting surface;

when the turnover assembly is switched to the second locking position, the installation surface is arranged away from the conveying mechanism, the placement plate is slid to the second locking position, and the pressing mechanism presses the tray jig.

7. The robotic arm assembly apparatus of claim 1, wherein the first and second loading devices each comprise a mounting base disposed on one side of the conveying mechanism, a second manipulator disposed on the mounting base, a storage rack disposed on the mounting base, and a clamping mechanism disposed on the second manipulator, the storage rack being configured to store components of the robotic arm, the second manipulator being configured to transfer the components of the robotic arm stored in the storage rack to the tray jig;

The clamping mechanism comprises a driving cylinder and two clamping blocks arranged on the driving cylinder, wherein the driving cylinder is arranged on the second manipulator and can drive the two clamping blocks to move towards a direction approaching to or away from each other.

8. The robot arm assembling apparatus according to any one of claims 1 to 7, further comprising an on-off test device, an air tightness test device, and a transfer robot, wherein the first loading device, the on-off test device, and the air tightness test device are sequentially disposed along a conveying direction of the conveying mechanism, the second loading device and the locking device are sequentially and alternately disposed between the first loading device and the on-off test device along the conveying direction of the conveying mechanism, the on-off test device is used for detecting an electrical circuit of the robot arm, the air tightness test device is used for detecting air tightness of the robot arm, and the transfer robot is used for transferring the tray jig with the assembled robot arm to the air tightness test device.

9. The apparatus for assembling a robot arm according to claim 8, wherein the air tightness testing device comprises a base, a holder provided to the base, a detection block slidably provided to the holder in a height direction of the base, a placement plate slidably provided to the base, and a driving body provided to the holder, the robot arm is provided with a butt joint, the detection block is provided with a detection joint, and when the placement plate having the tray jig placed thereon is slid to a position right below the holder, the driving body can drive the detection block to slide so that the detection joint is connected to the butt joint.

10. The assembling apparatus of a robot arm according to claim 9, wherein the placement plate is provided with a plurality of placement positions, and the detection joints are provided at positions of the detection block corresponding to the placement positions.