Assembling equipment and pressure adjusting method and device thereof

Abstract

The invention discloses assembling equipment and a pressure adjusting method and device thereof, and relates to the technical field of automatic precision assembling. The assembling equipment comprises a proportional valve, an air cylinder and an assembling suction pen, the proportional valve communicates with the input end of the air cylinder through an air pipe, the output end of the air cylinder is mechanically connected with the assembling suction pen, and the proportional valve is used for adjusting the pressure output to the air cylinder so as to adjust the assembling pressure applied by the assembling suction pen to a to-be-assembled target; the pressure adjusting method of the assembly equipment comprises the following steps: acquiring a pressure compensation coefficient; acquiring target assembly pressure of the to-be-assembled target in real time; and according to the pressure compensation coefficient and the current target assembling pressure, the pressure output to the air cylinder through the proportional valve is adjusted, so that the current assembling pressure applied to the to-be-assembled target by the assembling suction pen is adjusted to be the current target assembling pressure. The pressure output to the air cylinder through the proportional valve is dynamically adjusted according to the pressure compensation coefficient and the current target assembly pressure, and the precision and stability of pressure adjustment of the assembly equipment are improved.

Description

Technical Field

[0001] The present invention relates to the field of automated precision assembly technology, and in particular to an assembly equipment and its pressure regulation method and apparatus. Background Technology

[0002] With the rapid development of the optics and electronics industries, automated optical lens assembly equipment has been widely used in fields such as smartphones and camera modules, becoming a key technology for achieving efficient and precise production.

[0003] In existing automated optical lens assembly equipment, electro-proportional valves are typically used as pressure control elements. Specifically, by sending analog signals to the electro-proportional valve, the valve opening is adjusted to control the pressure applied by the cylinder and assembly pen, thereby achieving precise press-fitting of the lens and spacer. Electro-proportional valves are widely used due to their high adjustment accuracy, fast response speed, and ability to handle multi-stage pressure changes. However, existing electro-proportional valve control often relies on complex system parameters, making debugging cumbersome and hindering rapid implementation and stable operation on production lines. Summary of the Invention

[0004] This invention provides an assembly device and its pressure regulation method and apparatus. By dynamically adjusting the pressure output to the cylinder through a proportional valve according to the pressure compensation coefficient and the current target assembly pressure, the accuracy and stability of pressure regulation are improved.

[0005] The first aspect of the present invention provides a pressure regulation method for an assembly device, the assembly device including a proportional valve, a cylinder and an assembly suction pen, the proportional valve being connected to the input end of the cylinder via an air pipe, the output end of the cylinder being mechanically connected to the assembly suction pen, the proportional valve being used to regulate the pressure output to the cylinder, so as to regulate the assembly pressure applied by the assembly suction pen to the target to be assembled;

[0006] The pressure regulation method for the assembly equipment includes:

[0007] Obtain the pressure compensation coefficient;

[0008] The target assembly pressure of the target to be assembled is obtained in real time;

[0009] Based on the pressure compensation coefficient and the current target assembly pressure, the pressure output to the cylinder through the proportional valve is adjusted to change the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

[0010] Optionally, the pressure compensation coefficient is obtained, including:

[0011] acquire a minimum voltage analog quantity of the proportional valve and a minimum assembly pressure applied by the assembly suction pen to the target to be assembled, and acquire a maximum voltage analog quantity of the proportional valve and a maximum assembly pressure applied by the assembly suction pen to the target to be assembled;

[0012] determine the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure.

[0013] Optionally, the acquiring of the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure applied by the assembly suction pen to the target to be assembled comprises:

[0014] acquire a minimum working pressure of the cylinder;

[0015] determine the minimum voltage analog quantity and the minimum assembly pressure according to the minimum working pressure.

[0016] Optionally, the acquiring of the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly suction pen to the target to be assembled comprises:

[0017] acquire a current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is a current voltage analog quantity;

[0018] increase the current voltage analog quantity of the proportional valve by a preset step size, and correspondingly acquire an adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled;

[0019] determine whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment;

[0020] if yes, return to sequentially execute each step of acquiring the current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is a current voltage analog quantity, increasing the current voltage analog quantity of the proportional valve by a preset step size, and correspondingly acquiring an adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled, and determining whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment, until the adjusted current assembly pressure is equal to the current assembly pressure before adjustment, and then determine the current voltage analog quantity before adjustment as the maximum voltage analog quantity, and determine the current assembly pressure before adjustment as the maximum assembly pressure.

[0021] Optionally, the determining of the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure comprises:

[0022] According to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure, a pressure compensation coefficient is determined based on a first calculation formula;

[0023] The first calculation formula is:

[0024]

[0025] wherein, K is the pressure compensation coefficient, V max is the maximum voltage analog quantity, V min is the minimum voltage analog quantity, P max is the maximum assembly pressure, P min is the minimum assembly pressure.

[0026] Optionally, according to the pressure compensation coefficient and a current target assembly pressure, the pressure output to the cylinder through the proportional valve is adjusted, including:

[0027] According to the pressure compensation coefficient and a current target assembly pressure, a current target voltage analog quantity is determined;

[0028] The current target voltage analog quantity is converted into a current target voltage, and the current target voltage is provided to the proportional valve to adjust the pressure output to the cylinder through the proportional valve.

[0029] Optionally, according to the pressure compensation coefficient and a current target assembly pressure, a current target voltage analog quantity is determined, including:

[0030] According to the pressure compensation coefficient and the current target assembly pressure, the current target voltage analog quantity is determined based on a second calculation formula;

[0031] The second calculation formula is:

[0032] V out = (P target -P min ) × K + V min

[0033] wherein, V out is the current target voltage analog quantity, P target is the current target assembly pressure, P min is the minimum assembly pressure, K is the pressure compensation coefficient, V min is the minimum voltage analog quantity.

[0034] Optionally, after the pressure compensation coefficient is obtained, further including:

[0035] A preset number of target assembly pressures are obtained;

[0036] According to the pressure compensation coefficient, the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure is calculated;

[0037] The current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is each target voltage analog quantity is obtained respectively;

[0038] It is judged whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to a preset error threshold;

[0039] If yes, the steps of obtaining the target assembly pressure of the target to be assembled in real time, and adjusting the pressure output to the air cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure are sequentially executed.

[0040] The second aspect of the application provides a pressure adjusting device of an assembly equipment, the assembly equipment comprising a proportional valve, an air cylinder and an assembly suction pen, the proportional valve being communicated with the input end of the air cylinder through an air pipe, the output end of the air cylinder being mechanically connected with the assembly suction pen, the proportional valve being used for adjusting the pressure output to the air cylinder to adjust the assembly pressure applied by the assembly suction pen to a target to be assembled;

[0041] The pressure adjusting device of the assembly equipment comprises:

[0042] A pressure compensation coefficient obtaining module is used for obtaining a pressure compensation coefficient;

[0043] A target assembly pressure obtaining module is used for obtaining the target assembly pressure of the target to be assembled in real time;

[0044] A current assembly pressure adjusting module is used for adjusting the pressure output to the air cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

[0045] The third aspect of the application provides an assembly equipment, which comprises a proportional valve, an air cylinder, an assembly suction pen and a controller;

[0046] The proportional valve is communicated with the input end of the air cylinder through an air pipe, the output end of the air cylinder is mechanically connected with the assembly suction pen, and the proportional valve is used for adjusting the pressure output to the air cylinder to adjust the assembly pressure applied by the assembly suction pen to a target to be assembled;

[0047] The controller is used for executing the pressure adjusting method of the assembly equipment as described above.

[0048] The technical scheme of the present application lays a foundation for subsequent adjustment of the voltage signal provided to the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, to adjust the pressure output to the air cylinder through the proportional valve. By converting the current target assembly pressure into a corresponding voltage analog quantity using the pressure compensation coefficient, and by converting the voltage analog quantity into a corresponding voltage signal provided to the proportional valve, the proportional valve can adjust the amount of gas provided to the air cylinder through the air pipe according to the received voltage signal, so as to drive the air cylinder and the assembled suction pen to perform operations, ensuring that the current assembly pressure exerted by the assembled suction pen on the target to be assembled is consistent with the current target assembly pressure, so as to meet the high-precision requirement of optical lens assembly on assembly pressure, and improve the accuracy, flexibility and stability of pressure adjustment of the assembly equipment.

[0049] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0051] Figure 1 is a structural schematic diagram of an assembly equipment provided by the first embodiment of the present application;

[0052] Figure 2 is a flowchart of a pressure adjustment method of an assembly equipment provided by the second embodiment of the present application;

[0053] Figure 3 is a flowchart of a pressure adjustment method of an assembly equipment provided by the third embodiment of the present application;

[0054] Figure 4 is a flowchart of a pressure adjustment method of an assembly equipment provided by the fourth embodiment of the present application;

[0055] Figure 5 is a flowchart of a pressure adjustment method of an assembly equipment provided by the fifth embodiment of the present application;

[0056] Figure 6 is a structural schematic diagram of a pressure adjustment device of an assembly equipment provided by the sixth embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to better understand the technical scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts should fall within the protection scope of the present application.

[0058] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to the process, method, product, or device.

[0059] Embodiment one

[0060] Figure 1 is a structural schematic diagram of an assembly device provided by the embodiment one of the present application, as Figure 1 shown, the assembly device includes a proportional valve 1, a pneumatic cylinder 2, and an assembly suction pen 3; the proportional valve 1 is in communication with the input end 21 of the pneumatic cylinder 2 through an air pipe, and the output end 22 of the pneumatic cylinder 2 is mechanically connected with the assembly suction pen 3; the proportional valve 1 is used to adjust the pressure output to the pneumatic cylinder 2, so as to adjust the assembly pressure applied by the assembly suction pen 3 to the target to be assembled.

[0061] Specifically, the proportional valve 1 is used to receive an analog electric signal, such as a voltage signal or a current signal, and adjust the pressure output of the gas source according to the analog electric signal. For example, the proportional valve 1 can specifically include an electromagnetic coil, a valve core, and a gas path, and the change of the analog electric signal can drive the displacement of the valve core, so as to adjust the size of the air flow. The proportional valve 1 is in communication with the gas source and the input end of the pneumatic cylinder 2 through the air pipe, so as to be able to adjust the amount of gas provided by the gas source to the pneumatic cylinder 2 through the proportional valve 1.

[0062] The output end 22 of the cylinder 2 is mechanically connected with the assembled suction pen 3, so that the cylinder 2 can receive the air pressure adjusted by the proportional valve 1 through the input end 21, and can convert the air pressure into mechanical energy, and output the mechanical energy through the output end 22 to drive the assembled suction pen 3 to perform operations. For example, the cylinder 2 can specifically include a cylinder body, a piston, and a push rod, the air pressure received by the cylinder 2 can drive the piston to move, and the piston can transmit the movement to the output end 22 through the push rod to realize the driving of the assembled suction pen 3.

[0063] The assembled suction pen 3 is specifically used for picking up, moving, or press-fitting small components such as lenses or spacers, so as to realize the precise assembly of optical lenses. The assembled suction pen 3 can specifically include a suction nozzle or a pressing head, the shape and size of which can be designed according to the to-be-assembled target, and the assembled suction pen 3 can realize the picking up or press-fitting action of the lens or the spacer under the mechanical driving of the cylinder 2.

[0064] Optionally, an electromagnetic valve can be further arranged between the proportional valve 1 and the cylinder 2. The electromagnetic valve serves as an intermediate control node of the air path, and can open or close the air path according to a control signal, so as to control whether the air pressure is transmitted to the cylinder 2, so as to accurately control the timing of air pressure transmission through the electromagnetic valve, and realize the control of starting the work or resetting the stop of the assembled suction pen 3. In addition, the electromagnetic valve can also be used to switch the air pressure provided to the assembled suction pen 3 to be a positive pressure source or a negative pressure source, so that the suction nozzle of the assembled suction pen 3 can use negative pressure to adsorb the to-be-assembled target, or use positive pressure to exert pressure on the to-be-assembled target to complete the press-fitting.

[0065] It can be understood that the opening degree of the proportional valve 1 is in proportional relationship with the analog signal received by the proportional valve 1, and the air pressure adjusted by the proportional valve 1 and output to the cylinder 2 also changes linearly. The lenses and spacers in the optical lens belong to precision components, and the assembly pressure applied to the assembled suction pen 3 is extremely sensitive. Excessive assembly pressure can cause lens breakage or spacer deformation, and insufficient assembly pressure can cause looseness or position deviation, affecting the imaging quality. Therefore, in order to ensure the accuracy of assembly, it is necessary to precisely control the air pressure adjusted by the proportional valve 1 and output by the air source, so as to accurately control the assembly pressure applied to the to-be-assembled target by the assembled suction pen 3, thereby realizing the high-precision and high-consistency assembly of the optical lens.

[0066] It can also be understood that the controller 4 in the assembly device is connected with the proportional valve 1, and the controller 4 can include a microprocessor, for example, a central processing unit (CPU), and can also include other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The controller 4 can execute the pressure regulation method of the assembly device provided by the embodiment of the application, has the function modules and beneficial effects corresponding to the execution method, and the technical details not described in detail in the embodiment can be referred to the pressure regulation method of the assembly device described in the following embodiment.

[0067] Embodiment two

[0068] Figure 2 is a flowchart of a pressure regulation method of an assembly device provided by Embodiment Two of the application. The embodiment can be used to regulate the assembly pressure applied by the assembly device of the above-mentioned embodiments to the target to be assembled. The method can be executed by a pressure regulation device of the assembly device, which can be realized by software and / or hardware, and can generally be integrated in the controller of the assembly device. Correspondingly, as shown in Figure 2 , the pressure regulation method of the assembly device can include:

[0069] S101, obtaining a pressure compensation coefficient.

[0070] Specifically, in order to accurately regulate the assembly pressure applied by the assembly device to the target to be measured, the controller can first obtain a pressure compensation coefficient. The pressure compensation coefficient is specifically used to convert the target assembly pressure of the target to be assembled into a corresponding voltage analog quantity. By obtaining the pressure compensation coefficient, it lays a foundation for subsequently adjusting the voltage signal provided to the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the pressure output to the cylinder through the proportional valve, and realizes accurate mapping from the target assembly pressure of the target to be assembled to the voltage signal provided to the proportional valve.

[0071] The voltage analog quantity can be understood as a quantitative representation of the voltage signal provided to the proportional valve. For example, the voltage analog quantity can range from 0 to 4000, and the corresponding voltage signal provided to the proportional valve can range from 0V to 10V, i.e., 2.5V for every 1000 voltage analog quantity. By obtaining the pressure compensation coefficient, the voltage analog quantity corresponding to the target assembly pressure of the target to be assembled can be determined, so that the proportional valve can be provided with a corresponding voltage signal by converting the voltage analog quantity, thereby improving the accuracy of pressure adjustment of the assembly device to meet the precision requirements of optical lens assembly.

[0072] S102, obtaining the target assembly pressure of the target to be assembled in real time.

[0073] Specifically, after obtaining the pressure compensation coefficient, the controller can also obtain the target assembly pressure of the target to be assembled in real time, so as to lay a foundation for subsequent control of the proportional valve to adjust the pressure of the gas source output to the air cylinder according to the pressure compensation coefficient and the current target assembly pressure. For example, the controller can obtain the target assembly pressure of the target to be assembled through the operation interface configured on the assembly device. The operator can manually input the target assembly pressure by using the touch screen, knob or button input device on the assembly device. The target assembly pressure can be determined according to the assembly process requirements, for example, a target assembly pressure of 10N can be used for light lens pressing, and a target assembly pressure of 50N can be used for more solid ring pressing. By obtaining the target assembly pressure of the target to be assembled in real time, the flexibility of pressure adjustment of the assembly device is improved, so that the assembly device can be suitable for various assembly scenes.

[0074] S103, adjusting the pressure output to the air cylinder by the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure of the assembly suction pen on the target to be assembled to the current target assembly pressure.

[0075] Specifically, after obtaining the pressure compensation coefficient and the current target assembly pressure, the controller can convert the current target assembly pressure into a corresponding voltage analog quantity by using the pressure compensation coefficient, and can convert the voltage analog quantity into a corresponding voltage signal provided to the proportional valve through the programmable logic controller (PLC) module. After receiving the voltage signal, the proportional valve can adjust the amount of gas provided to the air cylinder through the air pipe according to the received voltage signal to drive the air cylinder and the assembly suction pen to perform operations, so that the current assembly pressure applied by the assembly suction pen to the target to be assembled is consistent with the current target assembly pressure. By dynamically calculating the current target voltage analog quantity and the current target voltage provided to the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, it is ensured that the current assembly pressure applied by the assembly device to the target to be assembled can accurately match the current target assembly pressure, so as to meet the high-precision requirement of optical lens assembly on assembly pressure, and improve the accuracy, flexibility and stability of the pressure adjustment of the assembly device.

[0076] In this embodiment, by obtaining the pressure compensation coefficient and the target assembly pressure of the target to be assembled in real time, the foundation is laid for subsequent adjustment of the voltage signal provided to the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the pressure output to the air cylinder through the proportional valve. By converting the current target assembly pressure into a corresponding voltage analog quantity by using the pressure compensation coefficient, and converting the voltage analog quantity into a corresponding voltage signal provided to the proportional valve, the proportional valve can adjust the amount of gas provided to the air cylinder through the air pipe according to the received voltage signal, so as to drive the air cylinder and the assembly suction pen to perform operations, and ensure that the current assembly pressure applied by the assembly suction pen to the target to be assembled is consistent with the current target assembly pressure, so as to meet the high-precision requirement of optical lens assembly on assembly pressure, and improve the accuracy, flexibility and stability of the pressure adjustment of the assembly device.

[0077] Embodiment three

[0078] Figure 3 is a flowchart of a pressure adjustment method of an assembly device provided by the third embodiment of the present application. Based on the above-mentioned embodiments, the method for obtaining the pressure compensation coefficient is described in detail, and accordingly, as shown in Figure 3 , the pressure adjustment method of the assembly device of the present embodiment can include:

[0079] S201, respectively obtaining the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure applied by the assembly suction pen to the target to be assembled, and the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly suction pen to the target to be assembled.

[0080] Specifically, in order to obtain the pressure compensation coefficient, the controller can first obtain the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure of the assembly suction pen applied to the target to be assembled, and the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure of the assembly suction pen applied to the target to be assembled. It can be understood that the pressure compensation coefficient is specifically used to convert the target assembly pressure of the target to be assembled into the corresponding voltage analog quantity, and by obtaining the minimum voltage analog quantity, the maximum voltage analog quantity, the minimum assembly pressure, and the maximum assembly pressure, the calibration data for establishing the quantitative relationship between the voltage analog quantity and the assembly pressure is provided, and the data basis for subsequent determination of the pressure compensation coefficient is provided.

[0081] Optionally, obtaining the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure of the assembly suction pen applied to the target to be assembled comprises: obtaining the minimum working pressure of the cylinder; determining the minimum voltage analog quantity and the minimum assembly pressure according to the minimum working pressure.

[0082] Specifically, in order to obtain the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure of the assembly suction pen applied to the target to be assembled, the controller can first obtain the minimum working pressure of the cylinder. For example, the controller can use an external pressure detection device to measure the minimum air pressure value at which the cylinder can normally work, i.e. the minimum working pressure, in the calibration test stage. The minimum working pressure is specifically a pressure threshold at which the cylinder drives the piston to start moving and makes the assembly suction pen produce effective action, such as slight pressure assembly.

[0083] After obtaining the minimum working pressure of the cylinder, the input voltage analog quantity can be gradually reduced, so that the PLC module can gradually reduce the voltage value provided to the proportional valve, until the air pressure received by the input end of the cylinder measured by the external pressure detection device reaches the minimum working pressure, and the corresponding input voltage analog quantity value at this time is recorded, i.e. the minimum voltage analog quantity, which reflects the voltage analog quantity at which the proportional valve has the lowest effective opening. At the same time, when the input voltage analog quantity is the minimum voltage analog quantity, the actual pressure of the assembly suction pen applied to the target to be assembled can be measured by the external pressure detection device, such as the pressure sensor arranged at the pressure head of the assembly suction pen, and the pressure can be recorded as the minimum assembly pressure, which reflects the lowest effective pressure that the assembly suction pen can apply to the target to be assembled. By determining the minimum voltage analog quantity and the minimum assembly pressure, a data basis for subsequent determination of the pressure compensation coefficient is provided.

[0084] Optionally, the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly pen to the target to be assembled are obtained, comprising: obtaining the current assembly pressure applied by the assembly pen to the target to be assembled when the proportional valve is at the current voltage analog quantity; increasing the current voltage analog quantity of the proportional valve by a preset step, and correspondingly obtaining the adjusted current assembly pressure applied by the assembly pen to the target to be assembled; determining whether the adjusted current assembly pressure is greater than the previous current assembly pressure; if yes, returning to sequentially perform each step of obtaining the current assembly pressure applied by the assembly pen to the target to be assembled when the proportional valve is at the current voltage analog quantity, increasing the current voltage analog quantity of the proportional valve by a preset step, and correspondingly obtaining the adjusted current assembly pressure applied by the assembly pen to the target to be assembled, and determining whether the adjusted current assembly pressure is greater than the previous current assembly pressure, until the adjusted current assembly pressure is equal to the previous current assembly pressure, the previous current voltage analog quantity is determined as the maximum voltage analog quantity, and the previous current assembly pressure is determined as the maximum assembly pressure.

[0085] Specifically, in order to obtain the maximum voltage analog quantity and the maximum assembly pressure, the controller can first set the current voltage analog quantity input to the proportional valve to an initial voltage analog quantity, for example 1000, and can measure the current assembly pressure applied by the assembly pen to the target to be assembled, for example 10N, as a reference, through an external pressure detection device. After obtaining the initial voltage analog quantity and the corresponding current assembly pressure, the current voltage analog quantity input to the proportional valve can be gradually increased by a preset step, for example 100, that is, the voltage analog quantity input to the proportional valve is increased from 1000 to 1100, 1200, etc., so that the PLC module can gradually increase the voltage value provided to the proportional valve. At the same time, after adjusting the voltage analog quantity each time, the adjusted current assembly pressure is measured through the external pressure detection device, and the size of the adjusted current assembly pressure and the previous current assembly pressure can be compared.

[0086] It can be understood that if the adjusted current assembly pressure is greater than the current assembly pressure before adjustment, it indicates that the current voltage analog quantity before adjustment does not reach the maximum voltage analog quantity, so the steps of sequentially executing the current voltage analog quantity of the proportional valve, increasing the current voltage analog quantity of the proportional valve by the preset step size, and correspondingly obtaining the adjusted current assembly pressure of the assembly suction pen on the target to be assembled, and judging whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment are continued until the adjusted current assembly pressure is equal to the current assembly pressure before adjustment, which indicates that the current assembly pressure no longer increases with the increase of the current voltage analog quantity due to the limitation of the gas source or the upper limit of the proportional valve opening, and the assembly pressure reaches a saturated state, i.e. the current voltage analog quantity before adjustment has reached the maximum voltage analog quantity, so the current voltage analog quantity before adjustment is determined as the maximum voltage analog quantity, and the current assembly pressure before adjustment is determined as the maximum assembly pressure. For example, if the current voltage analog quantity is increased from 3000 to 3100, and the current assembly pressure remains 50N, then 3000 is taken as the maximum voltage analog quantity, and 50N is taken as the maximum assembly pressure. By determining the maximum voltage analog quantity and the maximum assembly pressure, a data basis is provided for subsequent determination of the pressure compensation coefficient.

[0087] S202, determining a pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure.

[0088] Specifically, after obtaining the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure, the controller will determine a pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure, so as to establish a quantitative relationship between the voltage analog quantity and the assembly pressure, thereby realizing the mapping of the target assembly pressure to the target voltage analog quantity, laying a foundation for subsequent adjustment of the pressure output to the cylinder through the proportional valve to adjust the current assembly pressure of the assembly suction pen on the target to be assembled to the current target assembly pressure, and improving the accuracy of the pressure adjustment of the assembly equipment.

[0089] Optionally, determining the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure comprises: determining the pressure compensation coefficient based on a first calculation formula according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure; the first calculation formula is:

[0090]

[0091] wherein K is the pressure compensation coefficient, V max is the maximum voltage analog quantity, V minVmin is the minimum voltage analog quantity, P max Pmax is the maximum assembly pressure, P min Pmin is the minimum assembly pressure.

[0092] Specifically, after obtaining the minimum voltage analog quantity Vmin, the minimum assembly pressure Pmin, the maximum voltage analog quantity Vmax, and the maximum assembly pressure Pmax, the controller will determine the pressure compensation coefficient K based on the first calculation formula. The maximum voltage analog quantity Vmax max and the minimum voltage analog quantity Vmin min respectively define the end point values of the voltage analog quantity, the maximum assembly pressure Pmax max and the minimum assembly pressure Pmin min respectively define the end point values of the assembly pressure, and the maximum voltage analog quantity Vmax max , the minimum voltage analog quantity Vmin min , the maximum assembly pressure Pmax max , and the minimum assembly pressure Pmin min constitute the control range of the voltage analog quantity and the assembly pressure. At the same time, by calculating the ratio between Vmax max -Vmin min and Pmax max -Pmin min , a linear mapping relationship between the voltage analog quantity and the assembly pressure is established, and the pressure compensation coefficient K reflects the proportional change between the voltage analog quantity and the assembly pressure, which lays the foundation for subsequent determination of the current target voltage analog quantity input to the proportional valve and the current target voltage based on the pressure compensation coefficient and the current target assembly pressure. By calculating the pressure compensation coefficient K, the use of complex nonlinear models is avoided, the calculation burden and debugging difficulty are reduced, and the accuracy, flexibility, and stability of the assembly equipment pressure regulation are improved.

[0093] S203, real-time acquisition of the target assembly pressure of the target to be assembled.

[0094] S204, according to the pressure compensation coefficient and the current target assembly pressure, adjusting the pressure output to the cylinder through the proportional valve to adjust the current assembly pressure of the assembly suction pen on the target to be assembled to the current target assembly pressure.

[0095] The embodiment obtains the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure applied by the assembly suction pen to the target to be assembled, and the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly suction pen to the target to be assembled, so that the pressure compensation coefficient can be determined according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity and the maximum assembly pressure. By calculating the pressure compensation coefficient, a linear mapping relationship between the voltage analog quantity and the assembly pressure is established, and the pressure compensation coefficient reflects the proportional change between the voltage analog quantity and the assembly pressure, thereby laying a foundation for subsequently determining the current target voltage analog quantity input to the proportional valve and the current target voltage by using the pressure compensation coefficient and the current target assembly pressure. At the same time, the use of a complex nonlinear model is avoided, the calculation burden and the debugging difficulty are reduced, and the accuracy, flexibility and stability of the pressure regulation of the assembly equipment are improved.

[0096] Embodiment four

[0097] Figure 4 is a flowchart of a pressure regulation method of an assembly equipment provided by the fourth embodiment of the present application. Based on the above-mentioned embodiments, the method for regulating the pressure output to the air cylinder by the proportional valve according to the pressure compensation coefficient and the current target assembly pressure is described in detail, and correspondingly, as shown in Figure 4 , the pressure regulation method of the assembly equipment of the embodiment can include:

[0098] S301, obtaining a pressure compensation coefficient.

[0099] S302, obtaining a target assembly pressure of a target to be assembled in real time.

[0100] S303, determining a current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure.

[0101] Specifically, after the controller obtains the pressure compensation coefficient and the current target assembly pressure, the current target voltage analog quantity is determined according to the pressure compensation coefficient and the current target assembly pressure, thereby laying a foundation for subsequently converting the current target voltage analog quantity into a current target voltage by the PLC module and providing the current target voltage to the proportional valve.

[0102] Optionally, determining the current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure includes: determining the current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure based on a second calculation formula; and the second calculation formula is:

[0103] V out = (P target -P min ) × K + V min

[0104] wherein, Vout P is the analog quantity of the current target voltage. target To meet the current assembly pressure target, P min The minimum assembly pressure is given by K, where K is the pressure compensation coefficient and V is the pressure. min This is the minimum analog voltage.

[0105] Specifically, the controller obtains the current target assembly pressure P of the target to be assembled through the operation interface configured on the assembly equipment. target Next, the current target assembly pressure P will be calculated. target With minimum assembly pressure P min The difference between them can be used to adjust the current target assembly pressure P using the pressure compensation coefficient K. target With minimum assembly pressure P min The difference between them is mapped to the current target voltage analog quantity V. out With the minimum voltage analog quantity V min The difference between them. Therefore, by calculating (P) target -P min )×K+V min This allows us to determine the current target assembly pressure P. target The corresponding current target voltage analog quantity V out By dynamically calculating the analog value of the current target voltage based on the pressure compensation coefficient and the current target assembly pressure, and providing the current target voltage to the proportional valve, it is ensured that the current assembly pressure applied by the assembly equipment to the target to be assembled can accurately match the current target assembly pressure. This meets the high precision requirements of optical lens assembly for assembly pressure, and improves the accuracy, flexibility, and stability of the pressure regulation of the assembly equipment.

[0106] S304. Convert the current target voltage analog quantity into the current target voltage and provide the current target voltage to the proportional valve to adjust the pressure output to the cylinder through the proportional valve.

[0107] Specifically, after the controller calculates the current target voltage analog quantity based on the second calculation formula, the digital-to-analog converter built into the PLC module converts the digital-to-analog quantity into a continuous voltage signal, i.e., the current target voltage. After the PLC module converts the current target voltage analog quantity into the current target voltage, it can also provide the current target voltage to the proportional valve to drive the proportional valve to adjust its valve opening. This allows for the adjustment of the amount of gas supplied to the cylinder through the air pipe, and drives the cylinder and the assembly suction pen to perform operations. This ensures that the current assembly pressure applied by the assembly suction pen to the target to be assembled is consistent with the current target assembly pressure, improving the accuracy of pressure regulation of the assembly equipment to meet the precision requirements of optical lens assembly.

[0108] The embodiment determines the current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure, so that the current target voltage analog quantity and the current target voltage provided to the proportional valve can be dynamically calculated according to the pressure compensation coefficient and the current target assembly pressure. By converting the current target voltage analog quantity into the current target voltage and providing the current target voltage to the proportional valve, the pressure output to the cylinder through the proportional valve is adjusted, so that the current assembly pressure applied to the target to be assembled by the assembly equipment can be accurately matched with the current target assembly pressure, thereby meeting the high-precision requirement of optical lens assembly on the assembly pressure, and improving the accuracy, flexibility and stability of the pressure adjustment of the assembly equipment.

[0109] Embodiment five

[0110] Figure 5 is a flowchart of a pressure adjustment method of an assembly equipment provided by the embodiment five of the present application. Based on the above-mentioned embodiments, the pressure adjustment method of the assembly equipment is supplemented, and correspondingly, as shown in Figure 5 , the pressure adjustment method of the assembly equipment of the embodiment can include:

[0111] S401, acquiring a pressure compensation coefficient.

[0112] S402, acquiring a preset number of target assembly pressures.

[0113] Specifically, after acquiring the pressure compensation coefficient, in order to judge whether the pressure compensation coefficient meets the accuracy requirement of the optical lens assembly process, the controller can acquire a preset number of target assembly pressures in the production maintenance or equipment debugging stage of the assembly equipment. Illustratively, the controller can acquire 20 target assembly pressures to ensure that the selected representative pressure points can cover the full pressure range from the minimum assembly pressure to the maximum assembly pressure.

[0114] S403, calculating the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure according to the pressure compensation coefficient.

[0115] Specifically, after the controller acquires the preset number of target assembly pressures, the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure can be calculated according to the acquired pressure compensation coefficient based on the second calculation formula, and each target voltage analog quantity can be input to the proportional valve in turn, thereby providing a data basis for subsequent verification of whether the pressure compensation coefficient meets the accuracy requirement of the optical lens assembly process by judging whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold.

[0116] S404, respectively acquiring the current assembly pressure of the assembly suction pen on the target to be assembled corresponding to the target voltage analog quantity of the proportional valve.

[0117] Specifically, after the controller calculates the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure, the controller can convert each target voltage analog quantity into a corresponding target voltage through the PLC module, and can provide each target voltage to the proportional valve in sequence, so that the proportional valve can drive the assembly suction pen to perform an operation according to each target voltage. At the same time, the controller can measure the current assembly pressure of the assembly suction pen on the target to be assembled corresponding to each target voltage analog quantity of the proportional valve through the external pressure detection device, thereby providing a data basis for verifying whether the pressure compensation coefficient meets the accuracy requirement of the optical lens assembly process by subsequently judging whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold.

[0118] S405, judging whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold; if yes, sequentially executing S406 and S407.

[0119] Specifically, after the controller acquires a plurality of corresponding target assembly pressures and current assembly pressures, the controller can compare whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold in sequence. Exemplarily, the preset error threshold can be 3N. It can be understood that if the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold, it indicates that the current assembly pressure of the assembly suction pen on the target to be assembled is consistent with the current target assembly pressure, i.e., the pressure compensation coefficient can accurately map the assembly pressure to the pressure analog quantity, at which time the steps of real-time acquiring the target assembly pressure of the target to be assembled, and adjusting the pressure output to the air cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure to adjust the current assembly pressure of the assembly suction pen on the target to be assembled to the current target assembly pressure can be continuously executed in sequence, thereby improving the accuracy and flexibility of the pressure adjustment of the assembly equipment. At the same time, by determining in advance that the pressure compensation coefficient can meet the accuracy requirement of the optical lens assembly process, the assembly equipment does not need to verify the accuracy of the pressure adjustment through the real-time feedback of the current assembly pressure of the assembly suction pen in the subsequent production process, thereby improving the efficiency and stability of the pressure adjustment of the assembly equipment and meeting the high-efficiency demand of the automatic production.

[0120] S406, real-time acquiring the target assembly pressure of the target to be assembled.

[0121] S407, adjust the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

[0122] In this embodiment, by obtaining a preset number of target assembly pressures, the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure can be calculated according to the pressure compensation coefficient. And by respectively obtaining the current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is at each target voltage analog quantity, it can continue to execute the subsequent pressure adjustment process when the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to the preset error threshold, which ensures that the pressure compensation coefficient can accurately map the assembly pressure to the pressure analog quantity, and improves the accuracy and flexibility of the pressure adjustment of the assembly equipment. At the same time, by determining in advance that the pressure compensation coefficient can meet the accuracy requirements of the optical lens assembly process, the assembly equipment does not need to verify the accuracy of the pressure adjustment through the real-time feedback of the current assembly pressure of the assembly suction pen in the subsequent production process, which improves the efficiency and stability of the pressure adjustment of the assembly equipment and meets the efficient demand of automatic production.

[0123] Embodiment six

[0124] Figure 6 is a structural schematic diagram of a pressure adjustment device of an assembly equipment provided by Embodiment Six of the present application. The device can realize the pressure adjustment method of the assembly equipment provided by the embodiments of the present application, and can be realized by software and / or hardware, and generally can be integrated in the controller of the assembly equipment. As shown in the figure, the device comprises a pressure compensation coefficient acquisition module 501, a target assembly pressure acquisition module 502 and a current assembly pressure adjustment module 503. The specific structure of the device is as follows: Figure 6

[0125] The pressure compensation coefficient acquisition module 501 is used to acquire the pressure compensation coefficient.

[0126] The target assembly pressure acquisition module 502 is used to acquire the target assembly pressure of the target to be assembled in real time.

[0127] The current assembly pressure adjustment module 503 is used to adjust the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

[0128] ​In an optional embodiment of the present application, the pressure compensation coefficient obtaining module 501 can be further configured to: obtain a minimum voltage analog quantity of the proportional valve and a minimum assembly pressure applied by the assembly suction pen to the target to be assembled, and a maximum voltage analog quantity of the proportional valve and a maximum assembly pressure applied by the assembly suction pen to the target to be assembled, respectively; and determine the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure.

[0129] In an optional embodiment of the present application, the pressure compensation coefficient obtaining module 501 can be further configured to: obtain a minimum working pressure of the cylinder; and determine the minimum voltage analog quantity and the minimum assembly pressure according to the minimum working pressure.

[0130] In an optional embodiment of the present application, the pressure compensation coefficient obtaining module 501 can be further configured to: obtain a current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is at a current voltage analog quantity; increase the current voltage analog quantity of the proportional valve by a preset step size, and correspondingly obtain an adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled; determine whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment; if yes, return to sequentially perform each of the steps of obtaining the current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is at the current voltage analog quantity, increasing the current voltage analog quantity of the proportional valve by the preset step size, and correspondingly obtaining the adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled, and determining whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment, until the adjusted current assembly pressure is equal to the current assembly pressure before adjustment, and then determine the current voltage analog quantity before adjustment as the maximum voltage analog quantity and the current assembly pressure before adjustment as the maximum assembly pressure.

[0131] In an optional embodiment of the present application, the pressure compensation coefficient obtaining module 501 can be further configured to: determine the pressure compensation coefficient based on a first calculation formula according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity, and the maximum assembly pressure; the first calculation formula is:

[0132]

[0133] wherein K is the pressure compensation coefficient, V max is the maximum voltage analog quantity, V min is the minimum voltage analog quantity, P max is the maximum assembly pressure, and P min is the minimum assembly pressure.

[0134] In an optional embodiment of the present application, the current assembly pressure adjusting module 503 can also be configured to: determine a current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure; and convert the current target voltage analog quantity into a current target voltage and provide the current target voltage to the proportional valve to adjust the pressure output to the cylinder by the proportional valve.

[0135] In an optional embodiment of the present application, the current assembly pressure adjusting module 503 can also be configured to: determine a current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure based on a second calculation formula; and the second calculation formula is:

[0136] V out = (P target -P min ) x K + V min

[0137] wherein V out is the current target voltage analog quantity, P target is the current target assembly pressure, P min is the minimum assembly pressure, K is the pressure compensation coefficient, and V min is the minimum voltage analog quantity.

[0138] In an optional embodiment of the present application, the pressure compensation coefficient obtaining module 501 can also be configured to: after obtaining the pressure compensation coefficient, obtain a preset number of target assembly pressures; calculate target voltage analog quantities of the proportional valve corresponding to each target assembly pressure according to the pressure compensation coefficient; obtain current assembly pressures applied by the assembly suction pen to the target to be assembled corresponding to each target voltage analog quantity when the proportional valve is at the target voltage analog quantity; determine whether absolute values of differences between each corresponding target assembly pressure and the current assembly pressure are less than or equal to a preset error threshold; and if yes, sequentially perform the steps of obtaining the target assembly pressure of the target to be assembled in real time, and adjusting the pressure output to the cylinder by the proportional valve according to the pressure compensation coefficient and the current target assembly pressure to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

[0139] Since the pressure adjusting device of the assembly equipment described above is a device that can perform the pressure adjusting method of the assembly equipment in the embodiments of the present application, based on the pressure adjusting method of the assembly equipment described in the embodiments of the present application, those skilled in the art can understand the specific implementation of the pressure adjusting device of the assembly equipment in the embodiments of the present application and its various forms, so the pressure adjusting device of the assembly equipment how to implement the pressure adjusting method of the assembly equipment in the embodiments of the present application will not be described in detail here. As long as the device used by those skilled in the art to implement the pressure adjusting method of the assembly equipment in the embodiments of the present application belongs to the scope of protection of the present application.

[0140] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed herein are achieved, which is not limited herein.

[0141] The specific embodiments described above are not intended to be limiting. One skilled in the art will appreciate that various modifications, combinations, sub-combinations, and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Any such modifications, equivalents, and alternatives are intended to be covered by the following claims.

Claims

1. A pressure regulating method of assembling equipment, characterized by, The assembly device comprises a proportional valve, a cylinder and an assembly suction pen, the proportional valve is communicated with the input end of the cylinder through an air pipe, the output end of the cylinder is mechanically connected with the assembly suction pen, and the proportional valve is used for adjusting the pressure output to the cylinder to adjust the assembly pressure applied by the assembly suction pen to the target to be assembled; The pressure adjusting method of the assembly device comprises: obtaining a pressure compensation coefficient; real-time obtaining a target assembly pressure of the target to be assembled; adjusting the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

2. The pressure adjustment method of an assembly apparatus according to claim 1, wherein obtaining a pressure compensation coefficient comprises: respectively obtaining the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure applied by the assembly suction pen to the target to be assembled, and the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly suction pen to the target to be assembled; determining the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity and the maximum assembly pressure.

3. The pressure regulating method of assembling equipment according to claim 2, wherein, obtaining the minimum voltage analog quantity of the proportional valve and the minimum assembly pressure applied by the assembly suction pen to the target to be assembled comprises: obtaining the minimum working pressure of the cylinder; determining the minimum voltage analog quantity and the minimum assembly pressure according to the minimum working pressure.

4. The pressure adjustment method of an assembled device according to claim 2, wherein obtaining the maximum voltage analog quantity of the proportional valve and the maximum assembly pressure applied by the assembly suction pen to the target to be assembled comprises: obtaining the current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is the current voltage analog quantity; increasing the current voltage analog quantity of the proportional valve by a preset step length, and correspondingly obtaining the adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled; determining whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment; if yes, returning to sequentially execute each step of obtaining the current assembly pressure applied by the assembly suction pen to the target to be assembled when the proportional valve is the current voltage analog quantity, increasing the current voltage analog quantity of the proportional valve by a preset step length, correspondingly obtaining the adjusted current assembly pressure applied by the assembly suction pen to the target to be assembled, and determining whether the adjusted current assembly pressure is greater than the current assembly pressure before adjustment, until the adjusted current assembly pressure is equal to the current assembly pressure before adjustment, determining the current voltage analog quantity before adjustment as the maximum voltage analog quantity, and determining the current assembly pressure before adjustment as the maximum assembly pressure.

5. The pressure regulating method of assembling equipment according to claim 2, wherein, determining the pressure compensation coefficient according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity and the maximum assembly pressure comprises: determining the pressure compensation coefficient based on a first calculation formula according to the minimum voltage analog quantity, the minimum assembly pressure, the maximum voltage analog quantity and the maximum assembly pressure; the first calculation formula is: wherein K is the pressure compensation factor, V max is the maximum voltage analog quantity, V min is the minimum voltage analog quantity, P max is the maximum assembly pressure, P min is the minimum assembly pressure.

6. The pressure regulating method of assembling equipment according to claim 5, wherein, Adjusting the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, comprising: Determining a current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure; Converting the current target voltage analog quantity into a current target voltage and providing the current target voltage to the proportional valve to adjust the pressure output to the cylinder through the proportional valve.

7. The pressure regulating method of assembling equipment according to claim 6, wherein, Determining a current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure, comprising: Determining the current target voltage analog quantity according to the pressure compensation coefficient and the current target assembly pressure based on a second calculation formula; The second calculation formula is: V out = (P target -P min ) x K + V min V out is the current target voltage analog quantity, P target is the current target assembly pressure, P min is the minimum assembly pressure, K is the pressure compensation coefficient, V min is the minimum voltage analog quantity.

8. The pressure regulating method of assembling equipment according to claim 1, wherein, After obtaining the pressure compensation coefficient, further comprising: Obtaining a preset number of target assembly pressures; According to the pressure compensation coefficient, calculating the target voltage analog quantity of the proportional valve corresponding to each target assembly pressure; Respectively obtaining the current assembly pressure applied by the assembly suction pen to the target to be assembled corresponding to each target voltage analog quantity of the proportional valve; Determining whether the absolute value of the difference between each corresponding target assembly pressure and the current assembly pressure is less than or equal to a preset error threshold; If yes, sequentially performing the steps of obtaining the target assembly pressure of the target to be assembled in real time, and adjusting the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

9. A pressure regulating device for an assembly apparatus, characterized by The assembly device comprises a proportional valve, a cylinder and an assembly suction pen, the proportional valve is communicated with the input end of the cylinder through a gas pipe, the output end of the cylinder is mechanically connected with the assembly suction pen, and the proportional valve is used to adjust the pressure output to the cylinder, so as to adjust the assembly pressure applied by the assembly suction pen to the target to be assembled. The pressure adjusting device of the assembly device comprises: A pressure compensation coefficient obtaining module is configured to obtain a pressure compensation coefficient; A target assembly pressure obtaining module is configured to obtain the target assembly pressure of the target to be assembled in real time; A current assembly pressure adjusting module is configured to adjust the pressure output to the cylinder through the proportional valve according to the pressure compensation coefficient and the current target assembly pressure, so as to adjust the current assembly pressure applied by the assembly suction pen to the target to be assembled to the current target assembly pressure.

10. An assembly apparatus, characterized by Comprise: A proportional valve, a cylinder, an assembly suction pen and a controller; The proportional valve is communicated with the input end of the cylinder through a gas pipe, the output end of the cylinder is mechanically connected with the assembly suction pen, and the proportional valve is used to adjust the pressure output to the cylinder, so as to adjust the assembly pressure applied by the assembly suction pen to the target to be assembled. The controller is configured to perform the pressure adjusting method of the assembly device according to any one of claims 1-8.

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