CN107803656A - Industrial robot collaborative production line - Google Patents

Abstract

The invention relates to the field of machining, and provides an industrial robot collaborative production line for fastening a nut to a motor and a reduction gearbox, which comprises: the automatic assembling equipment is used for realizing automatic operation, the feeding robot is used for carrying out feeding and carrying operation, the blanking robot is used for carrying out blanking operation, and the stepping conveying mechanism is used for moving objects; the feeding robot and the discharging robot are fixedly connected to automatic assembly equipment, and the stepping type conveying mechanism is located in the working range of the discharging robot. This industrial robot production water line in coordination can reduce manual operation's step, practices thrift the cost of labor of assembly operation to can improve the precision of assembly, promote the quality of assembly.

Description

Industrial robot collaborative production line

technical field

The invention relates to the field of mechanical processing, in particular to an industrial robot collaborative production line.

Background technique

In the prior art, the motor assembly device is usually operated manually, the degree of automation is low, and the manual operation steps are cumbersome, so the labor cost of assembly is high, and manual operation easily leads to low assembly accuracy, which affects the quality of motor assembly.

Therefore, it is necessary to provide a new industrial robot collaborative production line for the above problems.

Contents of the invention

The invention provides a new industrial robot collaborative production line, which can reduce the steps of manual operation, save the labor cost of assembly work, and can improve the accuracy and quality of assembly.

The invention provides an industrial robot collaborative production line, which mainly includes: automatic assembly equipment for realizing automatic operations, a loading robot for loading and handling operations, a loading robot for unloading operations, and a A step-by-step transmission mechanism for moving objects; the loading robot and the unloading robot are fixedly connected to the automatic assembly equipment, and the step-by-step transmission mechanism is located within the working range of the unloading robot;

The automatic assembly equipment is used to fasten the nut to the motor and the gearbox, including: a device base, a nut pre-tightening mechanism, a gearbox fixing mechanism, a motor pressing mechanism, a nut locking mechanism and an operating mechanism; wherein, the The device base includes: a bracket and a table top, and a pre-tightening station and a locking station are arranged on the table; the reduction box fixing mechanism is used to fix the reduction box on the pre-tightening station; the The nut pre-tightening mechanism is used to pre-tighten the nut to the reduction box. The motor pressing mechanism compresses the motor on the locking station; the nut locking mechanism is used to pre-tighten the nut The tightened nut is locked; the operating mechanism is used to control the reduction box fixing mechanism, the nut pre-tightening mechanism, the motor pressing mechanism and the nut locking mechanism;

The step-by-step transmission mechanism includes: a housing bracket that can be used for fixing, a step-by-step loading table that can be used for installing tooling, and a circular driver that can be used to drive the movement of the step-by-step loading table, A power output mechanism that can be used to drive the movement of the circular driver, and a stopper that can be used to lock the stepping loading platform, and the stepping loading platform and the circulating driver are movably connected to the shell bracket , the power take-off mechanism and the clamp are fixedly connected to the stepping loading platform; the stepping loading platform is movably connected to the circulation driver, and the power takeoff mechanism is movably connected to the circulation driver .

Preferably, the housing support includes an annular chute in an annular structure and a conveying guide rail in a linear structure;

Preferably, the circular drive includes: a moving platform, a transition plate, a third pin shaft, a chain drive, a first sprocket, and a second sprocket, and the first sprocket and the second sprocket are movably connected to the housing The bracket, the first sprocket and the second sprocket are movably connected through the chain drive, the chain drive is fixedly connected to the movement platform, and the movement platform is movably connected to the movement platform through the third pin shaft. The transition plate, the moving table and the transition plate are arranged at intervals; the moving table is movably connected to the annular chute, and the stepping loading table is fixedly connected to the moving table.

Preferably, the power output mechanism includes: an active cylinder, a sliding guide plate, a pawl, a moving platform, a locking machine, a first pin shaft, a second pin shaft, a return spring, and a triangular block. The cylinder body of the active air cylinder is solid Connected to the housing bracket, the sliding guide plate is movably connected to the delivery guide rail, the end of the piston rod of the active cylinder is fixedly connected to the sliding guide plate, and the pawl is movably connected to the The lower part of the sliding guide plate, the pushing surface of the ratchet matches the moving table; the triangular block is fixedly connected to the end of the sliding guide plate; the locking machine moves through the second pin Connected to the shell support, a return spring is arranged between the clamping machine and the shell support, and the return spring is in a tensioned state; the clamping machine and the shell support are provided with the Triangular blocks.

Preferably, the clamping device includes a clamping convex plate and a clamping cylinder, the cylinder body of the clamping cylinder is fixedly connected to the housing bracket, and the end of the piston rod of the clamping cylinder is fixedly connected to the clamping cylinder. Positioning convex plate; the positioning convex plate is movably connected to the housing bracket, and the moving platform is provided with a positioning groove matching the positioning convex plate.

Preferably, the gear box fixing mechanism includes a slide rail fixed on the table and a gear box fixing member slidably connected to the slide rail, and the gear box fixing member includes a gear box fixing member slidably connected to the slide rail The fixture base on the rail and the U-shaped fork fixedly connected to the fixture base, the reduction box fixing mechanism also includes a first cylinder arranged on the table, the first cylinder includes a first telescopic A piston rod, the first piston rod is fixedly connected to the fixed part of the reduction box, and the axial direction of the first cylinder is set toward the pre-tightening station. Such setting facilitates the nut pre-tightening mechanism to pre-tighten the nut, avoiding the reduction box from shaking due to force during the pre-tightening operation, thereby improving the convenience of operation and the accuracy of assembly.

Preferably, the operating mechanism includes a first operating button, and the first operating button is used to control the extension and retraction of the first piston rod.

Preferably, the nut pre-tightening mechanism includes a vertical guide rod, the bottom end of which is fixed on the table, and the nut pre-tightening mechanism also includes a guide seat, the guide seat 3 can slide up and down along the vertical guide rod, the nut pre-tightening mechanism also includes a transverse guide rod slidably arranged on the guide seat, and the transverse guide rod can be relatively The guide seat slides laterally along a direction perpendicular to the vertical guide bar, and the nut locking mechanism also includes an electric wrench seat fixedly connected to the transverse guide bar and a seat fixed on the electric wrench seat. The electric wrench and the handle on the handle, the nut locking mechanism also includes a balance hanging device suspended on the upper end of the vertical guide rod by a rope, the balance hanging device includes a telescopic rope, and one end of the telescopic rope is fixedly connected to the On the guide seat, the telescopic rope is biased to pull the guide seat to move away from the table top. With such arrangement, the operator does not need to manually pull the electric wrench away, which reduces the steps of manual operation, improves the production efficiency and reduces the labor cost of assembly.

Preferably, the second operation button is used to control the start and stop of the electric wrench.

Preferably, the motor pressing mechanism includes a support seat fixedly connected to the table and a second air cylinder arranged on the support seat, the second air cylinder includes a telescopic second piston rod, and the motor The pressing mechanism also includes a motor pressing part fixedly connected to the second piston rod. The second piston rod can be stretched up and down in the vertical direction. When the second piston rod extends downward, it drives the The motor pressing part presses the motor on the locking station, and when the second piston rod is retracted upward, it drives the motor pressing part to release the motor on the locking station, The motor pressing mechanism also includes a guide rod fixedly connected to the motor pressing member, the guide rod passes through the through hole on the support base and can slide vertically relative to the support base, the guide rod The axis of the rod is parallel to the axis of the second cylinder. The motor pressing mechanism can prevent the motor and the reduction box from shaking due to force during the locking operation, and avoid the reduction of assembly accuracy caused by shaking.

Preferably, the operating mechanism includes a third operating button, and the third operating button is used to control the extension or retraction of the second piston rod

Preferably, the nut locking mechanism is arranged under the table, the nut locking mechanism includes a support frame fixedly connected under the table and a third cylinder fixedly arranged on the support frame, the The third cylinder includes the third piston rod that can be extended and retracted in the vertical direction, the third piston rod is fixedly connected with an intermediate plate, the intermediate plate is provided with a sleeve, and the sleeve can be moved through the first bearing. Rotatably arranged on the middle plate, the nut locking mechanism also includes a servo motor fixed on the support frame and a clamping jaw that can be driven to rotate by the servo motor, the clamping jaw is on the sleeve Inside the cylinder, the bottom end of the jaw is connected to the servo motor, the top end of the jaw protrudes from the top end of the sleeve, and has a three-lobed claw structure, and a through hole is provided on the table , the top end of the jaws can protrude upwards from the through hole of the table, the three-lobed claw structure includes a slope surface, the three-lobed claw structure can move closer to or separate from each other, when the sleeve When the barrel moves upwards, the top end of the sleeve abuts against the slope surface to make the three-lobe claw structure close to each other for clamping the nut; when the sleeve moves downward, the sleeve The top end of the top loosens the slope surface to separate the three-lobe claw structures from each other to loosen the nut, and the jaws are rotatably connected to the support frame through the second bearing. The nut locking mechanism set up in this way can realize automatic clamping and automatic precise locking of nuts, reduces the steps of manual operation, and can also improve the precision of nut locking.

Preferably, the nut locking mechanism further includes a limiter arranged on the support frame, the limiter is arranged above the third piston rod, and is used to limit the upward movement distance of the middle plate , the support frame includes three layers of brackets, the three layers of brackets are fixedly connected to each other through connecting columns, and a sheath is fixedly arranged on the middle plate, and the sheath is set on the outside of the sleeve . In this way, the limiter can limit the upward movement distance of the middle plate to avoid damage caused by excessive clamping of the nut, and the sheath can also prevent the user from contacting the sleeve when the sleeve rotates and causing accidental injury.

Preferably, the operating mechanism includes a fourth operating button, and the fourth operating button is used to control the extension and retraction of the third piston rod and control the rotation and stop of the servo motor.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of an automatic assembly equipment of an industrial robot collaborative production line according to an embodiment of the present invention;

Fig. 2 is a three-dimensional schematic diagram of the automatic assembly equipment shown in Fig. 1 after the bracket is hidden;

Fig. 3 is a front view of the automatic assembly equipment shown in Fig. 1 after the bracket is hidden;

Fig. 4 is a three-dimensional schematic diagram of the nut pre-tightening mechanism of the automatic assembly equipment shown in Fig. 1;

Fig. 5 is a three-dimensional schematic diagram of the motor pressing mechanism of the automatic assembly equipment shown in Fig. 1;

Fig. 6 is a three-dimensional schematic diagram of the nut locking mechanism of the automatic assembly equipment shown in Fig. 1;

Fig. 7 is a sectional view of the nut locking mechanism shown in Fig. 6;

Fig. 8 is a three-dimensional schematic diagram of an industrial robot collaborative production line according to an embodiment of the present invention;

Figures 9 and 10 are schematic structural views of the step-by-step transmission mechanism;

Fig. 11 is a schematic structural view of the casing of the step-by-step transmission mechanism of the present invention;

Fig. 12 is a schematic structural view of the claw of the step-by-step transmission mechanism of the present invention;

Fig. 13 is a schematic structural view of the drive mechanism of the step-by-step transmission mechanism of the present invention;

14, 15, 16 and 17 are structural schematic diagrams of the step-by-step conveying mechanism of the present invention.

in,

1. Automatic assembly equipment 10. Motor 20. Gear box

30. Device base 40. Nut pre-tightening mechanism 50. Motor pressing mechanism

60. Nut locking mechanism 70. Operating mechanism 80. Fan

90. Gear box fixing mechanism 201. Nut 301. Bracket

303. Countertop 305. Lower bracket 307. Upper bracket

309. Top bracket 311. Pre-tightening station 313. Locking station

401. Vertical guide rod 403. Guide seat 405. Horizontal guide rod

407. Electric wrench holder 409. Electric wrench 411. Handle

413. Balance hanging device 415. Telescopic rope 501. Support seat

503. The second cylinder 505. The second piston rod 507. Motor pressing parts

509. Guide rod 601. Support frame 603. The third cylinder

605. Third piston rod 607. Intermediate plate 609. Sleeve

611. First bearing 613. Servo motor 615. Claw

617. Three-lobed claw structure 619. Second bearing 621. Limiting parts

623. Connecting column 625. Sheath 701. First operation button

702. Second operation button 703. Third operation button 704. Fourth operation button

901. Slide rail 903. Reduction box fixing piece 905. Fixing piece base

907. U-shaped fork 909. The first cylinder 911. The first piston rod

Detailed ways

The present invention will be described in detail below in conjunction with the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and simple changes made by those skilled in the art according to these embodiments are included in the protection scope of the present invention.

Figures 1 to 6 show an industrial robot collaborative production line according to an embodiment of the present invention. Specifically, as shown in Figure 1, an industrial robot collaborative production line mainly includes: automatic assembly equipment 1 for realizing automated operations, a loading robot 2 for loading and handling operations, and a loading robot for unloading The unloading robot 3 for operation, the step-by-step conveying mechanism 100 for moving objects; within range.

The automatic assembly equipment 1 is used for assembling the motor 10 and the reduction box 20 . The automatic assembly equipment 1 includes a device base 30 , a nut pre-tightening mechanism 40 , a reduction box fixing mechanism 90 , a motor pressing mechanism 50 , a nut locking mechanism 60 and an operating mechanism 70 . Wherein, the device base 30 includes a bracket 301 and a platform 303 . The bracket 301 includes at least four lower brackets 305 for supporting the table top 303 . The bracket 301 also includes four upper brackets 307 supported on the platform 303 and a top bracket 309 arranged on top of the upper brackets 307 . A pre-tightening station 311 and a locking station 313 are arranged on the table 303 . Both the pre-tightening station 311 and the locking station 313 are used to place the motor 10 and the reduction box 20 . Both the pre-tightening station 311 and the locking station 313 have shapes that can match the outer surfaces of the motor 10 and the reduction box 20 . The pre-tightening station 311 is used to place the motor 10 and the reduction box 20 when the nut 201 is pre-tightened, and the locking station 313 is used to place the motor 10 and the reduction box 20 when the nut 201 is locked. When pre-tightening the nut 201 , the gear box fixing mechanism 90 is used to fix the gear box on the pre-tightening station 311 . When the nut 201 is locked, the motor pressing mechanism 50 presses the motor on the locking station 313 . The nut pre-tightening mechanism 40 is used for pre-tightening the nut 201 on the reduction box 20 . The nut locking mechanism 60 is used to lock the pre-tightened nut 201 . The operating mechanism 70 is used to control the reduction box fixing mechanism 90 , the nut pre-tightening mechanism 40 , the motor pressing mechanism 50 and the nut locking mechanism 60 . The operating mechanism 70 includes a first operating button 701 , a second operating button 702 , a third operating button 703 and a fourth operating button 704 . Wherein the first operating button 701 is used to control the reduction box pressing mechanism 90 . The second operating button 702 is used to control the nut pretensioning mechanism 40 . The third operating button 703 is used to control the motor pressing mechanism 50 . The fourth operating button 704 is used to control the nut locking mechanism 60 .

Referring to FIGS. 2-4 , the gear box fixing mechanism 90 includes a slide rail 901 fixed on the table 303 and a gear box fixing member 903 slidably connected to the slide rail 901 . The reduction box fixing member 903 includes a fixing member base 905 slidably connected to the slide rail 901 and a U-shaped fork 907 fixedly connected to the fixing member base 905 . The gear box fixing mechanism 90 also includes a first air cylinder 909 arranged on the table. The first cylinder 909 includes a retractable first piston rod 911 . The first piston rod 911 is fixedly connected with the reduction box fixing member 903 . Specifically, the first piston rod 911 is fixedly connected to the base 905 of the fixing member. The axial direction of the first air cylinder 909 is set towards the pre-tightening station 311 . When the first piston rod 911 stretches out, it drives the reduction box fixing part 903 to move toward the pre-tightening station 311, so that the U-shaped fork fixes the reduction box 20 on the pre-tightening station 311, which is convenient for the nut pre-tightening mechanism 40 to pre-load the nut 201. tightening operation, avoiding the shaking of the reduction box 20 due to the force during the pre-tightening operation, thereby improving the convenience of operation and the accuracy of assembly. When the first piston rod 911 retracts, it drives the reduction box fixing part 903 to move away from the pre-tightening station 311 , so that the U-shaped fork releases the reduction box 20 . At this time, the reduction box 20 and the motor 10 can be taken away from the pretensioning station 311 . The first operating button 701 is used to control the extension and retraction of the first piston rod 911 .

Continuing to refer to FIGS. 2-4 , the nut pretensioning mechanism 40 includes a vertical guide rod 401 . The bottom end of the vertical guide rod 401 is fixed on the table 303 . The nut pre-tightening mechanism 401 also includes a guide seat 403 slidably disposed on the vertical guide rod 401 . The guide seat 403 can slide up and down along the vertical guide rod 401 . The nut pre-tightening mechanism 40 also includes a transverse guide rod 405 slidably disposed on the guide seat 403 . The transverse guide rod 405 can slide laterally relative to the guide seat 403 along a direction perpendicular to the vertical guide rod. The nut locking mechanism 40 also includes an electric wrench seat 407 fixedly connected to the transverse guide rod 405 , and an electric wrench 409 and a handle 411 fixedly arranged on the electric wrench seat 407 . The nut locking mechanism 40 also includes a balance hanging device 413 suspended on the upper end of the vertical guide rod 401 by a rope. The balance hanger 415 includes a telescoping rope 415 . One end of the telescopic rope 415 is fixedly connected to the guide seat 403 . The retractable rope 415 is biased to pull the guide seat 403 to move away from the table 303 . When the user grasps the handle 411 and pulls it down, the guide seat 403 overcomes the pulling force of the balance hanging device 415 and moves toward the table top 303 , so that the electric wrench 409 approaches the nut 201 to be pre-tightened. When the user releases the handle 411 , the guide seat 403 is pulled away from the table 303 by the balance hanging device 415 . With such a setting, the operator does not need to manually pull the electric wrench 409 away, which reduces the steps of manual operation, improves the production efficiency and reduces the labor cost of assembly. The second operating button 702 is used to control the start and stop of the electric wrench 409 .

Referring to FIGS. 2 , 3 and 5 , the motor pressing mechanism 50 includes a support base 501 fixedly connected to the platform 303 and a second air cylinder 503 disposed on the support base 501 . The second cylinder 503 includes a telescopic second piston rod 505 . The motor pressing mechanism 50 also includes a motor pressing member 507 fixedly connected to the second piston rod 505 . The second piston rod 505 can expand and contract vertically. When the second piston rod 505 extends downward, it drives the motor pressing member 507 to press the motor 10 on the locking station 313 . When the second piston rod 505 retracts upward, it drives the motor pressing member 507 to release the motor 10 on the locking station 313 . The motor pressing mechanism 50 also includes a guide rod 509 fixedly connected to the motor pressing member 507 . The guide rod 509 passes through the through hole on the support base 501 and can slide vertically relative to the support base 501 . The axis of the guide rod 509 is parallel to the axis of the second cylinder 503 . With such arrangement, the stability of the motor pressing mechanism 50 can be improved, and the motor 10 on the locking station 313 can be pressed more firmly. The third operating button 703 is used to control the extension or retraction of the second piston rod 505 . The motor pressing mechanism 50 can prevent the motor 10 and the reduction box 20 from shaking due to force during the locking operation, and avoid the reduction of assembly accuracy caused by the shaking.

Referring to FIGS. 2 and 3 , the nut locking mechanism 60 is disposed under the table 303 . Referring further to FIGS. 6 and 7 , the nut locking mechanism 60 includes a support frame 601 fixedly connected under the table 303 and a third active cylinder 10603 fixedly arranged on the support frame 601 . In this embodiment, the number of the third master cylinder 10603 is two. The third active cylinder 10603 includes a third piston rod 605 that can extend and contract in the vertical direction. An intermediate plate 607 is fixedly connected to the third piston rod 605 . A sleeve 609 is disposed on the middle plate 607 . Specifically, the sleeve 609 is rotatably disposed on the middle plate 607 through the first bearing 611 . The nut locking mechanism 60 also includes a servo motor 613 fixed on the support frame 601 and a clamping jaw 615 that can be rotated by the servo motor 613 . Wherein, the clamping claw 615 is inside the sleeve, the bottom of the clamping claw 615 is connected with the servo motor 613 , and the top of the clamping claw 615 protrudes from the top of the sleeve 609 and has a three-lobed claw structure 617 . The table 303 is provided with a through hole, and the top of the jaw 615 can protrude upward from the through hole of the table 303 . The three-lobed claw structure 617 includes sloped surfaces. Can move closer to or apart from each other. When the sleeve 609 moves upwards, the top end of the sleeve 609 abuts against the slope surface to make the three-lobe claw structure close to each other for clamping the nut. When the sleeve 609 moves downward, the top end of the sleeve 609 releases the ramp to separate the three-lobe claw structures from each other to loosen the nut. In addition, the jaw 615 is rotatably connected to the support frame 601 through the second bearing 619 . The nut locking mechanism 60 also includes a limiting member 621 disposed on the support frame 601 . The limiting member 621 is disposed above the third piston rod 605 and is used to limit the upward movement distance of the middle plate 607 . The supporting frame 601 includes three layers of brackets, and the three layers of brackets are fixedly connected to each other through connecting columns 623 . The fourth operating button 704 is used to control the extension and retraction of the third piston rod and control the rotation and stop of the servo motor 613 . A sheath 625 is also fixedly disposed on the middle plate 607 . The sheath 625 is sheathed on the outside of the sleeve 609 to prevent the user from contacting the sleeve 609 when the sleeve 609 rotates and causing accidental injury. More preferably, the first bearing 611 is disposed between the sleeve 609 and the sheath 625 . The nut locking mechanism 60 set up in this way can realize automatic clamping and automatic precise locking of nuts, reduces the steps of manual operation, and can also improve the precision of nut locking.

Referring to FIGS. 1-7 , the operation process and principle of the automatic assembly equipment 1 will be described in detail. First, the motor 10 and the reduction box 20 are placed on the pre-tightening station 311 . Operating the first operating button 701 controls the lateral movement of the first piston rod 911 of the first cylinder 909 , thereby driving the reduction box fixing member 903 to move laterally along the slide rail 901 to fix the reduction box 20 on the pretensioning station 311 . Further, the electric wrench 409 is brought close to the nut 201 on the reduction box by pulling down the handle 411 . Operating the second operation button 702 starts the electric wrench 409 to pre-tighten the nut 201 . After the pre-tightening operation is completed, the handle is released, and the electric wrench 409 will rise under the action of the balance suspension device 413 and move away from the pre-tightening station 311 . Then, operate the first operating button 701 to retract the first piston rod 911 to loosen the reduction box 20 and the motor 10 on the pre-tensioning station. Then, the reduction box 20 and the motor 10 on the pre-tightening station are taken off, and placed on the locking station 313 after turning over 180°. Then, the third operating button 703 is operated to lower the second piston rod 505 . The second piston rod 505 drives the motor pressing member 507 to press the motor 10 on the locking station 313 . Then operate the fourth operating button 704 to control the extension of the third piston rod 611 . The third piston rod 611 ascends through the middle plate 607 to drive the sleeve 609 to move upward. The top end of the sleeve 609 abuts against the slope surface of the jaw 615 so that the three-lobed jaw structure 617 clamps the nut 201 . After the nut 201 is clamped by the jaw 615, the servo motor 613 drives the jaw 615 to rotate, thereby locking the nut. The servo motor 613 realizes precise locking of the nut 201 through torque control. In this way, low assembly precision caused by manual operation can be avoided, and the assembly quality can be improved.

The automatic assembly device 1 also includes at least one fan 80 . In a preferred embodiment, the fan 80 is arranged on the bracket 301 . In a preferred embodiment, the fan 80 is disposed on the top bracket 309 . In the above embodiment, two fans 80 are more preferably provided, and the two fans can be turned on separately. In the above-described embodiments, it is more preferable to arrange the fan 80 facing downward. When the air temperature is high, starting the fan 80 can prevent the operator from heatstroke, and can prevent the electric wrench and the servo motor from burning out due to excessive temperature.

The step-by-step transmission mechanism 100 of the industrial robot collaborative production line of the present invention includes: a shell bracket 101 that can be used for fixing, a step-by-step loading table 102 that can be used to install tooling, and can be used to drive the step-by-step The circular driver 104 that moves the loading platform 102 can be used to drive the power output mechanism 103 that the circulating driver 104 moves, and the stopper 105 that can be used to lock the stepping loading platform 102. The advancing loading table 102 and the circulation driver 104 are movably connected to the housing bracket 101, and the power take-off mechanism 103 and the clamp 105 are fixedly connected to the stepping loading table 102; the stepping loading The platform 102 is movably connected to the circulation driver 104, and the power output mechanism 103 is movably connected to the circulation driver 104;

The housing support 101 includes an annular chute 28 in an annular structure and a conveying guide rail 107 in a linear structure;

The circular drive 104 includes: a moving table 112, a transition plate 120, a third pin shaft 121, a chain drive 122, a first sprocket 123, a second sprocket 124, and the first sprocket 123 and the second sprocket 124 The first sprocket 123 and the second sprocket 124 are movably connected to the housing support 101, and the first sprocket 123 and the second sprocket 124 are movably connected through the chain drive 122, and the chain drive 122 is fixedly connected to the moving table 112, and the moving table 112 is movably connected to the transition plate 120 through the third pin shaft 121, and the moving platform 112 and the transition plate 120 are arranged at intervals; the moving platform 112 is movably connected to the annular chute 28, the The stepping loading platform 102 is fixedly connected to the moving platform 112 .

The power output mechanism 103 includes: active cylinder 106, sliding guide plate 108, pawl 109, motion table 112, clamping machine 115, first pin shaft 116, second pin shaft 117, return spring 118, triangular block 119, so The cylinder body of the active cylinder 106 is fixedly connected to the housing bracket 101, the sliding guide plate 108 is movably connected to the delivery guide rail 107, and the end of the piston rod of the active cylinder 106 is fixedly connected to the sliding guide plate 108, so The ratchet 109 is movably connected to the lower part of the sliding guide plate 108 through the first pin shaft 116, and the pushing surface 11 of the ratchet 109 matches the moving table 112; the triangular block 119 is fixedly connected to the The end portion of the sliding guide plate 108; the clamping machine 115 is movably connected to the housing support 101 through the second pin shaft 117, and a return spring 118 is arranged between the clamping machine 115 and the housing support 101 , the return spring 118 is in a tensioned state; the triangular block 119 is arranged between the locking device 115 and the housing bracket 101 .

The clamping device 105 includes a clamping convex plate 126 and a clamping cylinder 127, the cylinder body of the clamping cylinder 127 is fixedly connected to the housing support 101, and the end of the piston rod of the clamping cylinder 127 is fixedly connected to The locking convex plate 126 ; the locking convex plate 126 is movably connected to the housing support 101 , and the moving platform 112 is provided with a locking groove 125 matching the locking convex plate 126 .

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be determined by the claims.

Claims (10)

1. An industrial robot collaborative production assembly line, characterized by comprising: the automatic assembling equipment is used for realizing automatic operation, the feeding robot is used for carrying out feeding and carrying operation, the blanking robot is used for carrying out blanking operation, and the stepping conveying mechanism is used for moving objects; the feeding robot and the blanking robot are fixedly connected to the automatic assembly equipment, and the stepping type conveying mechanism is located in the working range of the blanking robot; the automatic assembling device comprises: the device comprises a device base body, a nut pre-tightening mechanism, a reduction gearbox fixing mechanism, a motor pressing mechanism, a nut locking mechanism and an operating mechanism; wherein, the device pedestal includes: the device comprises a bracket and a table board, wherein a pre-tightening station and a locking station are arranged on the table board;

the reduction gearbox fixing mechanism is used for fixing the reduction gearbox on the pre-tightening station;

the nut pre-tightening mechanism is used for pre-tightening the nut to the reduction gearbox;

the motor pressing mechanism presses the motor on the locking station;

the nut locking mechanism is used for locking the pre-tightened nut;

the operating mechanism is used for controlling the reduction gearbox fixing mechanism, the nut pre-tightening mechanism, the motor pressing mechanism and the nut locking mechanism;

the step-by-step transport mechanism includes: the stepping type material loading platform comprises a shell support, a stepping type material loading platform, a circulating driver, a power output mechanism and a clamping device, wherein the shell support can be used for fixing, the stepping type material loading platform can be used for installing a tool, the circulating driver can be used for driving the stepping type material loading platform to move, the power output mechanism can be used for driving the circulating driver to move, the clamping device can be used for locking the stepping type material loading platform, the stepping type material loading platform and the circulating driver are movably connected to the shell support, and the power output mechanism and the clamping device are fixedly connected to the stepping type material loading platform; the stepping type material loading platform is movably connected with the circulating driver, and the power output mechanism is movably connected with the circulating driver.

2. The industrial robot collaborative production line according to claim 1, wherein the reduction gearbox fixing mechanism comprises a slide rail fixedly arranged on the table top and a reduction gearbox fixing member slidably connected to the slide rail, the reduction gearbox fixing member comprises a fixing member base slidably connected to the slide rail and a U-shaped fork fixedly connected to the fixing member base, the reduction gearbox fixing mechanism further comprises a first cylinder arranged on the table top, the first cylinder comprises a telescopic first piston rod, the first piston rod is fixedly connected to the reduction gearbox fixing member, and the axial direction of the first cylinder is arranged towards the pre-tightening station.

3. An industrial robot collaborative production line according to claim 2, wherein the operation mechanism includes a first operation knob for controlling the first piston rod to extend and retract.

4. The industrial robot collaborative production line according to claim 1, wherein the nut pre-tightening mechanism includes a vertical guide rod, a bottom end of the vertical guide rod is fixed on the table top, the nut pre-tightening mechanism further includes a guide seat slidably disposed on the vertical guide rod, the guide seat 3 can slide up and down along the vertical guide rod, the nut pre-tightening mechanism further includes a transverse guide rod slidably disposed on the guide seat, the transverse guide rod can slide transversely relative to the guide seat along a direction perpendicular to the vertical guide rod, the nut locking mechanism further includes an electric wrench seat fixedly connected to the transverse guide rod and an electric wrench and a handle fixedly disposed on the electric wrench seat, the nut locking mechanism further includes a balance hoisting device hoisted on an upper end of the vertical guide rod through a rope, the balance lifting device comprises a telescopic rope, one end of the telescopic rope is fixedly connected to the guide seat, and the telescopic rope is deviated from the direction of pulling the guide seat to move towards the direction far away from the table board.

5. An industrial robot collaborative production line according to claim 4, wherein the second operation button is used for controlling starting and stopping of the electric wrench.

6. The industrial robot collaborative production line according to claim 1, wherein the motor pressing mechanism includes a support base fixedly connected to the table top and a second cylinder disposed on the support base, the second cylinder includes a second piston rod, the motor pressing mechanism further includes a motor pressing member fixedly connected to the second piston rod, the second piston rod is vertically extendable and retractable, when the second piston rod is extended downward, the motor pressing member is driven to press the motor located on the locking station, when the second piston rod is retracted upward, the motor pressing member is driven to release the motor located on the locking station, the motor pressing mechanism further includes a guide rod fixedly connected to the motor pressing member, the guide rod passes through the through hole of the support base and is vertically slidable with respect to the support base, the axis of the guide rod is parallel to the axis of the second cylinder.

7. An industrial robot collaborative production line according to claim 6, wherein the operation mechanism includes a third operation knob for controlling the second piston rod to extend or retract.

8. The industrial robot collaborative production line according to claim 6, wherein the nut locking mechanism is disposed below the table top, the nut locking mechanism includes a support frame fixedly connected below the table top and a third cylinder fixedly disposed on the support frame, the third cylinder includes a third piston rod capable of extending and retracting in a vertical direction, a middle plate is fixedly connected to the third piston rod, a sleeve is disposed on the middle plate, the sleeve is rotatably disposed on the middle plate through a first bearing, the nut locking mechanism further includes a servo motor fixedly disposed on the support frame and a clamping jaw capable of being driven to rotate by the servo motor, the clamping jaw is disposed inside the sleeve, a bottom end of the clamping jaw is connected with the servo motor, and a top end of the clamping jaw extends out of a top end of the sleeve, and be three lamella formula claw type structures, be provided with the through-hole on the mesa, the top of clamping jaw can be followed upwards stretch out in the through-hole of mesa, three lamella formula claw type structures include the slope, three lamella formula claw type structures can draw close each other or separate, works as during sleeve upward movement, telescopic top supports and leans on the slope makes three lamella formula claw type structures draw close each other and are used for pressing from both sides tightly the nut, works as during the sleeve downward movement, telescopic top is loosened the slope makes three lamella formula claw type structures separate each other in order to loosen the nut, the clamping jaw passes through the second bearing and rotationally connects on the support frame.

9. The industrial robot collaborative production line according to claim 6, wherein the nut locking mechanism further comprises a limiting member disposed on the support frame, the limiting member is disposed above the third piston rod for limiting the upward movement distance of the middle plate, and the support frame comprises three layers of supports which are fixedly connected with each other through a connecting column.

10. An industrial robot collaborative production line according to claim 6, wherein the operation mechanism includes a fourth operation knob for controlling the third piston rod to extend and retract and controlling the servo motor to rotate and stop.