CN115255905A - Automatic preassembling device and method for industrial robot joint and storage medium - Google Patents

Abstract

The present application discloses an automatic pre-installation device for an industrial robot joint, which includes a conveying device and a screw pre-installing device; the conveying device is used for conveying the industrial robot joint whose position information of the first installation hole is predicted to the screw pre-installing device; the screw pre-installing The device includes a first visual positioning mechanism, a first rotational alignment mechanism, a pre-installed manipulator and at least one feeding mechanism; the first visual positioning mechanism is arranged on the pre-installed manipulator and is used to obtain the position information of the second installation hole; the first The rotation alignment mechanism is used to rotate the flange to a corresponding angle according to the position information of the first installation hole and the position information of the second installation hole, so that the first installation hole corresponds to the second installation hole; at least one feeding mechanism is used for The screw is supplied, and the pre-installed manipulator is used to take out the screw from at least one feeding mechanism, and place the screw in the first installation hole after passing through the second installation hole. The present application realizes automatic pre-assembly of the shell of the industrial robot joint and the screws of the reducer, thereby improving the assembly efficiency.

Description

Automatic pre-installation equipment, method and storage medium for joints of industrial robots

technical field

The present application relates to the technical field of industrial robots, in particular to an automatic pre-installation device, method and storage medium for industrial robot joints.

Background technique

The joint is a key component of an industrial robot. Generally, a joint includes at least a casing and a reducer, and the reducer includes a fixed seat, an output shaft set on the fixed seat, and a flange connected to one end of the output shaft. The disc is used to attach the next joint. During the manufacturing process of the joint, the reducer needs to be placed in the casing, and the fixing seat is connected with the casing.

At present, usually a plurality of first installation holes are arranged on the fixing base, a plurality of second installation holes are arranged on the flange, and a plurality of third installation holes are arranged on the joint shell. When assembling, first install the reducer into the casing manually, and make the first installation hole correspond to the third installation hole, then turn the flange to make the second installation hole correspond to the first installation hole, and then install the fasteners (Bolts) pass through the second mounting hole to be pre-assembled into the first mounting hole and the third mounting hole, so as to lock the reducer and the casing through fasteners.

Nowadays, the assembly efficiency is low by manual screw pre-installation of the reducer and casing of the industrial robot joint.

Contents of the invention

The main purpose of this application is to propose an automatic pre-installation equipment for industrial robot joints, aiming to solve the technical problem of low assembly efficiency of the current industrial robot joint shell and reducer through manual pre-installation of screws.

In order to achieve the above purpose, this application proposes an automatic pre-installation equipment for industrial robot joints. The industrial robot joints include a casing and a reducer located in the casing. The reducer includes a fixing seat and a flange. There are several first Mounting holes, several second mounting holes are opened on the flange, and several third mounting holes are opened on the shell, the first mounting holes correspond to the third mounting holes, wherein the automatic pre-installation equipment for industrial robot joints includes conveying devices and Screw pre-installation device;

The conveying device is used to convey the industrial robot joint whose position information of the first installation hole has been predicted to the screw pre-installation device;

The screw pre-installation device includes a first visual positioning mechanism, a first rotary alignment mechanism, a pre-installation manipulator and at least one feeding mechanism;

The first visual positioning mechanism is arranged on the pre-installed manipulator, and is used to obtain the position information of the second installation hole;

The first rotary alignment mechanism is used to rotate the flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole;

At least one feeding mechanism is used to supply screws, and the pre-installed manipulator is used to take out the screws from the at least one feeding mechanism, and place the screws in the first installation holes after passing through the second installation holes.

Among them, the reducer also includes an input shaft and an output shaft. The output shaft is hollow and connected to the fixed seat. The output shaft is passed through the inner side of the input shaft and connected to the flange. on the outside of the input shaft;

The first rotary alignment mechanism is located below the conveying device, and the first rotary alignment mechanism includes a lifting drive assembly, a lifting plate, a rotating seat, a rotating drive assembly, a clamping drive assembly, and at least two clamping pieces;

The output execution end of the lifting drive assembly is connected to the lifting plate for driving the lifting plate to rise and fall; the rotating drive assembly and the rotating seat are arranged on the lifting plate, and the output executing end of the rotating driving assembly is connected to the rotating seat for driving the rotating seat to rotate; At least two clamping parts are movably arranged on the rotating seat, and the output execution end of the clamping drive assembly is connected with the at least two clamping parts, and is used to drive at least two clamping parts to open and close relative to each other, so that at least two The clamp loosens or clamps the motor rotor or output shaft.

Wherein, the rotary drive assembly includes a rotating shaft and a first drive member;

The rotating shaft is rotatably passed through the lifting plate, the rotating seat is installed on one end of the rotating shaft, and the first driving member is connected with the other end of the rotating shaft through a transmission assembly.

Wherein, the first driving member is a driving motor, the body of the driving motor is located on one side of the lifting plate and is fixedly connected with the lifting plate, and the output shaft of the driving motor passes through the lifting plate and is arranged;

The transmission assembly includes a first transmission wheel and a second transmission wheel. The first transmission wheel is fixedly arranged on the output shaft of the drive motor. The second transmission wheel is located at the other end of the rotating shaft and is coaxially connected with the rotating shaft. Drive wheel drive connection.

Wherein, the number of clamping parts is two, and the clamping driving assembly includes a moving frame, a second driving part and two connecting arms;

The mobile frame can be vertically moved on the rotating seat, and the mobile frame is provided with two inclined guide grooves, and the two guide grooves are arranged at an angle to each other;

The two connecting arms are horizontally movable and arranged on the rotating seat, one end of each connecting arm is connected to a clamping piece, and the other end is slidably connected to a guide groove;

The second driving member is used to drive the moving frame to move vertically, so that the two connecting arms slide along the corresponding guide grooves. When the two connecting arms slide along the corresponding guiding grooves, the two connecting arms move back or toward each other, so that the two connecting arms The two clamping parts are relatively opened and closed.

Wherein, the clamping drive assembly also includes at least one horizontal guide assembly and/or vertical guide assembly;

The horizontal guide assembly includes a guide rail and a slider slidably arranged on the guide rail, the guide rail is fixedly connected to the rotating seat, and the slider is connected to a connecting arm; and/or,

The vertical guide assembly includes a guide rod and a guide sleeve, the guide sleeve is fixed on the rotating seat, one end of the guide rod is connected with the moving frame, and the other end passes through the guide sleeve and is slidably matched with the guide sleeve.

Wherein, the clamping drive assembly also includes a connecting shaft, the rotating shaft is hollow, the connecting shaft is slidingly fitted with the rotating seat and penetrated in the rotating shaft, one end of the connecting shaft is connected with the moving frame, and the other end is connected with the output execution end of the second driving member .

Wherein, the second driving member is a cylinder, the cylinder body of which is located at one side of the lifting plate, the piston rod of the cylinder passes through the lifting plate, and the connecting shaft is connected with the piston rod of the cylinder through a connecting frame.

Wherein, the feeding mechanism includes a screw distribution assembly and a screw feeder, and the screw distribution assembly includes a mounting base, a feeding plate located on the mounting base, a screw guide tube, and a feeding plate drive assembly;

The feeding plate can be movably arranged on the mounting seat, and at least one material hole for the screw to fall is opened on the feeding plate;

The output execution end of the feeding plate drive assembly is connected to the feeding plate, which is used to drive the feeding plate to move on the mounting seat;

The screw feed tube is located above the feed plate, the feed end of the screw feed tube is connected to the screw feeder, and the discharge end is located directly above the motion track of the feed hole.

Wherein, the section of the material hole close to the discharge end is the first guide section whose hole diameter gradually decreases from top to bottom.

Among them, there is a transition plate on the mounting base, the transition plate is located between the feeding plate and the screw guide tube, the transition plate is provided with a via hole facing the discharge end, and the section of the via hole close to the discharge end is the aperture from top to bottom. Tapered second guide segment.

Wherein, the screw distributing component also includes a sensing component, and the sensing component is used to detect whether a screw falls to the feeding plate.

Wherein, the transition plate is also provided with a detection hole crossing through the hole wall, and the sensing component includes a light emitter and a light receiver installed at both ends of the detection hole.

Wherein, the bottom surface of the transition plate is arranged close to the top surface of the feeding plate, and the transition plate is provided with a first avoidance groove extending along the movement track of the feed hole, and the first escape groove communicates with the via hole.

Wherein, the mounting base is provided with a chute, the feeding plate is slidably arranged in the chute, and the bottom wall of the chute is provided with a second avoidance groove extending along the movement track of the material hole.

Wherein, the pre-installed manipulator includes a first manipulator, a first installation frame and a gripper;

The first installation frame is arranged at the end of the first mechanical arm, and the gripper and the first visual positioning mechanism are arranged on the first installation frame.

Among them, the automatic pre-installation equipment of industrial robot joints also includes a screw locking device, and the screw pre-installation device and the screw locking device are arranged in sequence along the conveying direction of the conveying device;

The screw locking device includes a second visual positioning mechanism, a second rotary alignment mechanism and a locking manipulator;

The second visual positioning mechanism is arranged on the locking manipulator to obtain the position information of the second installation hole; the second rotation alignment mechanism is used to rotate the flange according to the position information of the first installation hole and the position information of the second installation hole disc to the corresponding angle, so that the first mounting hole corresponds to the second mounting hole;

The locking manipulator is used for locking the screw placed in the first mounting hole to the first mounting hole and the third mounting hole.

Wherein, the locking manipulator includes a second manipulator, a second mounting frame and an electric batch;

The second mounting frame is arranged at the end of the second mechanical arm, and the electric batch and the second visual positioning mechanism are arranged on the second mounting frame.

Wherein, the second mounting frame is provided with a sliding seat and a buffer assembly, the sliding seat is slidably arranged on the second mounting frame, the electric batch is installed on the sliding seat, and the buffer assembly is used to provide a buffer force for the movement of the sliding seat.

Wherein, the buffer assembly includes a slide bar and a spring, and the slide bar is arranged along the sliding direction of the slide seat;

One end of the sliding rod is connected to the sliding seat, and the other end passes through the second mounting frame and is slidably fitted with the second mounting frame; or, one end of the sliding rod passes through the sliding seat and is slidingly fitted with the sliding seat, and the other end is connected to the second mounting frame;

The spring is sheathed on the slide bar, and the two ends of the spring abut or connect with the slide seat and the second installation frame respectively.

This application also proposes an automatic pre-installation method for industrial robot joints. The industrial robot joints include a casing and a reducer located in the casing. The reducer includes a fixing seat and a flange. There are a number of second installation holes on the blue plate, and a number of third installation holes on the shell. The first installation hole corresponds to the third installation hole. The automatic pre-installation method of the joint of the industrial robot includes:

Controlling the conveying device to convey the industrial robot joint whose position information of the first installation hole has been predicted;

controlling the first visual positioning mechanism to acquire the position information of the second installation hole;

controlling the first rotary alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole;

Control the pre-installation manipulator to place the screw in the first installation hole after passing through the second installation hole.

Among them, also include:

controlling the second vision positioning mechanism to obtain the position information of the second installation hole;

controlling the second rotary alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole corresponds to the second mounting hole;

The locking manipulator is controlled to lock the screw placed in the first installation hole to the first installation hole and the third installation hole.

The present application also proposes a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned automatic preinstallation method for industrial robot joints are realized.

The automatic pre-installation equipment for industrial robot joints of this application automatically transports the industrial robot joints whose position information of the first installation hole has been predicted through the conveying device, and the industrial robot joints are transported to the screw pre-installation device for automatic screw pre-installation. , the screw pre-installation device obtains the position information of the second installation hole through the first visual positioning mechanism on the pre-installation manipulator, and the first rotation alignment mechanism rotates the flange according to the position information of the first installation hole and the position information of the second installation hole Turn to the corresponding angle so that the first installation hole corresponds to the second installation hole, and the pre-installation manipulator will place the screw taken out from the feeding mechanism through the second installation hole and then place it in the first installation hole. In this way, the automatic pre-installation equipment of the industrial robot joint can realize the automatic pre-installation of the shell of the industrial robot joint and the screw of the reducer, replacing the manual pre-installation of the screw, realizing the automation and intelligence of the assembly of the industrial robot joint, and improving the assembly efficiency , which can meet the production needs of manufacturers for high-volume and efficient production of industrial robots.

Description of drawings

Fig. 1 is the explosion diagram of industrial robot joint in the prior art;

Fig. 2 is the sectional view of industrial robot joint in the prior art;

Fig. 3 is a schematic diagram of the pre-installation and locking process of the industrial robot joint in an embodiment of the present application;

FIG. 4 is a schematic layout diagram of an automatic pre-installation device for an industrial robot joint in an embodiment of the present application;

Fig. 5 is a schematic structural view of the screw pre-installation device in the embodiment of Fig. 4;

Fig. 6 is a schematic structural view of the first rotary alignment mechanism in the embodiment of Fig. 5;

Fig. 7 is a schematic structural view of a part of the first rotation alignment mechanism in the embodiment of Fig. 6;

Fig. 8 is a schematic structural view of a part of the first rotation alignment mechanism in the embodiment of Fig. 6;

Fig. 9 is a cross-sectional view of a part of the structure of the first rotary alignment mechanism in the embodiment of Fig. 6;

Fig. 10 is a schematic structural view of the screw distributing assembly of the feeding mechanism in the embodiment of Fig. 5;

Figure 11 is a cross-sectional view of the screw distribution assembly in the embodiment of Figure 10;

Fig. 12 is a partial enlarged view of place A in Fig. 11;

Fig. 13 is a partial enlarged view of place B in Fig. 11;

Fig. 14 is a structural schematic view of the screw distributing assembly in the embodiment of Fig. 10 under another viewing angle;

Fig. 15 is a schematic structural view of the transition plate in the embodiment of Fig. 10;

Fig. 16 is a schematic structural view of a part of the screw distribution assembly in the embodiment of Fig. 10;

Fig. 17 is a schematic structural view of the pre-installation manipulator of the screw pre-installation device in the embodiment of Fig. 5;

Fig. 18 is a schematic structural view of the screw locking device in the embodiment of Fig. 4;

Fig. 19 is a schematic structural view of the locking manipulator of the screw locking device in the embodiment of Fig. 18;

Fig. 20 is a schematic diagram of a part of the structure of the locking manipulator in the embodiment of Fig. 19;

Fig. 21 is a flowchart of an automatic pre-installation method for industrial robot joints in an embodiment of the present application;

Fig. 22 is a flowchart of an automatic pre-installation method for industrial robot joints in an embodiment of the present application.

Detailed ways

The solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relationship between the components in a certain posture (as shown in the drawings). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

It should also be noted that when an element is referred to as being “fixed” or “disposed on” another element, it can be directly on the other element or intervening elements may also exist. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

In addition, the descriptions involving "first", "second" and so on in the present application are only for the purpose of description, and should not be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

Referring to Figures 1 and 2, Figure 1 is an exploded view of an industrial robot joint in the prior art, and Figure 2 is a cross-sectional view of an industrial robot joint in the prior art:

The industrial robot joint includes a housing 100 and a reducer 200. The reducer 200 includes a fixed seat 210 (also called a body), an output shaft 220 arranged on the fixed seat 210, and a flange 230 connected to one end of the output shaft 220. The The flange 230 is used to connect to the next joint. Among them, the fixed seat 210 is provided with a plurality of first installation holes 210a, the flange plate 230 is provided with a plurality of second installation holes 230a, and the casing 100 is provided with a plurality of third installation holes 100a, the first installation holes 210a are connected with the third installation holes. The hole 100a corresponds. Wherein, when the reducer 200 is assembled on the casing 100, the flange 230 is located on the upper side of the fixing seat 210, and the lower side of the fixing seat 210 is docked with the casing 100 and passes through several first mounting holes 210a and several third mounting holes 100a. Screws are inserted between them for connection.

During the specific setting, the flange 230 blocks the first mounting hole 210a of the fixing base 210, thus making it impossible to directly pass through the first mounting hole 210a of the fixing base 210 and the third mounting hole 100a of the housing 100 for pre-installation. . Therefore, it is necessary to adjust the angle of the flange 230 so that the second mounting hole 230a corresponds to the first mounting hole 210a, pass the screw through the second mounting hole 230a, and place it in the first mounting hole 210a for pre-installation.

Optionally, the number of the second mounting holes 230a on the flange 230 is the same as that of the first mounting holes 210a on the fixing seat 210, for example, there are 12 first mounting holes 210a, and 12 second mounting holes 230a, so that Only one rotation and alignment is required, for example, one rotation and alignment makes 12 holes correspond to each other, and then all the screw pre-installation between the first installation hole 210a and the third installation hole 100a can be completed; optionally, the flange 230 The number of the second mounting holes 230a is less than that of the first mounting holes 210a on the fixed seat 210, for example, the number of the first mounting holes 210a is 12, and the number of the second mounting holes 230a is 10; thus, at least two rotations are required , such as the first rotation and alignment to make 10 holes correspond, pre-install the screws corresponding to 10 holes, the second rotation and alignment to make the remaining 2 holes correspond, and then pre-install the corresponding 2 screws Only the screws in the first mounting holes 210a can be pre-installed. It is easy to understand that the above descriptions are only some specific descriptions of the pre-installation of the screws of the casing 100 and the reducer 200 in the actual scene, and do not constitute a limitation to this solution.

Referring to Fig. 3 to Fig. 5, Fig. 3 is a schematic diagram of the pre-installation and locking process of the industrial robot joints in an embodiment of the present application, and Fig. 4 is a schematic layout diagram of the automatic pre-assembly equipment of the industrial robot joints in an embodiment of the present application, Fig. 5 is a schematic structural view of the screw pre-installation device in the embodiment of Fig. 4:

This application proposes an automatic pre-installation equipment for industrial robot joints, including a conveying device 1 and a screw pre-installation device 2;

The conveying device 1 is used to convey the industrial robot joint whose position information of the first installation hole 210a has been predicted to the screw pre-installation device 2;

The screw pre-installation device 2 includes a first visual positioning mechanism 21, a first rotary alignment mechanism 22, a pre-installation manipulator 23 and at least one feeding mechanism 24;

The first visual positioning mechanism 21 is arranged on the pre-installation manipulator 23, and is used to obtain the position information of the second installation hole 230a;

The first rotary alignment mechanism 22 is used to rotate the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the position information of the second mounting hole 230a, so that the first mounting hole 210a corresponds to the second mounting hole 230a ;

At least one feeding mechanism 24 is used to supply screws, and the pre-installation manipulator 23 is used to take out screws from at least one feeding mechanism 24, and place the screws in the first installation hole 210a after passing through the second installation hole 230a.

The automatic pre-installation equipment for industrial robot joints involved in this embodiment is used for pre-installing screws between the shell 100 of the industrial robot joints and the reducer 200, so as to realize the connection and fixation of the two. In this automatic pre-installation equipment for industrial robot joints, the industrial robot joints are automatically transported by the transport device 1, and the joints on the transport device 1 are transported to the screw pre-installation device 2 for automatic screw pre-installation.

Wherein, the conveying device 1 may be a line conveying or a carousel conveying, which is set according to the actual situation. Optionally, the conveying device 1 adopts a conveying line body, which is a double-speed chain line, and several jigs are transported on the double-speed chain line, and the jigs are used to place the joints to realize the transport of the joints. As a preferred solution, the double-speed chain line adopts a circulating line body, and a connecting mechanism is provided at both ends of the line body, so as to transfer the jigs between the circulating line bodies through the connecting mechanism, so as to realize the circular transportation and use of the jigs. The transported industrial robot joint is a combination of the casing 100 and the reducer 200 , the reducer 200 is located in the casing 100 and the first mounting hole 210 a of the fixing seat 210 corresponds to the third mounting hole 100 a of the casing 100 . And in this embodiment, the position information of the first mounting hole 210a in the joint has been predicted. Optionally, the position information of the third mounting hole 100a can be obtained and stored when the fixing seat 210 of the reducer 200 is docked with the housing 100 For the equipment control system, the first installation hole 210a corresponds to the third installation hole 100a, and the position information of the third installation hole 100a is also the position information of the first installation hole 210a; The housing 100 can be positioned according to the position corresponding to the fixing of the housing 100 on the jig, so that the position information of the third mounting hole 100a is uniquely determined and pre-stored in the equipment control system. The first mounting hole 210a and the third mounting hole 210a 100a corresponds to the position information of the third installation hole 100a, that is, the position information of the first installation hole 210a. Of course, this is only exemplary, not restrictive, including but not limited to this.

During screw preinstallation, the screw preinstallation device 2 obtains the position information of the second installation hole 230a through the first visual positioning mechanism 21 of the preinstallation manipulator 23, and the first rotation alignment mechanism 22 obtains the position information of the second installation hole 230a according to the first installation hole 210a and the second installation hole. According to the position information of 230a, turn the flange 230 to the corresponding angle, so that the first installation hole 210a corresponds to the second installation hole 230a, and the pre-installation manipulator 23 passes the screw taken out from the feeding mechanism 24 through the second installation hole 230a. It is placed in the first installation hole 210a, so that the subsequent locking screw mechanism can lock the screw.

As shown in Figure 3, the screw pre-installation and locking process is as follows: in the initial state, the second mounting hole 230a of the flange 230 is misaligned with the first mounting hole 210a of the fixing seat 210, and then the flange 230 is rotated so that The second mounting hole 230 a thereof corresponds to the first mounting hole 210 a of the fixing base 210 . Then, the screws are passed through the second mounting holes 230 a of the flange 230 to be placed in the first mounting holes 210 a of the fixing base 210 for screw pre-installation. According to the difference in structural design between the first installation hole 210a and the third installation hole 100a, the pre-installed screw completely passes through the first installation hole 210a, and then the end of the screw rod is to be rotated into the third installation hole 100a. hole 100a; or the pre-installed screw can completely pass through the first mounting hole 210a, and partially enter the third mounting hole 100a; it can also not completely pass through the first mounting hole 210a, and correspondingly does not enter the third mounting hole 100a. After the screw is pre-installed, the screw can be rotated downward and tightened so that it is threadedly engaged with the third mounting hole 100a. In this way, the threaded rod of the screw passes through the first mounting hole 210a and is threadedly engaged with the third mounting hole 100a, while the thread of the screw The screw head is fastened against the fixing base 210 to lock and fix the fixing base 210 and the housing 100 .

Wherein, the first visual positioning mechanism 21 may be a CCD visual camera, and the high-definition image of the joint is taken by the CCD visual camera to identify the second mounting hole 230a on the flange 230, thereby obtaining the position information of the second mounting hole 230a. The structural forms of the first rotary alignment mechanism 22 can be various. For example, the first rotary alignment mechanism 22 includes a mechanical arm and a rotary clamp located at the end of the mechanical arm. When in use, the rotary clamp at the end can be driven by the mechanical arm. The claw reaches the flange 230, and the rotating jaw clamps the flange 230 and drives it to rotate. In addition to this example, the first rotation alignment mechanism 22 may also adopt other structural forms, which will be described in detail in subsequent embodiments and will not be described in detail here. According to the function of the pre-installed manipulator 23, its structural structure can be set according to the actual situation, such as the combined structure of multi-axis manipulator and operating components, or the combined structure of XYZ three-axis drive module and operating parts, etc., and the operating components Can be suction or clamping components. There can be one or more feeding mechanisms. As shown in FIG. 1, there are three feeding mechanisms. The pre-installed manipulator 23 can take out the screws from the three feeding mechanisms 24 in sequence without waiting, which can improve the assembly efficiency.

The automatic pre-installation equipment for industrial robot joints can realize the automatic pre-installation of the screws of the shell 100 of the industrial robot joints and the reducer 200, replacing the manual pre-installation of screws, realizing the automation and intelligence of the assembly of the industrial robot joints, and improving the assembly efficiency , which can meet the production needs of manufacturers for high-volume and efficient production of industrial robots.

Referring to Figures 6 to 9, Figure 6 is a schematic structural view of the first rotational alignment mechanism in the embodiment of Figure 5, Figure 7 is a schematic structural view of a part of the first rotational alignment mechanism in the embodiment of Figure 6, and Figure 8 is a schematic structural view of the first rotational alignment mechanism in the embodiment of Figure 6. A schematic diagram of a part of the structure of the first rotary alignment mechanism in the example, and FIG. 9 is a cross-sectional view of a part of the structure of the first rotary alignment mechanism in the embodiment of FIG. 6:

In some embodiments, the reducer 200 also includes an input shaft and an output shaft 220, the output shaft 220 is hollow and connected to the fixed seat 210, the output shaft 220 is passed through the inner side of the input shaft and connected to the flange 230, the industrial robot The joint also includes a motor rotor 300, and the motor rotor 300 is sleeved on the outside of the input shaft;

The first rotary alignment mechanism 22 is located below the conveying device 1, and the first rotary alignment mechanism 22 includes a lifting drive assembly 221, a lifting plate 222, a rotating seat 223, a rotating drive assembly 224, a clamping drive assembly 226 and at least two clips. Holder 225;

The output execution end of the lifting drive assembly 221 is connected with the lifting plate 222 for driving the lifting plate 222 to lift; the rotating drive assembly 224 and the rotating seat 223 are arranged on the lifting plate 222, and the output executing end of the rotating driving assembly 224 is connected with the rotating seat 223 , used to drive the rotating seat 223 to rotate; at least two clamping parts 225 are movably arranged on the rotating seat 223, and the output execution end of the clamping drive assembly 226 is connected with at least two clamping parts 225 for driving at least two The two clamping parts 225 are opened and closed relative to each other, so that at least two clamping parts 225 loosen or clamp the motor rotor 300 or the output shaft 220 .

Among them, the motor rotor 300 is the motor rotor 300 of the joint motor, and the motor rotor 300 is sleeved on the outside of the input shaft of the reducer. The input shaft of the reducer 200 can rotate with the motor rotor 300. The action process of the reducer 200 is: the motor rotor 300 drives the input shaft to rotate, the input shaft rotates through the reduction transmission output shaft 220, and the flange 230 rotates with the output shaft 220. The first rotation alignment mechanism 22 is used to rotate the flange 230 to realize the alignment of the second installation hole 230 a with the first installation hole 210 a. Therefore, the first rotation alignment mechanism 22 can drive the rotation of the flange 230 by rotating the motor rotor 300 ; or can drive the rotation of the flange 230 by rotating the output shaft 220 , which can be selected according to the actual situation.

The working principle of the first rotation alignment mechanism 22 is as follows: the lifting drive assembly 221 drives the lifting plate 222 to rise, and at least two clamping parts 225 rise from the initial position, until the motor rotor 300 or the output shaft 220 is located at least two clamping parts. After clamping the central position of the part 225, the lifting action is stopped; then the clamping drive assembly 226 drives at least two clamping parts 225 to move closer to clamp the motor rotor 300 or the output shaft 220, and then the rotating drive assembly 224 drives the rotating seat 223 Rotate, at least two clamping parts 225 clamp the motor rotor 300 or the output shaft 220 and rotate accordingly, so that the flange 230 rotates.

After the flange 230 is rotated, the clamping drive assembly 226 drives at least two clamping parts 225 to move away from each other to loosen the motor rotor 300 or the output shaft 220, and then the lifting drive assembly 221 drives the lifting plate 222 to descend, at least two clamping parts The holder 225 then descends and returns to the initial position.

Optionally, the lifting drive assembly 221 can use drive assemblies such as screw assemblies and synchronous belt assemblies, the rotation drive assembly 224 can use drive assemblies such as gear assemblies and synchronous belt assemblies, and the clamping drive assembly 226 can use jaw cylinders, etc. The holder 225 can be correspondingly disposed on the clamping end of the jaw cylinder. And the number of clamping parts 225 can be two or three, and the type of clamping jaw cylinder is selected according to the number of clamping parts 225, such as a double-claw or three-claw clamping jaw cylinder. The above are only exemplary, not restrictive. Corresponding to the aforementioned embodiments, the jig is provided with a through hole for the clamping member 225 to pass through from bottom to top, so as to facilitate the clamping of the motor rotor 300 or the output shaft 220 of the reducer 200 on the jig. And in the specific setting, the first rotary alignment mechanism 22 can be fixed on the conveying device 1 or independently installed and set through other structures, which can be selected according to the actual situation.

In some embodiments, the rotation driving assembly 224 includes a rotating shaft 2241 and a first driving member 2242;

The rotating shaft 2241 is rotatably passed through the lifting plate 222 , the rotating base 223 is mounted on one end of the rotating shaft 2241 , and the first driving member 2242 is connected to the other end of the rotating shaft 2241 through a transmission assembly 2243 .

In this embodiment, a shaft mounting hole is formed through the lifting plate 222 , and the rotating shaft 2241 is disposed through the shaft mounting hole, and is rotatably mounted on the lifting plate 222 through a bearing. The rotating seat 223 is located at the top of the rotating shaft 2241 and is connected with the rotating shaft 2241 , and the bottom end of the rotating shaft 2241 is connected with the first driving member 2242 through the transmission assembly 2243 . Wherein, the first driving member 2242 of the rotation driving assembly 224 outputs driving power, and transmits the rotating shaft 2241 to rotate through the transmission assembly 2243 , thereby driving the rotation base 223 to rotate. Wherein, the transmission assembly 2243 can be a one-stage reduction transmission or a two-stage reduction transmission, etc., and is set according to actual conditions.

In some embodiments, the first driving member 2242 is a driving motor, the body of the driving motor is located on one side of the lifting plate 222 and is fixedly connected to the lifting plate 222, and the output shaft of the driving motor passes through the lifting plate 222;

The transmission assembly 2243 includes a first transmission wheel 2243a and a second transmission wheel 2243b, the first transmission wheel 2243a is fixedly arranged on the output shaft of the driving motor, the second transmission wheel 2243b is located at the other end of the rotating shaft 2241 and is coaxially connected with the rotating shaft 2241, The first transmission wheel 2243a is in transmission connection with the second transmission wheel 2243b.

In this embodiment, driven by the driving motor, the first transmission wheel 2243a rotates with its output shaft, and then drives the second transmission wheel 2243b to rotate, and the rotating shaft 2241 rotates with the second transmission wheel 2243b to drive the rotating base 223 to rotate. Optionally, the transmission assembly 2243 can be a gear transmission assembly, that is, both the first transmission wheel 2243a and the second transmission wheel 2243b are gears, and the first transmission wheel 2243a and the second transmission wheel 2243b are meshedly connected; or, the transmission assembly 2243 can be The synchronous belt drive assembly, that is, the first transmission wheel 2243a and the second transmission wheel 2243b are both synchronous pulleys, and the first transmission wheel 2243a and the second transmission wheel 2243b are connected by sleeved synchronous belts. In this embodiment, the transmission component 2243 is a gear transmission component, and the transmission ratio is set according to actual needs, without limitation. Wherein, the body of the driving motor and the rotating seat 223 are arranged on the same side of the lifting plate 222, the structure is compact, the space is rationally utilized, the design height of the mechanism can be reduced, the space occupied by the mechanism can be reduced, and interference with other structures can be avoided.

In some embodiments, the number of clamping parts 225 is two, and the clamping driving assembly 226 includes a moving frame 2261, a second driving part 2263 and two connecting arms 2262;

The moving frame 2261 is vertically movably arranged on the rotating seat 223, and the moving frame 2261 is provided with two inclined guide grooves 2261a, and the two guide grooves 2261a are arranged at angles to each other;

Two connecting arms 2262 are horizontally movably arranged on the rotating base 223, one end of each connecting arm 2262 is connected to a clamping member 225, and the other end is slidably connected to a guide groove 2261a;

The second driver 2263 is used to drive the moving frame 2261 to move vertically, so that the two connecting arms 2262 slide along the corresponding guide grooves 2261a. When the two connecting arms 2262 slide along the corresponding guiding grooves 2261a, the two connecting arms 2262 face away Or move toward each other, so that the two clamping parts 225 are opened and closed relative to each other.

In this embodiment, on the moving frame 2261, the straight line where the two end points of one guide groove 2261a and the straight line where the two end points of the other guide groove 2261a are located intersect each other at an angle, so that the two connecting arms 2262 are positioned at the two guides. When sliding in the groove 2261a, it can move relative or opposite to each other, so that the two clamping parts 225 are opened and closed relative to each other. For example, the two guide grooves 2261a can be arranged in a positive "eight" shape, the second driving member 2263 clamping the driving assembly 226 drives the moving frame 2261 to move down, the two connecting arms 2262 slide along the corresponding guiding grooves 2261a, and the moving frame 2261 pulls The two connecting arms 2262 move toward each other, thereby making the two clamping members 225 close together; on the contrary, the second driving member 2263 of the clamping drive assembly 226 drives the moving frame 2261 to move upward, and the two connecting arms 2262 move along the corresponding guides. The slot 2261a slides, and the moving frame 2261 pushes the two connecting arms 2262 to move back, so that the two clamping parts 225 are separated and spread apart. Optionally, the two guide grooves 2261a on the moving frame 2261 can also be arranged in an inverted "eight" shape. It is easy to understand that, contrary to the aforementioned action principle, when the second driving member 2263 drives the moving frame 2261 to move down, the two The clamping pieces 225 are opened apart from each other; when the second driving piece 2263 drives the moving frame 2261 to move upward, the two clamping pieces 225 are close together and closed. As an optional embodiment, the connecting arm 2262 can be connected with a protrusion, and a corresponding groove is provided on the rotating seat 223. The groove is extended in the horizontal direction, and the protrusion and the groove are slidably matched to realize the connecting arm 2262 on the rotating seat 223. mobile settings. This is only exemplary, and other schemes may also be adopted.

Furthermore, the rotating seat 223 is a flat structure, and an accommodation cavity is provided in the rotating seat 223, so that components such as the moving frame 2261 and the connecting arm 2262 are disposed in the accommodation cavity. The opening of the accommodating cavity is located on the top of the rotating base 223 and has an oval shape. One end of the two connecting arms 2262 is located at the opening and connected to the two clamping pieces 225 respectively.

In some embodiments, clamp drive assembly 226 further includes at least one horizontal guide assembly 2264 and/or vertical guide assembly 2265;

The horizontal guide assembly 2264 includes a guide rail and a slider slidably arranged on the guide rail, the guide rail is fixedly connected to the rotating base 223, and the slider is connected to a connecting arm 2262; and/or,

The vertical guide assembly 2265 includes a guide rod and a guide sleeve, the guide sleeve is fixed on the rotating seat 223, one end of the guide rod is connected with the moving frame 2261, and the other end passes through the guide sleeve and slidably fits with the guide sleeve.

In this embodiment, the horizontal guide assembly 2264 is used to guide the movement of the connecting arm 2262 , and at the same time realize the movable arrangement of the connecting arm 2262 on the rotating seat 223 . As an optional solution, there are two horizontal guide assemblies 2264, which are respectively used for the two connecting arms 2262. Specifically, the guide rails of the two horizontal guide assemblies 2264 are relatively arranged on the rotating base 223, and the two connecting arms 2262 are respectively connected to the two connecting arms 2262. The slider on the guide rail is connected; perhaps, the horizontal guide assembly 2264 is one, and the guide rail of the horizontal guide assembly is arranged on the rotating seat 223, and two slide blocks are slidably arranged on the guide rail, and the two connecting arms 2262 are respectively connected with the two on the guide rail. Slider connection. In this embodiment, there are two horizontal guide assemblies 2264, and the guide rails of the two horizontal guide assemblies 2264 are respectively arranged on opposite side walls of the accommodating cavity. Driven by the moving frame 2261 , the connecting arm 2262 slides on the slider along the guide rail, so as to realize the horizontal movement guidance of the connecting arm 2262 .

The vertical guide assembly 2265 is used to guide the movement of the mobile frame 2261. When the second drive member 2263 drives the mobile frame 2261 to move, the guide rod connected with the mobile frame 2261 slides in the guide sleeve on the rotating seat 223, thereby realizing alignment. The vertical movement guide of mobile frame 2261. In this embodiment, there are two vertical guide assemblies.

It is easy to understand that, in other embodiments, the horizontal guide assembly 2264 may also use a guide rod guide sleeve or other guide structures, and the vertical guide assembly 2265 may also use guide rail sliders or other guide structures.

In some embodiments, the clamping drive assembly 226 further includes a connecting shaft 2266, the rotating shaft 2241 is hollow, the connecting shaft 2266 is slidably fitted with the rotating base 223 and passed through the rotating shaft 2241, one end of the connecting shaft 2266 is connected with the moving frame 2261, The other end is connected with the output execution end of the second driver 2263 .

In this embodiment, the connecting shaft 2266 and the rotating shaft 2241 are set in a "axis in the shaft" relationship, the rotating shaft 2241 is outside, the connecting shaft 2266 is inside, the moving frame 2261 is located at the top of the connecting shaft 2266 and connected with the connecting shaft 2266, the connecting shaft The bottom end of 2266 is connected with the output execution end of the second driver 2263 . Wherein, the second driving member 2263 of the clamping driving assembly 226 outputs power to drive the connecting shaft 2266 passing through the rotating shaft 2241 to lift up and down, and further drives the moving frame 2261 to lift up and down, so as to realize the opening and closing of the two clamping components 225 . Wherein, corresponding to the specific type adopted by the second driving member 2263, the connecting shaft 2266 can be directly connected with the output execution end of the second driving member 2263, or can be connected with the output execution end of the second driving member 2263 through other intermediate pieces or It is the transmission structure connection, set according to the actual situation.

In some embodiments, the second driving member 2263 is a cylinder, the cylinder body of which is located on one side of the lifting plate 222, the piston rod of the cylinder passes through the lifting plate 222, and the connecting shaft 2266 is connected to the piston rod of the cylinder through a connecting frame 2267 .

In this embodiment, driven by the cylinder, the connecting frame 2267 moves with its piston rod to drive the connecting shaft 2266 to move, and then drives the moving frame 2261 to move. Wherein, the cylinder body of the cylinder and the rotating seat 223 are arranged on the same side of the lifting plate 222, the structure is compact, the space is rationally utilized, the design height of the mechanism can be reduced, the space occupied by the mechanism can be reduced, and interference with other structures can also be avoided.

Referring to Fig. 5 and Fig. 10 to Fig. 16, Fig. 10 is a schematic structural view of the screw distribution assembly of the feeding mechanism in Fig. 5 embodiment, Fig. 11 is a cross-sectional view of the screw distribution assembly in Fig. 10 embodiment, Fig. 12 is Fig. 11 Figure 13 is a partial enlarged view of position B in Figure 11, Figure 14 is a schematic structural diagram of the screw distribution assembly in the embodiment of Figure 10 at another angle of view, and Figure 15 is a schematic diagram of the structure of the embodiment in Figure 10 Schematic diagram of the structure of the transition plate, Figure 16 is a schematic diagram of a part of the structure of the screw distribution assembly in the embodiment of Figure 10:

In some embodiments, the feeding mechanism 24 includes a screw feeding assembly 241 and a screw feeder 242. The screw feeding assembly 241 includes a mounting base 2411 and a feeding plate 2412 located on the mounting base 2411, a screw feeding tube 2413, a feeding board drive assembly 2414;

The feeding plate 2412 is movably arranged on the mounting base 2411, and at least one material hole 2412a for the screw to fall is opened on the feeding plate 2412;

The output execution end of the feeding plate driving assembly 2414 is connected to the feeding plate 2412 for driving the feeding plate 2412 to move on the mounting seat 2411;

The screw guide tube 2413 is located above the feeding plate 2412, the feed end of the screw guide tube 2413 is connected to the screw feeder 242, and the discharge end is located directly above the movement track of the feed hole 2412a.

In this embodiment, the screw feeder 242 of the feeding mechanism 24 supplies screws, and the screws supplied by the screw feeder 242 are separated one by one by the screw distributing component 241 for the pre-installation manipulator 23 to take. When in use, the supply screw of the screw feeder 242 enters the screw feed tube 2413 from the feeding end of the screw feed tube 2413 , and then falls out through the discharge end of the screw feed tube 2413 . Wherein, the screw guide tube 2413 can be a hose, including but not limited thereto. The feeding plate 2412 is located under the screw guide pipe 2413, and is movable (sliding or rotating) on the mounting seat 2411 driven by the feeding plate drive assembly 2414; the feeding plate 2412 is provided with at least one material hole 2412a, and the material hole 2412a is used for Receive the screw dropped from the discharge end of the screw feed tube 2413, the discharge end of the screw feed tube 2413 is located directly above the motion track of the feed hole 2412a, that is, when the feed plate drive assembly 2414 drives the feed plate 2412 to move, when the material The hole 2412a is moved to directly below the discharge end of the screw feed tube 2413, and the screw dropped from the discharge end of the screw feed tube 2413 just falls into the feed hole 2412a. In the figure of this embodiment, one material hole 2412a is taken as an example, of course, in other embodiments, there may be multiple material holes 2412a.

The feed plate drive assembly 2414 can be a telescopic drive assembly or a rotary drive assembly. When the feed plate drive assembly 2414 is a telescopic drive assembly, the feed plate drive assembly 2414 drives the feed plate 2412 to move back and forth in a straight line. The feed plate drive assembly 2414 can be driven by a cylinder or A drive assembly consisting of a motor and a lead screw. Moreover, in a specific embodiment, a cushioning piece may be provided on the mounting seat 2411 , and the cushioning piece is arranged opposite to the end of the feeding plate 2412 close to the feeding plate driving assembly 2414 . When the feeding plate 2412 moves toward the direction of the feeding plate driving assembly 2414, the cushioning member abuts and buffers the feeding plate 2412 to prevent the excessive movement of the feeding plate 2412, so as to protect the feeding plate 2412. Wherein, the buffer member may be a hydraulic buffer, a spring buffer or a rubber block, and the like.

The working process of the feeding mechanism 24 is: the feeding plate drive assembly 2414 drives the feeding plate 2412 to move (slide or rotate), so that the feeding plate 2412 moves to the right below the screw guide tube 2413 (that is, the position where the screw is received), and the screw feeder 242, the screw delivered to the screw guide tube 2413 falls into the material hole 2412a from its discharge end, and then, the feeding plate drive assembly 2414 drives the feeding plate 2412 to move to the material hole 2412a for the screw position for the pre-installed manipulator 23 Take away the screw; cycle like this for automatic feeding of the screw.

In some embodiments, a section of the material hole 2412a near the discharge end is a first guide section 2412b whose hole diameter gradually decreases from top to bottom. For example, the first guiding section 2412b is a guiding section whose inner wall surface is a tapered surface. The material hole 2412a is set as the first guide section 2412b through the top part, which mainly solves the swaying of the screws falling out of the screw material guide tube 2413, or the screw falling out of the discharge end of the screw material guide tube 2413 due to other interference factors. Position deviation, and the problem that it cannot fall into the material hole 2412a accurately; when the screw falling out of the discharge end of the screw guide tube 2413 has a position deviation, the bottom end of the screw is against the inner wall of the first guide section 2412b On the other hand, the inner wall surface of the first guide section 2412b is an inclined guide surface, therefore, the bottom end of the screw will slide into the material hole 2412a along the first guide section 2412b due to its own gravity. In this way, this embodiment further ensures that the screw falling out of the screw guide tube 2413 can accurately enter the material hole 2412a.

In some embodiments, the mounting base 2411 is provided with a transition plate 2415, the transition plate 2415 is located between the feeding plate 2412 and the screw guide tube 2413, the transition plate 2415 is provided with a through hole 2415a facing the discharge end, the through hole The section of 2415a close to the discharge end is the second guide section 2415b whose hole diameter gradually decreases from top to bottom. For example, the second guiding section 2415b is a guiding section whose inner wall surface is a tapered surface. The second guide section 2415b of the through hole 2415a of the transition plate 2415 has the same function as the first guide section 2412b, both of which are used to guide the screws falling out from the discharge end of the screw guide tube 2413, and correct the position of the falling screws deviation. The difference is that since the through hole 2415a is for the entire screw to pass through, the diameter of the through hole 2415a needs to be not smaller than the head size of the screw, which is larger than the diameter of the material hole 2412a, and the diameter of the second guide section 2415b is even larger , the allowable deviation of the position of the falling screw is larger, which better ensures the stability of the screw blanking.

In some embodiments, the screw distributing assembly 241 further includes a sensor assembly 2416 for detecting whether a screw falls to the feeding plate 2412 . Sensing assembly 2416 is electrically connected with the main control board of feeding mechanism 24, detects through sensing assembly 2416 whether there is a screw falling to feeding plate 2412 (that is, falling into material hole 2412a), and feeds back the detection signal to main control board, so that the main control board The plate controls the feeding plate driving assembly 2414 to work according to the detection signal. For example, when the sensor assembly 2416 detects that a screw has fallen onto the feed plate 2412, the sensor assembly 2416 feeds back a first signal to the main control board, and the main control board controls the feed plate drive assembly 2414 to drive the feed plate 2412 to move to the material hole 2412a Provide the screw position for the pre-installed manipulator 23 to take the screw; when the sensing component 2416 detects that no screw has fallen to the feeding plate 2412, the sensing component 2416 feeds back a second signal to the main control board, and the main control board controls the feeding plate The driving assembly 2414 does not drive the feeding plate 2412, and waits until the screw is detected to fall to the feeding plate 2412, and then controls the feeding plate driving assembly 2414 to drive.

In some embodiments, the transition plate 2415 is further provided with a detection hole 2415c that crosses through the hole wall of the via hole 2415a, and the sensing component 2416 includes a light emitter 2416a and a light receiver 2416b installed at both ends of the detection hole 2415c.

The sensing component 2416 of this embodiment adopts light sensing detection, the light emitter 2416a emits light from one end of the detection hole 2415c to the other end, the light passes through the via hole 2415a, and the light receiver 2416b receives the light emitted by the light emitter 2416a light; when no screw passes through the hole 2415a, the light receiver 2416b always keeps receiving the light emitted by the light emitter 2416a, and at this time, the sensor component 2416 feeds back a signal that no screw falls into the main control board; when a screw falls When passing through the hole 2415a, the light emitted by the light emitter 2416a is blocked by the screw passing through the hole 2415a, and the light receiver 2416b cannot receive the light emitted by the light emitter 2416a. At this time, the light sensor device feeds back a signal that the screw has fallen into the hole. For the main control board, the main control board determines that a screw has fallen to the feeding plate 2412, and controls the feeding plate drive assembly 2414 to drive the feeding plate 2412 to move, so that the feeding plate 2412 sends the screw to a predetermined position for use by the screw locking device. Certainly, in other embodiments, the sensing component 2416 may also adopt other types of sensing and detection schemes.

In some embodiments, the bottom surface of the transition plate 2415 is arranged close to the top surface of the feeding plate 2412, and the transition plate 2415 is provided with a first avoidance groove 2415d extending along the movement track of the material hole 2412a. The first escape groove 2415d It communicates with the via hole 2415a. Because the head of the screw is larger than the size of its shank, when the screw falls into the material hole 2412a, the shank of the screw is inserted in the material hole 2412a, and the head of the screw hangs outside the top of the material hole 2412a, protruding from the feeding hole 2412a. The top surface of the plate 2412; therefore, when the bottom surface of the transition plate 2415 and the top surface of the feed plate 2412 are placed close to each other, the transition plate 2415 needs to be provided with a first place-avoiding groove 2415d extending along the movement track of the material hole 2412a to the head of the screw Dodge. Further, when the detection hole 2415c passes through the hole 2415a close to one end of the feeding plate 2412, the light between the light emitter 2416a and the light receiver 2416b will always be captured by the screw when the screw falls into the material hole 2412a of the feeding plate 2412. The head protruding from the top surface of the feeding plate 2412 is cut off. Therefore, the sensor component 2416 will keep feeding back a signal that a screw has fallen into the main control board until the screw is sent away by the material feeding plate 2412 to ensure accurate detection of the sensor component 2416.

Of course, in some embodiments, the avoidance scheme of the first avoidance groove 2415d can also be replaced by a way of setting a groove on the top surface of the feed plate 2412, so that the head of the screw is located in the groove and does not protrude from the feed plate 2412 In this way, there is no need to set the first escape groove 2415d.

In some embodiments, the mounting seat 2411 is provided with a chute 2411a, the feeding plate 2412 is slidably disposed in the chute 2411a, and the bottom wall of the chute 2411a is provided with a second avoidance extending along the movement track of the material hole 2412a Groove 2411b.

In this embodiment, the movement trajectory of the material hole 2412a is the sliding trajectory along the sliding direction of the chute 2411a. Since the screws used in the joints of industrial robots are usually relatively long, in order to use a feeder plate 2412 with a smaller thickness (less than the length of the shank of the screw) to reduce the overall size, weight and cost of the screw distribution assembly 241, the material hole 2412a runs through the feeder plate 2412 is set, when the screw falls into the material hole 2412a, the bottom end of the rod of the screw passes through the material hole 2412a, and the second avoidance groove 2411b extending along the material hole 2412a movement track is set at the bottom of the chute 2411a, to The shank of the screw passes through the part of the discharge hole 2412a for avoidance.

Referring to Fig. 5 and Fig. 17, Fig. 17 is a structural schematic diagram of the pre-installation manipulator of the screw pre-installation device in the embodiment of Fig. 5:

In some embodiments, the pre-installed manipulator 23 includes a first manipulator 231, a first installation frame 232 and a gripper 233;

The first installation frame 232 is disposed at the end of the first mechanical arm 231 , and the gripper 233 and the first visual positioning mechanism 21 are disposed on the first installation frame 232 .

In this embodiment, the working process of the pre-installed manipulator 23 is as follows: the first mechanical arm 231 drives the first installation frame 232 to move, to drive the jaws 233 to move to the feeding mechanism 24, and clamp the screws through the jaws 233; and then Drive the first mounting frame 232 to move to drive the clamping claws 233 to move to the second mounting hole 230a of the flange 230, and the clamping claws 233 loosen the screws to pass the screws through the second mounting holes 230a of the flange 230, Then put them into the first mounting holes 210a of the fixing base 210 and the third mounting holes 100a of the housing 100 , so that the screws are placed in each of the first mounting holes 210a and the corresponding third mounting holes 100a. The pre-installation manipulator 23 adopts the gripper claw 233 to pick up the screws, which is convenient for taking materials and is not easy to fall off, which can ensure the stability of the screw pre-installation work. In a specific embodiment, a gantry can be provided to install the pre-installation manipulator 23 , the gantry straddles the top of the conveying device 1 , and the first mechanical arm 231 of the pre-assembly manipulator 23 is fixed on the gantry.

Referring to Fig. 4, Fig. 18 to Fig. 20, Fig. 18 is a schematic structural diagram of the screw locking device in the embodiment of Fig. 4, Fig. 19 is a structural schematic diagram of the locking manipulator of the screw locking device in the embodiment of Fig. 18, and Fig. 20 is a diagram Schematic diagram of a part of the structure of the locking manipulator in the 19th embodiment:

In some embodiments, the automatic pre-installation equipment for industrial robot joints also includes a screw locking device 3, and the screw pre-installation device 2 and the screw locking device 3 are sequentially arranged along the conveying direction of the conveying device 1;

The screw locking device 3 includes a second visual positioning mechanism 31, a second rotary alignment mechanism 32 and a locking manipulator 33;

The second visual positioning mechanism 31 is arranged on the locking manipulator 33, and is used to obtain the position information of the second installation hole 230a;

The second rotation alignment mechanism 32 is used to rotate the flange 230 to a corresponding angle according to the position information of the first installation hole 210a and the second installation hole 230a, so that the first installation hole 210a corresponds to the second installation hole 230a;

The locking manipulator 33 is used for locking the screw placed in the first installation hole 210a to the first installation hole 210a and the third installation hole 100a.

In this embodiment, the screw locking device 3 is used to automatically lock the screws placed in the first installation hole 210a, so as to lock the screws into the first installation hole 210a and the third installation hole 100a. The screw pre-installation device 2 and the screw locking device 3 are arranged sequentially along the conveying direction of the conveying device 1, that is, the joints on the conveying device 1 are first conveyed to the screw pre-installing device 2 for automatic screw pre-installation, and then conveyed to the screw The screw is automatically locked at 3 places of the locking device, which realizes the automatic assembly from screw pre-installation to locking, which can improve the degree of automation and intelligence, and further improve the assembly efficiency.

It is easy to understand that, because the flange 230 blocks the first installation hole 210 a of the fixing base 210 , the screw in the first installation hole 210 a of the fixing base 210 cannot be directly locked. Therefore, it is necessary to adjust the angle of the flange 230 so that the second mounting hole 230a corresponds to the first mounting hole 210a, so that the screw in the first mounting hole 210a can be locked by passing through the second mounting hole 230a, and then Fasten the screws into the first installation hole 210a and the third installation hole 100a.

The operation steps of screw locking and screw pre-installation are basically the same. During screw locking, the screw locking device 3 obtains the position information of the second mounting hole 230a through the second visual positioning mechanism 31 on the pre-installation manipulator 23, and the second rotation pair The positioning mechanism 32 rotates the flange plate 230 to a corresponding angle according to the position information of the first installation hole 210a and the second installation hole 230a, so that the first installation hole 210a corresponds to the second installation hole 230a, and the locking manipulator 33 passes through the second installation hole. The mounting holes 230a are used to fasten the screws placed in the first mounting holes 210a to the first mounting holes 210a and the third mounting holes 100a.

Wherein, the second vision positioning mechanism 31 and the second rotation alignment mechanism 32 can be set correspondingly to the structures of the first vision positioning mechanism 21 and the first rotation alignment mechanism 22 in the foregoing embodiments, which will not be elaborated here. As for the locking manipulator 33, according to its function, its structural structure can be set according to the actual situation, such as using a combined structure of a multi-axis manipulator and an operating component, or using a combined structure of an XYZ three-axis drive module and an operating part, etc. The operating component may be an electric screwdriver.

In some embodiments, the locking manipulator 33 includes a second manipulator 331 , a second installation frame 332 and an electric batch 333 ;

The second installation frame 332 is arranged at the end of the second mechanical arm 331 , and the electric batch 333 and the second visual positioning mechanism 31 are arranged on the second installation frame 332 .

In this embodiment, the working process of the locking manipulator 33 is as follows: the second mechanical arm 331 drives the second mounting bracket 332 to move, so as to drive the locking rod of the electric batch 333 to pass through the second mounting hole 230a of the flange 230 , and use the electric batch 333 to rotate and lock the screws placed in the first installation hole 210a, and then lock the screws to the first installation hole 210a and the third installation hole 100a; this cycle, to each first installation The holes 210a are locked with the screws in the corresponding third installation holes 100a. In a specific embodiment, a gantry can be provided to install the locking manipulator 33 , the gantry straddles above the conveying device 1 , and the second mechanical arm 331 of the locking manipulator 33 is fixed on the gantry.

In some embodiments, the second mounting frame 332 is provided with a sliding seat 334 and a buffer assembly 335, the sliding seat 334 is slidably disposed on the second mounting frame 332, the electric batch 333 is installed on the sliding seat 334, and the buffer assembly 335 is used for A buffer force is provided for the movement of the sliding seat 334 .

In this embodiment, when locking the screw, driven by the second mechanical arm 331, the locking rod of the electric screwdriver 333 contacts the screw; and as the electric screwdriver 333 is continuously pressed down, the electric screwdriver 333 is subjected to the reaction force of the screw Make it and the sliding seat 334 move upward on the second mounting frame 332 . During the upward movement of the sliding seat 334, the buffer assembly 335 provides a downward buffer force for the sliding seat 334 to buffer the movement of the sliding seat 334, so that the locking rod of the electric batch 333 elastically abuts against the screw, thereby realizing The stable docking of the two can improve the locking effect; and it can also avoid hard contact, which will cause damage to the product and improve safety. As an optional solution, the sliding seat 334 is installed on the second installation frame 332 through a guide rail slider assembly, so as to realize a sliding arrangement. The buffer assembly 335 can have various structural forms, such as buffer elastic blocks, springs or tension springs, etc., which are set according to actual conditions.

In some embodiments, the buffer assembly 335 includes a sliding rod 335a and a spring 335b, and the sliding rod 335a is arranged along the sliding direction of the sliding seat 334;

One end of the slide bar 335a is connected to the slide seat 334, and the other end passes through the second mounting frame 332 and is slidably fitted with the second mount frame 332; Connect the second mounting frame 332;

The spring 335b is sheathed on the sliding rod 335a, and the two ends of the spring 335b abut or connect with the sliding seat 334 and the second mounting frame 332 respectively.

In this embodiment, the buffer assembly adopts a sliding rod 335a and a spring 335b. Optionally, one end of the sliding rod 335a is connected to the sliding seat 334, and the other end passes through the second mounting frame 332 and is slidably fitted with the second mounting frame 332; or, One end of the sliding rod 335a passes through the sliding seat 334 and is slidably engaged with the sliding seat 334, and the other end is connected to the second mounting bracket 332, which is selectively set according to actual conditions. Moreover, the spring 335b is sheathed on the sliding rod 335a, and the two ends of the spring 335b abut or connect with the sliding seat 334 and the second mounting frame 332 respectively. Specifically, one end of the sliding rod 335 a is connected to the sliding seat 334 , and the other end passes through the second installation frame 332 and is slidably matched with the second installation frame 332 . During the contact process between the locking bar of the electric batch 333 and the screw, the sliding seat 334 moves up to drive the sliding bar 335a to slide and move up on the second mounting bracket 332, and the spring 335b on the sliding bar 335a is compressed by the sliding seat 334 to move upwards. The sliding seat 334 provides a downward cushioning force. When the locking rod of the electric screwdriver 333 is disengaged from the screw, the sliding seat 334 is affected by its own gravity and other forces (such as the elastic force of the spring 335b), and the sliding seat 334 moves down to drive the electric screwdriver 333 to reset. Wherein, there may be one or more buffer components 335 . In this embodiment, there are two buffer assemblies 335, and the two buffer assemblies 335 are arranged at intervals.

Referring to Fig. 21, Fig. 21 is a flow chart of an automatic pre-installation method for industrial robot joints in an embodiment of the present application:

The present application also proposes an automatic pre-installation method for industrial robot joints. The automatic pre-installation method for industrial robot joints includes:

Step S100: Control the conveying device 1 to convey the industrial robot joint whose position information of the first installation hole 210a has been predicted to the screw pre-installation device 2;

Step S200: controlling the first visual positioning mechanism 21 to obtain the position information of the second installation hole 230a;

Step S300: Control the first rotary alignment mechanism 22 to rotate the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the position information of the second mounting hole 230a, so that the first mounting hole 210a and the second mounting hole 230a corresponding;

Step S400: Control the pre-installation manipulator 23 to place the screw in the first installation hole 210a after passing through the second installation hole 230a.

The automatic pre-installation method of the industrial robot joint proposed in this embodiment is used to realize the automatic pre-installation of screws between the shell 100 of the industrial robot joint and the reducer 200 . Specifically, firstly, the delivery device 1 is controlled to automatically deliver the joints for which the position information of the first installation hole 210a has been predicted, and then the first visual positioning mechanism 21 is controlled to obtain the position information of the second installation hole 230a, and then the first rotation alignment mechanism is controlled 22 Rotate the flange 230 to the corresponding angle according to the position information of the first installation hole 210a and the second installation hole 230a, so that the first installation hole 210a corresponds to the second installation hole 230a, and then control the pre-installation manipulator 23 to pass the screw through The second mounting hole 230a is then placed in the first mounting hole 210a.

Referring to Fig. 22, Fig. 22 is a flow chart of an automatic pre-installation method for industrial robot joints in an embodiment of the present application:

In some embodiments, also include:

Step S500: controlling the second visual positioning mechanism 31 to obtain the position information of the second installation hole 230a;

Step S600: Control the second rotation alignment mechanism 32 to rotate the flange 230 to a corresponding angle according to the position information of the first mounting hole 210a and the position information of the second mounting hole 230a, so that the first mounting hole 210a and the second mounting hole 230a corresponding;

Step S700: Control the locking manipulator 33 to lock the screw placed in the first installation hole 210a to the first installation hole 210a and the third installation hole 100a.

After the screw is pre-installed, the screw is automatically locked. Specifically, the second visual positioning mechanism 31 is controlled to obtain the position information of the second installation hole 230a, and then the second rotation alignment mechanism 32 is controlled according to the position information of the first installation hole 210a and the second installation hole 210a. The position information of the second mounting hole 230a rotates the flange 230 to a corresponding angle, so that the first mounting hole 210a corresponds to the second mounting hole 230a, and then controls the locking manipulator 33 to lock the screw placed in the first mounting hole 210a To the first installation hole 210a and the third installation hole 100a to realize the automatic assembly from screw pre-installation to locking, which can improve the degree of automation and intelligence, and further improve the assembly efficiency.

Wherein, the execution equipment of the automatic pre-installation method of the industrial robot joint is the automatic pre-installation equipment of the industrial robot joint in the above-mentioned embodiment, the involved conveying device 1, and the first visual positioning mechanism 21 of the screw pre-installation device 2, The specific structures of the first rotary alignment mechanism 22, the pre-installed manipulator 23, and the second visual positioning mechanism 31 of the screw locking device 3, the second rotational alignment mechanism 32, and the locking manipulator 33 refer to the foregoing embodiments, and are not described here. repeat. Of course, this is only exemplary and not restrictive.

The present application also proposes a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned automatic preinstallation method for industrial robot joints are realized.

What is described above is only a part or preferred embodiment of the present application, and neither the text nor the accompanying drawings can limit the scope of protection of the present application. The equivalent structural transformations made, or direct/indirect applications in other related technical fields are all included in the protection scope of the present application.

Claims (23)

1. An automatic pre-installation device for an industrial robot joint, the industrial robot joint includes a casing and a reducer located in the casing, the reducer includes a fixing seat and a flange, and the fixing seat is provided with several a first mounting hole, a plurality of second mounting holes are provided on the flange, and a plurality of third mounting holes are provided on the housing, the first mounting hole corresponds to the third mounting hole, and the first mounting hole corresponds to the third mounting hole. It is characterized in that the automatic pre-installation equipment of the industrial robot joint includes a conveying device and a screw pre-installation device; The conveying device is used to convey the industrial robot joint whose position information of the first installation hole has been predicted to the screw pre-installation device; The screw pre-installation device includes a first visual positioning mechanism, a first rotary alignment mechanism, a pre-installation manipulator and at least one feeding mechanism; The first visual positioning mechanism is arranged on the pre-installation manipulator, and is used to obtain the position information of the second installation hole; The first rotation alignment mechanism is used to rotate the flange to a corresponding angle according to the position information of the first installation hole and the position information of the second installation hole, so that the first installation hole and the second installation hole corresponding to the second mounting hole; At least one of the feeding mechanisms is used to supply screws, and the pre-installed manipulator is used to take out screws from at least one of the feeding mechanisms, and place the screws in the first installation hole after passing through the second installation hole. One mounting hole. 2. The automatic pre-installation equipment for industrial robot joints according to claim 1, wherein the reducer also includes an input shaft and an output shaft, the output shaft is hollow and connected to the fixed seat, the The output shaft passes through the inner side of the input shaft and is connected with the flange, and the industrial robot joint also includes a motor rotor, and the motor rotor is sleeved on the outer side of the input shaft; The first rotary alignment mechanism is located below the conveying device, and the first rotary alignment mechanism includes a lifting drive assembly, a lifting plate, a rotating seat, a rotating drive assembly, a clamping drive assembly, and at least two clamping pieces ; The output execution end of the lift drive assembly is connected to the lift plate for driving the lift plate up and down; the rotation drive assembly and the rotating seat are arranged on the lift plate, and the output of the rotation drive assembly The execution end is connected with the rotating seat, and is used to drive the rotating seat to rotate; at least two clamping parts are movably arranged on the rotating seat, and the output execution end of the clamping drive assembly is connected to at least two The two clamping parts are connected, and are used to drive at least two of the clamping parts to open and close relative to each other, so that at least two of the clamping parts loosen or clamp the motor rotor or the output shaft. 3. The automatic pre-assembly equipment for industrial robot joints according to claim 2, wherein the rotary drive assembly includes a rotating shaft and a first drive member; The rotating shaft is rotatably passed through the lifting plate, the rotating seat is installed on one end of the rotating shaft, and the first driving member is connected to the other end of the rotating shaft through a transmission assembly. 4. The automatic pre-installation equipment for industrial robot joints according to claim 3, characterized in that, the first driving member is a driving motor, and the body of the driving motor is located on one side of the lifting plate and is connected to the The lifting plate is fixedly connected, and the output shaft of the drive motor is set through the lifting plate; The transmission assembly includes a first transmission wheel and a second transmission wheel, the first transmission wheel is fixedly arranged on the output shaft of the drive motor, the second transmission wheel is located at the other end of the rotating shaft and is connected to the The rotating shafts are coaxially connected, and the first transmission wheel is in transmission connection with the second transmission wheel. 5. The automatic pre-installation equipment for industrial robot joints according to claim 3, characterized in that, the number of the clamping parts is two, and the clamping drive assembly includes a moving frame, a second driving part and two connecting arm; The mobile frame can be vertically moved on the rotating seat, and the mobile frame is provided with two inclined guide grooves, and the two guide grooves are arranged at an angle to each other; The two connecting arms are horizontally movably arranged on the rotating seat, one end of each connecting arm is connected to one of the clamping pieces, and the other end is slidably connected to one of the guiding grooves; The second driving member is used to drive the moving frame to move vertically, so that the two connecting arms slide along the corresponding guide grooves, and when the two connecting arms slide along the corresponding guide grooves, the two The two connecting arms are moved back or toward each other, so that the two clamping parts are opened and closed relative to each other. 6. The automatic pre-assembly equipment for industrial robot joints according to claim 5, wherein the clamping drive assembly further comprises at least one horizontal guide assembly and/or vertical guide assembly; The horizontal guide assembly includes a guide rail and a slider slidably arranged on the guide rail, the guide rail is fixedly connected to the rotating seat, and the slider is connected to one of the connecting arms; and/or, The vertical guide assembly includes a guide rod and a guide sleeve, the guide sleeve is fixed on the rotating base, one end of the guide rod is connected with the moving frame, and the other end passes through the guide sleeve and connects with the The guide sleeve is a slip fit. 7. The automatic pre-installation equipment of the industrial robot joint according to claim 5, characterized in that, The clamping drive assembly also includes a connecting shaft, the rotating shaft is hollow, the connecting shaft is slidably fitted with the rotating seat and passed through the rotating shaft, one end of the connecting shaft is connected with the moving frame, The other end is connected with the output execution end of the second driving member. 8. The automatic pre-installation equipment of the industrial robot joint according to claim 7, characterized in that, The second drive member is a cylinder, the cylinder body of which is located on one side of the lifting plate, the piston rod of the cylinder passes through the lifting plate, and the connecting shaft passes through the piston rod of the cylinder. Connection frame connection. 9. The automatic pre-installation equipment for industrial robot joints according to claim 1, wherein the feeding mechanism includes a screw distribution assembly and a screw feeder, and the screw distribution assembly includes a mounting base and a The feeding plate, the screw guide tube, and the driving assembly of the feeding plate on the mounting seat; The feeding plate is movably arranged on the mounting seat, and at least one material hole for the screw to fall is opened on the feeding plate; The output execution end of the feeding plate driving assembly is connected to the feeding plate for driving the feeding plate to move on the mounting seat; The screw guide tube is located above the feeding plate, the feed end of the screw guide tube is connected to the screw feeder, and the discharge end is located directly above the movement track of the feed hole. 10. The automatic pre-installation equipment for industrial robot joints according to claim 9, characterized in that, a section of the material hole close to the discharge end is a first guide section whose hole diameter gradually decreases from top to bottom. 11. The automatic pre-installation equipment for industrial robot joints according to claim 9, wherein a transition plate is provided on the mounting base, and the transition plate is located between the feeding plate and the screw guide tube , the transition plate is provided with a via hole facing the discharge end, and a section of the via hole close to the discharge end is a second guide section whose aperture diameter gradually decreases from top to bottom. 12. The automatic pre-installation equipment for industrial robot joints according to claim 11, characterized in that, the screw distributing assembly also includes a sensing assembly, and the sensing assembly is used to detect whether a screw falls to the feeding plate. 13. The automatic pre-installation equipment for industrial robot joints according to claim 12, characterized in that, the transition plate is also provided with a detection hole crossing through the wall of the via hole, and the sensing component includes a A light emitter and a light receiver at both ends of the detection hole. 14. The automatic pre-installation equipment for industrial robot joints according to claim 11, characterized in that, the bottom surface of the transition plate is set close to the top surface of the feeding plate, and the transition plate is provided with The movement track of the hole is extended with a first escape groove, and the first escape groove communicates with the via hole. 15. The automatic pre-installation equipment for industrial robot joints according to claim 14, wherein a chute is provided on the mounting base, and the feeding plate is slidably arranged in the chute, and the chute of the chute The bottom wall of the groove is provided with a second escape groove extending along the movement track of the material hole. 16. The automatic pre-installation equipment for industrial robot joints according to claim 1, wherein the pre-installation manipulator comprises a first mechanical arm, a first mounting bracket and a gripper; The first installation frame is arranged at the end of the first mechanical arm, and the gripper and the first visual positioning mechanism are arranged on the first installation frame. 17. The automatic pre-installation equipment for industrial robot joints according to claim 1, characterized in that, the automatic pre-installation equipment for industrial robot joints also includes a screw locking device, and the screw pre-installation device and the screw lock Attaching devices are arranged sequentially along the conveying direction of the conveying device; The screw locking device includes a second visual positioning mechanism, a second rotary alignment mechanism and a locking manipulator; The second visual positioning mechanism is arranged on the locking manipulator, and is used to obtain the position information of the second installation hole; The second rotary alignment mechanism is used to rotate the flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole is aligned with the position of the second mounting hole. corresponding to the second mounting hole; The locking manipulator is used for locking the screw placed in the first installation hole to the first installation hole and the third installation hole. 18. The automatic pre-installation equipment for industrial robot joints according to claim 17, characterized in that, the locking manipulator includes a second mechanical arm, a second mounting frame and an electric batch; The second installation frame is arranged at the end of the second mechanical arm, and the electric batch and the second visual positioning mechanism are arranged on the second installation frame. 19. The automatic pre-installation equipment for industrial robot joints according to claim 18, characterized in that, the second mounting frame is provided with a sliding seat and a buffer assembly, and the sliding seat is slidably arranged on the second mounting frame , the electric batch is installed on the sliding seat, and the buffer assembly is used to provide a buffer force for the movement of the sliding seat. 20. The automatic pre-installation equipment for industrial robot joints according to claim 19, wherein the buffer assembly includes a slide bar and a spring, and the slide bar is arranged along the sliding direction of the sliding seat; One end of the sliding rod is connected to the sliding seat, and the other end passes through the second mounting frame and is slidably fitted with the second mounting frame; or, one end of the sliding rod passes through the sliding seat and the The sliding seat is slidably fitted, and the other end is connected to the second mounting frame; The spring is sheathed on the sliding rod, and the two ends of the spring abut or connect with the sliding seat and the second installation frame respectively. 21. An automatic pre-installation method for an industrial robot joint, the joint includes a casing and a reducer located in the casing, the reducer includes a fixing seat and a flange, and the fixing seat is provided with a number of first Mounting holes, the flange is provided with a number of second mounting holes, the housing is provided with a number of third mounting holes, the first mounting holes correspond to the third mounting holes, and it is characterized in that the The automatic pre-installation methods of industrial robot joints include: Controlling the conveying device to convey the industrial robot joint whose position information of the first installation hole has been predicted to the screw pre-installation device; controlling the first visual positioning mechanism to obtain the position information of the second installation hole; controlling the first rotary alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first mounting hole and the position information of the second mounting hole, so that the first mounting hole and the second mounting hole Corresponding to the mounting hole; Controlling the pre-installation manipulator to place the screw in the first installation hole after passing through the second installation hole. 22. The automatic pre-installation method of the industrial robot joint according to claim 21, further comprising: controlling the second visual positioning mechanism to obtain the position information of the second installation hole; controlling the second rotary alignment mechanism to rotate the flange to a corresponding angle according to the position information of the first installation hole and the second installation hole, so that the first installation hole and the second installation hole Corresponding to the mounting hole; The locking manipulator is controlled to lock the screw placed in the first installation hole to the first installation hole and the third installation hole. 23. A storage medium, characterized in that a computer program is stored on the storage medium, and when the computer program is executed by a processor, the automatic preinstallation of the industrial robot joint according to any one of claims 21 and 22 is realized method steps.

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