Hard disk assembly system and assembly method

Abstract

The invention belongs to the field of hard disk production, and particularly relates to a hard disk assembly system and method.The hard disk assembly system comprises an assembly line, a packaging work station and a finished product work station which are sequentially arranged and further comprises a double-layer backflow conveying line and a hard disk jig arranged on the double-layer backflow conveying line; a clamping mechanical arm, a packaging box supply assembly line and a packaging box positioning jig are arranged on the packaging station, the downstream of the conveying belt is arranged close to the finished product station, and the packaging box positioning jig comprises a packaging box body positioning mechanism and a packaging cover body positioning mechanism; and a feeding mechanical arm and a finished product warehouse are arranged on the finished product station. According to the system, automation of the assembling-packaging process is achieved, an efficient and stable production closed loop without manual intervention is constructed through the automatic jig management function of the double-layer backflow conveying line and the finished product work station, and the system has extremely high application value in large-scale hard disk production.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of hard disk production, and particularly relates to a hard disk assembling system and assembling method. BACKGROUND

[0002] In the field of hard disk manufacturing, the assembling and packaging process has long been faced with the bottleneck of low automation level and overall efficiency. The traditional production mode usually separates the precision assembly line from the subsequent packaging and warehousing links, and operates as independent sections. After the hard disk is assembled, it needs to be transferred to the packaging area by manual or simple conveying device, and then the repetitive labor such as taking and placing, boxing, and closing the cover is manually performed by the operator. This mode highly dependent on human labor not only has low production efficiency and high cost, but also is difficult to avoid quality problems such as product appearance scratch, static damage or packaging defect caused by human operation error or fatigue, which seriously restricts the production capacity and product consistency of the production line.

[0003] In addition, the existing production line layout and logistics mode also has significant defects. Most production lines adopt a single plane assembly line structure, and the empty return path of the jig carrying the workpiece often interferes with or even crosses the full load production path when it is recycled, not only occupying valuable production space, but also easily causing jig collision or cross contamination of cleanliness. At the same time, there is a lack of cooperation among the supply of packaging materials, the transportation of finished hard disks, and the return management of empty jigs, and there are multiple breakpoints in the entire material flow, forcing the production line to wait frequently and unable to form an efficient and continuous one-way flow production rhythm.

[0004] Therefore, there is an urgent need in the prior art for a highly automated system solution integrating the assembling, packaging and logistics links, so as to realize seamless connection, closed-loop production and intelligent management from precision assembly to finished product warehousing, and fundamentally improve the efficiency, quality and reliability of hard disk production. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a hard disk assembling system and assembling method for realizing the automation of assembling and packaging process.

[0006] The present application also provides a hard disk assembling system, which comprises an assembling line, a packaging station and a finished product station arranged in sequence, and further comprises a double-layer return conveying line connected with the assembling line, the packaging station and the finished product station, and a hard disk jig arranged on the double-layer return conveying line. The packaging station is provided with a clamping mechanical arm, a packaging box supply line and a packaging box positioning jig. The packaging box supply line comprises a conveying belt, a packaging box body supply mechanism and a packaging cover body supply mechanism arranged upstream of the conveying belt. The downstream of the conveying belt is arranged close to the finished product station. The packaging box positioning jig comprises a packaging box body positioning mechanism and a packaging cover body positioning mechanism. The clamping mechanical arm is used to transfer the packaging box body and the packaging cover body between the packaging box supply line and the packaging box positioning jig, and is also used to transfer the hard disk between the hard disk jig and the packaging box body on the packaging cover body positioning mechanism, and to fit the packaging cover body on the packaging box positioning jig to the packaging box body. The finished product station is provided with a feeding mechanical arm and a finished product warehouse. The feeding mechanical arm is used to transfer the packaging box with the hard disk and the closed cover downstream of the packaging box supply line to the finished product warehouse.

[0007] Further, the finished product station further comprises an operating mechanism for at least one of loading, cleaning and aligning the empty hard disk jig on the finished product station.

[0008] Further, the hard disk jig comprises a moving platform arranged on a double-layer reflow conveying line, and a box body fitting position, a chip fitting position and a cover plate fitting position arranged on the moving platform. The box body fitting position is used to fit the box body and the PCB board of the hard disk, the chip fitting position is used to fit the chip of the hard disk, and the cover plate fitting position is used to fit the cover body of the hard disk.

[0009] Further, the assembly line comprises an assembly station. The assembly station is provided with an assembly mechanical arm used to obliquely insert the chip in the chip fitting position into the PCB board in the box body fitting position.

[0010] Further, the assembly mechanical arm is an assembly mechanical arm I. The assembly mechanical arm I comprises a moving mechanism I and a clamping head I arranged on the output end of the moving mechanism I. The clamping head I comprises a support I, a rotating shaft, a rotating drive mechanism I and a clamping mechanism. The rotating shaft is rotationally arranged on the support I, and the rotating drive mechanism I is used to drive the rotating shaft to rotate. The clamping mechanism comprises two clamping arms arranged in parallel. One end of the two clamping arms is matched with the rotating shaft and rotates with the rotating shaft, and the other end forms a clamping end used to clamp a workpiece. At least one of the clamping arms is slidingly arranged on the rotating shaft in the axial direction of the rotating shaft. The clamping mechanism further comprises a spacing adjustment mechanism I used to adjust the spacing of the two clamping arms.

[0011] Further, the assembly robot is an assembly robot II; The assembly robot II comprises a moving mechanism II and a clamping head II arranged on the output end of the moving mechanism II; The clamping head II comprises a support II, a suction mechanism and a clamping mechanism; The clamping mechanism comprises a guide rail mechanism and a clamping plate mechanism; The guide rail mechanism comprises two guide rail arms arranged on the support II, at least one of which is arranged on the support II in a sliding manner towards or away from the other guide rail arm, and a spacing adjustment mechanism II for adjusting the spacing between the two guide rail arms; The clamping plate mechanism comprises a clamping plate arranged on each of the two guide rail arms in a sliding manner, the opposite sides of the two clamping plates being clamping surfaces, and a clamping plate driving mechanism for driving the two clamping plates to move synchronously along the guide rail direction of the guide rail arms; The suction mechanism comprises a rotating mechanism arranged on the support II and a suction member arranged on the output end of the rotating mechanism, the rotating axis of the rotating mechanism being parallel to the plane formed by the two guide rail arms, and the suction surface of the suction member being adjustable in angle by the rotating mechanism and within the movement stroke of entering or leaving the two clamping plates.

[0012] Further, the assembly line comprises a vertical warehouse work station, a locking work station, an assembly work station, a dispensing work station, a cover work station, a code printing and marking work station and a detection work station arranged in sequence; The vertical warehouse work station is used for feeding the hard disk jig or replacing at least one of the different models of the box body fitting position, the chip fitting position and the cover fitting position; The locking work station is used for locking the PCB in the box body fitting position on the box body; The assembly work station is used for inserting the chip in the chip fitting position into the PCB in the box body fitting position; The dispensing work station is used for dispensing the fitting part of the box body and the cover; The cover work station is used for closing the cover on the box body; The code printing and marking work station is used for code printing and marking on the installed hard disk; The detection work station is used for power-on detection and / or visual appearance detection on the installed hard disk.

[0013] Further, the double-layer reflow conveying line comprises a surface conveying line, a reflow conveying line and two groups of lifting transfer tables; The surface conveying line is arranged on the workbench surface of the assembly line, the packaging work station and the finished product work station; The reflow conveying line is arranged in the assembly line, the packaging work station and the finished product work station; One group of lifting transfer tables is arranged at the head end of the assembly line to transfer the hard disk jigs at the tail end of the reflow conveying line to the head end of the surface layer conveying line, and another group of lifting transfer tables is arranged at the tail end of the finished product work station to transfer the hard disk jigs at the tail end of the surface layer conveying line to the head end of the reflow conveying line.

[0014] Further, the surface layer conveying line and the reflow conveying line are formed by multiple sections, and one section is arranged at each work station on the assembly line, the packaging work station and the finished product work station.

[0015] The application further provides a hard disk assembly method using the hard disk assembly system, which comprises the following steps: S1, the assembly line assembles the box body, the PCB board, the chip and the cover body of the hard disk; S2, the assembled hard disk is conveyed to the packaging work station through the double-layer reflow conveying line; S3, the packaging box body supply mechanism and the packaging cover body supply mechanism of the packaging box supply line respectively lower one packaging box body and one packaging cover body onto the conveying belt, and the conveying belt moves the packaging box body and the packaging cover body to the middle of the conveying belt; S4, the clamping mechanical arm transfers the packaging box body to the packaging box body positioning mechanism and positions it, and transfers the packaging cover body to the packaging cover body positioning mechanism and positions it; S5, the clamping mechanical arm transfers the hard disk on the hard disk jig to the packaging box body on the packaging box body positioning mechanism, and transfers the packaging cover body on the packaging cover body positioning mechanism to the packaging box body on the packaging box body positioning mechanism to complete the cover closing; S6, the clamping mechanical arm transfers the packaging box on the packaging box body positioning mechanism to the middle of the conveying belt; S7, the steps S1-S6 are repeated; S8, when the step S3 is performed, the packaging box with the hard disk in the middle of the conveying belt is transferred to the downstream of the conveying belt; S9, the feeding mechanical arm transfers the packaging box with the hard disk and the closed cover downstream of the packaging box supply line to the finished product warehouse.

[0016] The application has the following advantages: I. The system takes the assembly line as the starting point, and finally returns the empty jigs through the double-layer reflow conveying line after packaging and finished product processing, forming a complete production closed loop. This layout greatly reduces the material waiting, manual handling and line idle time of the intermediate links, greatly improving the overall production efficiency.

[0017] II. The packaging box positioning jig combined with the precise operation of the clamping mechanical arm ensures the accuracy of the hard disk loading and the cover closing, eliminates the misalignment, poor sealing or appearance damage that may be caused by manual packaging, and ensures the high consistency of the packaging quality.

[0018] III. The operating mechanism of the clamping mechanical arm and the feeding mechanical arm constitutes a highly automated production unit, which covers all stations of feeding, transferring, packaging, covering and jig management, greatly reduces the number and skill requirements of the operating personnel, and realizes significant savings in labor costs.

[0019] In addition, the empty hard disk jig on the double-layer reflow conveying line on the finished product station can be operated by one of automatic feeding, alignment or cleaning through the new operating mechanism arranged on the finished product station. This design ensures that the new round of jigs flowing into the assembly starting point are always in a ready state, avoids equipment jamming, assembly errors or production line interruption caused by raw material loss, jig loss, position skew or foreign matter, and greatly improves the stability and continuity of system operation.

[0020] When no operating mechanism is arranged on the finished product station, the above operations can be performed at the starting point of the assembly line, but this will increase the length and redundancy of the assembly line.

[0021] The system not only realizes the automation of the assembly-packaging process, but also builds an efficient, stable and non-human intervention production closed loop through the jig automatic management function of the double-layer reflow conveying line and the finished product station, which has a very high application value in large-scale hard disk production. BRIEF DESCRIPTION OF DRAWINGS

[0022] FIG. 1 is a structural schematic diagram of a hard disk assembly system in the present application; Figure 1 FIG. 2 is a structural schematic diagram of a packaging station and a finished product station in the hard disk assembly system in the present application; FIG. 3 is an enlarged view of part A in FIG. 2; Figure 2 FIG. 4 is an enlarged view of part B in FIG. 2; FIG. 5 is a first angle structural schematic diagram of a clamping head I in the present application; Figure 3 FIG. 6 is a second angle structural schematic diagram of the clamping head I in the present application; Figure 2 FIG. 7 is a first angle structural schematic diagram of a clamping head II in the present application; FIG. 8 is a second angle structural schematic diagram of the clamping head II in the present application; Figure 4 FIG. 9 is a third angle structural schematic diagram of the clamping head II in the present application. Figure 2 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9

[0023] ​​​​​​​​​​​In the figure, 1-warehouse station; 2-locking station; 3-assembly station; 4-gelation station; 5-cover station; 6-code marking station; 7-detection station; 8-packaging station; 9-finished product station; 10-double-layer reflow conveying line; 101-surface conveying line; 102-reflow conveying line; 103-lifting transfer table; 11-hard disk jig; 111-moving carrier; 112-box body fitting position; 113-chip fitting position; 114-cover fitting position; 12-hard disk; 121-box body; 122-PCB board; 123-chip; 124-cover; 13-assembly mechanical arm I; 131-moving mechanism I; 132-clamping head I; 1321-bracket I; 13211-fixed plate I; 13212-extension arm; 1322-rotation shaft; 1323-rotation driving mechanism I; 13231-rotation power mechanism I; 13232-belt mechanism I; 1324-clamping mechanism; 13241-clamping arm; 132411-clamping end; 13242-interval adjusting arm; 13243-linear moving mechanism I; 14-assembly mechanical arm II; 141-moving mechanism II; 142-clamping head II; 1421-bracket II; 14211-fixed plate II; 14212-side plate; 1422-guide rail arm; 1423-clamping plate; 14231-clamping surface; 1424-clamping plate driving mechanism; 14241-first sliding table; 14242-second sliding table; 14243-transmission arm; 14244-linear driving mechanism II; 1425-rotation mechanism; 14251-rotation block; 14252-rotation driving mechanism II; 142521-rotation power mechanism II; 142522-belt mechanism II; 1426-linear moving mechanism II; 1427-suction accessory; 1428-sliding block; 1429-linear moving mechanism III; 15-clamping mechanical arm; 16-packaging box supply line; 161-conveying belt; 162-packaging box body supply mechanism; 163-packaging cover body supply mechanism; 17-packaging box positioning jig; 171-packaging box body positioning mechanism; 1711-fitting groove; 1712-linear mechanism; 1713-positioning corner piece; 172-packaging cover body positioning mechanism; 18-feeding mechanical arm; 19-finished product warehouse; 20-packaging box; 201-packaging box body; 202-packaging cover body. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0025] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the direction indications will also change accordingly.

[0026] In addition, the descriptions such as "first", "second" and the like in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0027] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection, or physical connection, or wireless communication connection; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] In addition, the technical solutions of each embodiment of the present application can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor is it within the scope of protection required by the present application.

[0029] As shown in the accompanying drawings Figure 5 -attached Figure 6 In order to distinguish from another gripping head provided by the present application, the present application provides a gripping head, which is defined as gripping head I 132, comprising a support I 1321, a rotating shaft 1322, a rotating drive mechanism I 1323 and a clamping mechanism 1324. The rotating shaft 1322 is rotatably arranged on the support I 1321, and the rotating drive mechanism I 1323 is used to drive the rotating shaft 1322 to rotate. The clamping mechanism 1324 comprises two parallel clamping arms 13241, one end of the two clamping arms 13241 is matched with the rotating shaft 1322 and rotates with the rotating shaft 1322, the other end forms a clamping end 132411 for clamping the workpiece, and at least one of the clamping arms 13241 is slidably arranged on the rotating shaft 1322 along the axis of the rotating shaft 1322, that is, the clamping arm 13241 is only slidably arranged on the rotating shaft 1322. The clamping mechanism 1324 further comprises a spacing adjustment mechanism I for adjusting the spacing of the two clamping arms 13241.

[0030] The clamping head I 132 has the following effects: I. The clamping head I 132 can adapt to different sizes of workpieces. Since at least one clamping arm 13241 can slide axially along the rotating shaft 1322 and is equipped with a special spacing adjustment mechanism I, the opening and closing distance between the two clamping arms 13241 can be adjusted according to the width or thickness of the clamped workpiece.

[0031] II. The clamping end 132411 is located at the farthest end of the clamping arm 13241, which is equivalent to extending the "gripper" out. This allows the clamping head I 132 to reach into the interior of the device, the frame gap, the narrow passage or other restricted spaces that the main body structure (support I 1321) cannot access to clamp the workpiece. Without the need for the entire clamping device or machine body to approach the operating point, the space limitation problem is solved. When the clamping end 132411 extends into a narrow space, the rotation of the rotating shaft 1322 can also adjust the angle of the clamping end 132411, simplifying the operation difficulty. When the clamping end 132411 clamps the workpiece, the entire clamping mechanism 1324 (including the workpiece) rotates around the rear rotating shaft 1322. In addition, since the clamping point is far from the center of rotation, the spatial trajectory traced by the workpiece when rotating can be far away from the main body structure and potential obstacles, reducing the space required for rotation operation, and the attitude adjustment of the workpiece can also be realized in limited space. It is particularly suitable for the oblique insertion installation or disassembly of the chip 123 of the hard disk 12.

[0032] III. The two clamping arms 13241 are always arranged in parallel, regardless of the adjustment of the spacing. This ensures that when clamping the workpiece (especially rectangular or flat objects), the clamping force is evenly distributed and the contact area is maximized, avoiding the workpiece from tilting, slipping or deforming during clamping.

[0033] IV. The rotating drive mechanism I 1323 drives the rotating shaft 1322 to rotate, thereby driving the entire clamping mechanism 1324 (including the two clamping arms 13241 and the clamped workpiece) to rotate together. This allows the clamping head I 132 not only to clamp the workpiece, but also to rotate it to any desired angle accurately. This facilitates subsequent operations that require changes in the attitude of the workpiece (such as assembly, detection, stacking, stamping, etc.).

[0034] V. One end of the clamping arm 13241 directly cooperates with the rotating shaft 1322 and rotates with the shaft, with compact structure. The design of at least one clamping arm 13241 slidingly arranged on the rotating shaft 1322, combined with the spacing adjustment mechanism I, not only realizes the spacing adjustment function, but also maintains the rotating drive function. This makes the system with relatively independent design of two functions (rotation and opening and closing) more simple and reliable.

[0035] Six, combined with adaptive clamping (quickly adapt to different workpieces) and precise rotary positioning function, the clamping head 1132 can efficiently complete a series of actions such as "grabbing, carrying, rotary positioning, placing / operation". Reduce the time of manual intervention and change the clamp, significantly improve the efficiency and automation level of the production line.

[0036] That is, the clamping head 1132 provided by the application realizes adaptive, stable and parallel clamping of workpieces of various sizes through the design of the axially sliding clamping arm 13241 matched with the special spacing adjustment mechanism I; at the same time, the entire clamping mechanism 1324 is driven to rotate by the rotating shaft 1322, and the clamped workpiece is given precise positioning capability. This structure integrates size adaptability and posture adjustment function in one, has the advantages of compact structure, strong universality, reliable operation, high efficiency, etc., and significantly improves the flexibility and capability of automatic processing of workpieces. In addition, the clamping end 132411 is located on the side of the clamping arm 13241 away from the rotating shaft 1322, forming a "cantilever type" clamping structure. This design gives the clamping head 1132 high depth accessibility, enabling it to accurately extend the clamping action to narrow, deep cavities or limited spaces, effectively clamping the workpieces located therein. At the same time, it maximizes the isolation of the larger driving and supporting body (support 11321, rotating shaft 1322, driving mechanism) in the open area, avoiding the risk of interference and collision of the main part in the narrow space, greatly improving the operation adaptability and safety in complex and compact environments. This is crucial for applications such as automated production lines, precise equipment internal operations or space layout limited scenarios.

[0037] In one embodiment, the spacing adjustment mechanism I includes two spacing adjustment arms 13242 and a movement adjustment mechanism for adjusting the spacing distance between the two spacing adjustment arms 13242. One end of the two spacing adjustment arms 13242 is fixed on the movement adjustment mechanism, the other end of one of the spacing adjustment arms 13242 is rotatably fixed on one of the clamping arms 13241, the other end of the other spacing adjustment arm 13242 is rotatably fixed on the other clamping arm 13241, and the relative rotation axes of the spacing adjustment arms 13242 and the clamping arms 13241 are coaxial with the rotating shaft 1322.

[0038] In this embodiment, the movement adjustment mechanism, the rotating shaft 1322, and the two interval adjustment arms 13242 form a parallelogram linkage mechanism. When the movement adjustment mechanism drives the two interval adjustment arms 13242 to change the interval, the mechanism forces the two clamping arms 13241 to always keep parallel and synchronous opening and closing. This eliminates the risk of workpiece skewing or uneven clamping force caused by non-parallel motion, ensuring the stability and reliability of clamping, which is particularly important for workpieces that are easily deformed or have high precision requirements. It is suitable for clamping the chips 123 of the hard disk 12. It is particularly suitable for automated application scenarios that require dynamic adjustment of clamping width during rotation or precise clamping of workpieces of different sizes in complex poses.

[0039] In one embodiment, one end of each of the two clamping arms 13241 is axially slidingly arranged on the rotating shaft 1322 along the rotating shaft 1322; The movement adjustment mechanism is a linear movement mechanism I 1323 fixedly arranged on the support I 1321, having two output blocks moving towards or away from each other, one output end of which is fixedly connected with one of the interval adjustment arms 13242, and the other output end is fixedly connected with the other interval adjustment arm 13242.

[0040] In this embodiment, both clamping arms 13241 can axially slide along the rotating shaft 1322, so that the clamping center line is always fixed (coincides with the center of the rotating shaft 1322) during interval adjustment. The two output blocks of the movement adjustment mechanism move synchronously and reversely, so that the interval adjustment arms 13242 push or pull the two clamping arms 13241 equally and at the same speed, achieving symmetrical opening and closing. This completely eliminates the eccentric torque or clamping arm 13241 skewing that may be caused by unilateral adjustment. It can ensure that the clamping force is strictly perpendicular to the workpiece surface, preventing the workpiece from shifting or deforming.

[0041] In this embodiment, the movement adjustment mechanism can be a double-head screw, a double-slider module driven by a synchronous belt, or a double-piston cylinder, which is directly fixed to the support I 1321 and does not participate in rotational motion. This eliminates the need for the energy supply (wires, air lines) of the movement adjustment mechanism to follow the rotation, making the wiring simple and reliable, and also reducing the inertia of the rotating parts. The moving parts only contain lightweight clamping arms 13241, making the rotation start and stop more agile and reducing energy consumption.

[0042] In another embodiment (not shown in the figure), the interval adjustment mechanism I is a linear drive mechanism I, one end of which is connected with one of the clamping arms 13241, and the other end is connected with the other clamping arm 13241. At least one end of the linear drive mechanism I is in rotational cooperation with the clamping arm 13241, and the rotational axis of the linear drive mechanism I and the clamping arm 13241 is parallel to the rotational axis of the rotating shaft 1322.

[0043] In this embodiment, the independent spacing adjustment arm 13242, the intermediate transmission components such as the moving adjustment mechanism, etc. are omitted, and only a single linear drive mechanism I (such as a gas cylinder, an electric push rod, or a hydraulic cylinder) is directly connected to the two clamping arms 13241. The number of components is greatly reduced, the overall structure is compact, and the weight is significantly reduced.

[0044] Compared with the embodiment in which only the linear drive mechanism I is provided, the embodiment with the spacing adjustment arm 13242 has the core driving component fixed on the stationary support I 1321, and only the lightweight clamping arm 13241 is involved in rotation. This brings some advantages: 1. The risk of cable winding is completely eliminated, the service life of the driving component is longer, and the maintenance is extremely convenient; 2. The rotational inertia is greatly reduced, and the rotational dynamic performance is improved; 3. Through the rigid, symmetrical, and short force arm transmission path, structural rigidity and anti-unbalanced load capacity are provided; 4. The parallelism of the clamping arm 13241 is mechanically guaranteed by the parallelogram mechanism; 5. It is easier to achieve high precision and large stroke adjustment. These advantages make it more suitable for harsh industrial automation scenarios that require high reliability, high precision, high load capacity, and long service life.

[0045] In one of the embodiments, the support I 1321 includes a fixed plate I 13211 and extension arms 13212 protruding on both sides of the fixed plate I 13211, and the rotating shaft 1322 is rotatably arranged at one end of the two extension arms 13212 away from the fixed plate I 13211.

[0046] In this embodiment, the fixed plate I 13211 provides a large-area rigid mounting surface, which can be conveniently fixed to a mechanical arm, a rack, or a moving platform by bolts or flanges, ensuring that the clamping head I 1322 is stably installed and has strong anti-vibration performance, while realizing quick disassembly and maintenance. The rotating shaft 1322 is suspended at the end of the extension arm 13212, away from the fixed plate I 13211. This layout makes the rotation track of the clamping arm 13241 completely separate from the main body area of the support, realizing zero dead angle clamping, and the clamping arm 13241 can rotate 360° without interference from the support; the clamping end 132411 can penetrate into narrow areas such as equipment cavities and dense frame gaps.

[0047] In one of the embodiments, the rotating drive mechanism I 1323 includes a rotating power mechanism I 13231 arranged on the fixed plate I 13211 and a belt mechanism I 13232 connecting the rotating power mechanism I 13231 and one side of the rotating shaft 1322.

[0048] In this embodiment, the belt drive allows the rotating power mechanism I 13231 to be installed away from the axis of the rotating shaft 1322, fully utilizing the idle space on the fixed plate I 13211, avoiding the movement track of the clamping arm 13241 or other components, realizing a compact and non-centered layout, and adapting to narrow installation environments.

[0049] In one embodiment, the clamping end 132411 comprises two clamping blocks, and the inner side of the clamping blocks is provided with a matching clamping angle. In this embodiment, the matching clamping angle forms a V-shaped or wedge-shaped groove, which automatically guides the workpiece to slide to the bottom of the groove during clamping, thereby improving the clamping stability. At the same time, the two clamping blocks finally form four-point positioning, which can greatly improve the clamping stability.

[0050] Referring to the accompanying drawings Figure 1 , the present application also provides an assembly robot, in order to facilitate the distinction from another assembly robot provided by the present application, the assembly robot is defined as assembly robot I 13, comprising a moving mechanism I 131 and the above-mentioned clamping head I 132 provided on the output end of the moving mechanism I 131. Among them, the moving mechanism I 131 can be a six-axis robot or a three-coordinate moving platform.

[0051] In one embodiment, the clamping end 132411 of the clamping arm 13241 of the clamping head I 132 is rotatably arranged with the clamping arm 13241, and the rotation axis of the clamping end 132411 and the clamping arm 13241 is parallel to the axis of the rotating shaft 1322. The clamping head I 132 also comprises an elastic reset mechanism for positioning the clamping end 132411 at the initial position of the clamping arm 13241.

[0052] In this embodiment, the clamping end 132411 has the ability to adaptively adjust the posture of the workpiece, and the clamping end 132411 can rotate independently around an axis parallel to the rotating shaft 1322, so that the clamping block can dynamically fit the surface of the workpiece. When the initial pose of the workpiece has a deviation, the clamping end 132411 automatically fine-tunes the angle to eliminate the assembly stress. The elastic reset mechanism ensures that the clamping end 132411 maintains a preset initial angle (such as 0°) in a non-working state. When clamping, the elastic body provides a buffer to avoid rigid collision damage to the workpiece; after contact, it provides adaptive deflection, so that the clamping force is always perpendicular to the surface of the workpiece (such as the plane of the chip 123 of the hard disk 12). It realizes constant and stable clamping under complex trajectories. When the rotating shaft 1322 drives the clamping arm 13241 to move in space (such as circular arc insertion), the clamping end 132411 can compensate the trajectory error in real time, maintain the stable posture of the workpiece, and prevent it from being thrown off or displaced.

[0053] For example, the chip 123 of the hard disk 12 needs to be inserted into the slot of the PCB board 122 at an angle of 5°. The surface of the chip 123 is fragile (avoiding collision), and the pins are easy to bend. The insertion process needs to overcome the deviation of the slot position caused by the tolerance of the PCB board 122.

[0054] The specific working process of the assembly robot in this embodiment for inserting the chip 123 is as follows: S1, initial positioning: the clamping head I 132 is rotated to a horizontal position, and the elastic reset mechanism makes the clamping end 132411 remain at 0° (parallel clamping arms 13241). The V-shaped clamping block self-adapts to the two sides of the chip 123 and is self-locked to prevent slipping.

[0055] S2, inclination presetting: the rotating drive mechanism I 1323 drives the clamping arms 13241 to rotate as a whole by 5°, so that the chip 123 obtains a target insertion inclination.

[0056] S3, oblique insertion process: when the pins of the chip 123 contact the edge of the slot of the PCB board 122, the reaction force drives the clamping end 132411 to rotate slightly (about ±2°) around the axis, so as to avoid hard scratching of the pins; S4, insertion deviation correction stage: if there is a position deviation in the slot, the chip 123 is driven by a lateral force to make the clamping end 132411 continue to adaptively deflect, so as to guide the pins to slide into the slot; S5, elastic reset guarantee: the elastic reset mechanism stores energy during deflection, and automatically returns to normal after insertion is completed, so as to prepare for the next material taking.

[0057] S6, off-site reset: after the chip 123 is inserted into position, the clamping arms 13241 are opened, and the elastic reset mechanism pulls the clamping end 132411 back to the initial position of 0°, so as to ensure the accurate posture for the next material taking.

[0058] The application also provides an assembly method using the above assembly mechanical arm, comprising the following steps: S1, the interval adjusting mechanism I adjusts the interval of the two clamping arms 13241, so that the interval is greater than the workpiece to be clamped, and the rotating drive mechanism I 1323 rotates to adjust the angle of the two clamping arms 13241; S2, the moving mechanism I 131 drives the clamping head I 132 to move to the workpiece to be clamped, the interval adjusting mechanism I adjusts the interval of the two clamping arms 13241, and the workpiece is clamped; S3, the moving mechanism I 131 cooperates with the rotating drive mechanism I 1323 to adjust the position and angle of the workpiece to be clamped, and is conveyed to a target position; S4, after the workpiece to be clamped reaches the target position, the interval adjusting mechanism I drives the two clamping arms 13241 to release the clamped workpiece.

[0059] Reference is made to the accompanying drawings Figure 7 - the accompanying drawings Figure 9 The application also provides another clamping head, which is defined as clamping head II 142 for the sake of distinguishing from the above-mentioned clamping head, and comprises a support II 1421, a suction mechanism and a clamping mechanism. The clamping mechanism comprises a guide rail mechanism and a clamping plate mechanism. The guide rail mechanism comprises two guide rail arms 1422 arranged on the bracket II 1421, at least one guide rail arm 1422 is arranged on the bracket II 1421 and can slide towards or away from the other guide rail arm 1422, preferably the two guide rail arms 1422 move synchronously towards or away from each other, and further comprises a spacing adjustment mechanism II for adjusting the spacing of the two guide rail arms 1422; The clamping plate mechanism comprises a clamping plate 1423 arranged on each of the two guide rail arms 1422, the opposite side of the two clamping plates 1423 is a clamping surface 14231, and further comprises a clamping plate driving mechanism 1424 for driving the two clamping plates 1423 to move synchronously along the guide rail direction of the guide rail arm 1422. The adsorption mechanism comprises a rotating mechanism 1425 arranged on the bracket II 1421 and a suction accessory 1427 arranged on the output end of the rotating mechanism 1425, the rotation axis of the rotating mechanism 1425 is parallel to the plane formed by the two guide rail arms 1422, and the adsorption surface of the suction accessory 1427 is adjusted in angle by the rotating mechanism 1425 and enters or exits the movement stroke of the two clamping plates 1423.

[0060] The clamping head II 142 provided by the application has the following effects: I. The adsorption mechanism and the clamping mechanism are integrated, and two kinds of grabbing modes (adsorption and clamping) can be flexibly switched or cooperatively used, which significantly improves the adaptability and operation flexibility of the clamping head II 142 to workpieces of different shapes, sizes and materials (especially workpieces with fragile or smooth surfaces).

[0061] For workpieces that are prone to sliding, deforming or having irregular surfaces, the adsorption mechanism can be used for preliminary positioning and fixing, and then the clamping mechanism can be used for stable clamping, so that the grabbing reliability is improved.

[0062] For workpieces with high surface finish requirements or workpieces that are prone to scratching (such as glass, mirror surfaces, chips 123 and precision parts), the adsorption mode provides a non-contact or low-contact stress grabbing option, which reduces the risk of indentation or scratching caused by clamping.

[0063] II. The spacing of the two guide rail arms 1422 can be adjusted by the spacing adjustment mechanism II to adapt to the clamping requirements of workpieces of different widths. The clamping plate driving mechanism 1424 drives the two clamping plates 1423 to move synchronously along the guide rail arm 1422, so as to realize the close displacement control of the workpiece and realize the close feeding of the workpiece.

[0064] III. The rotating mechanism 1425 drives the suction accessory 1427 to rotate around its axis (parallel to the plane in which the guide rail arms 1422 are arranged), so as to accurately adjust the angle of the adsorption surface and make it best fit the surface of the workpiece to be adsorbed, thereby improving the adsorption success rate and stability.

[0065] In addition, when the angle at which the workpiece is clamped by the two clamping plates 1423 needs to be controlled, the workpiece can be first adsorbed by the adsorption accessory 1427, then the angle of the adsorption surface and the workpiece is adjusted by the rotating mechanism 1425, and finally the two clamping plates 1423 are controlled to clamp the workpiece at a set angle.

[0066] Four, the adsorption accessory 1427 can enter the movement stroke of the two clamping plates 1423 for adsorption operation through the driving of the rotating mechanism 1425. When the adsorption or clamping is completed, the adsorption accessory 1427 can exit the movement stroke of the clamping plate 1423 to avoid interference with the clamping action, realizing efficient switching of the two modes in space.

[0067] In the process of switching from adsorption by the adsorption accessory 1427 to clamping by the two clamping plates 1423, since the adsorption surface of the adsorption accessory 1427 is parallel or intersects with the clamping surface 14231, it can be ensured that the two clamping plates 1423 clamp both sides of the workpiece, ensuring the stability of clamping.

[0068] Five, the quick and seamless switching of the two grabbing modes (by rotating the adsorption accessory 1427 in and out of the clamping area) reduces the time for replacing clamps or adjusting the work station, improving the pace and efficiency of the automatic production line.

[0069] The clamping and grabbing head II 142 realizes efficient cooperation and flexible switching of the adsorption and clamping dual modes through the layout of the adjustable guide rail arm 1422, the synchronously moving clamping plate 1423, and the adsorption accessory 1427 that can rotate in and out of the working area, significantly improving the adaptability, grabbing reliability, operation precision, and production efficiency of diversified workpieces, while optimizing the spatial layout.

[0070] Taking the example of the clamping and grabbing head II 142 inserting the chip 123 of the hard disk 12 into the slot of the PCB board 122 at an angle, the traditional clamping jaw or suction nozzle can usually only perform vertical pick-and-place. To achieve oblique insertion, either the entire mechanical arm needs to be adjusted at a complex angle, which is complicated to program and low in efficiency, or a special and costly oblique insertion clamp needs to be designed, which is easy to damage the pin. If a pure clamping method is used, forcibly inserting when the angle is not aligned can easily bend or scratch the precise gold finger pin at the bottom of the chip. In addition, since the insertion space is narrow, at this time, the clamping and grabbing tool itself may collide with other tall components already installed on the PCB during the insertion process.

[0071] The specific working process of the clamping and grabbing head II 142 inserting the chip 123 of the hard disk 12 into the slot of the PCB board 122 at an angle is as follows: S1, after the vision system locates the chip 123 placed on the tray (chip embedding site 113), the rotation mechanism 1425 is activated to adjust the suction surface of the suction member 1427 to be parallel to the plane of the chip 123 (i.e. 0 degree suction), and then the suction head II 142 uses the suction member 1427 to pick up the chip 123.

[0072] At this time, lossless pickup can be achieved, and the suction member 1427 is lowered and picks up the chip. This mode is a surface contact, and the stress is dispersed, completely avoiding the physical pressure or scratches on the chip edge or surface caused by clamping, and is particularly suitable for processing precision and easily damaged electronic components.

[0073] S2, after picking up the chip 123, the rotation mechanism 1425 is activated again to accurately rotate the suction member 1427 and the chip 123 sucked by it to a tilt angle (for example, 5°) matching the PCB board 122 slot.

[0074] S3, the clamping mechanism is activated when the chip 123 is rotated by the suction mechanism at a predetermined angle (for example, 5°) and hovers in the clamping area. The clamping mechanism starts to work, and the interval adjusting mechanism II adjusts the distance between the two guide rail arms 1422 to make the two clamping plates 1423 approach each other to clamp the two sides of the chip 123.

[0075] The suction member 1427 exits the clamping area.

[0076] The clamping plate driving mechanism 1424 pushes the two clamping plates 1423 out, so that the insertion end of the chip 123 protrudes from the entire suction head II 142, so that the suction head II 142 interferes in the subsequent insertion process.

[0077] At this time, the interval adjusting mechanism II can pre-adjust or real-time adjust the distance between the two guide rail arms 1422 to adapt to the width of the chip 123 of different widths.

[0078] S4, under the clamping of the two clamping plates 1423, the moving mechanism II 141 can exert a force to move the slot of the PCB board 122, and the chip 123 is stably inserted into the slot of the PCB board 122 at a predetermined tilt angle. During this process, the clamping plate driving mechanism 1424 can also fine-tune the chip 123, and the clamping plate driving mechanism 1424 and the moving mechanism II 141 proceed in both directions to provide precise insertion advancement.

[0079] At this time, the clamping mechanism provides greater and more reliable shear resistance than pure suction, ensuring that the insertion force is sufficient to overcome the friction of the slot without causing the chip to slip or shift.

[0080] S5: After insertion, the two clamping plates 1423 are loosened, and then a vertical pressure head (or other tool) can be used to press the tail of the chip flat and locked.

[0081] The clipper head II 142 is applied to the insertion of the chip 123 into the slot of the PCB board 122, and has the following effects: The initial pick-up by the adsorption method avoids any physical contact damage to the chip 123. Then the adsorption part 1427 can adjust the angle of the chip 123, and then the two clamping plates 1423 are clamped for insertion. The whole angle adjustment process is fast and accurate, without the need for heavy mechanical arm global motion, simpler programming, shorter cycle time, and lower cost. The integrated design of the adsorption and clamping modules and the "in-out" working area make the clipper head more compact and easier to operate in a dense PCB component environment. In addition, the same clipper head II 142 can easily adapt to various chip mounting tasks of different sizes and insertion angles without the need to replace hardware, achieving high automation.

[0082] That is, the clipper head II 142 provided by the application perfectly solves the precision, efficiency and reliability problems in the oblique insertion and installation of the chip 123 through the innovative adsorption / clamping dual mode, rotation posture adjustment, and functional module space avoidance design.

[0083] In one embodiment, the adsorption mechanism further includes a linear movement mechanism II 1426, which is arranged on the output end of the rotation mechanism 1425, and the adsorption part 1427 is arranged on the output end of the linear movement mechanism II 1426.

[0084] In this embodiment, the linear movement mechanism II 1426 (such as a gas cylinder, an electric push rod, or a hydraulic cylinder) is added, so that the adsorption part 1427 has the ability to linearly extend in the normal direction of its adsorption surface. When adsorbing a precision component such as the chip 123, the linear movement mechanism II 1426 can tightly control the extension of the adsorption part 1427 to contact the surface of the chip 123 at a controllable speed and force, effectively avoiding damage to the surface or internal microstructure of the chip 123 caused by rigid impact. Without the linear movement mechanism II 1426, the entire clipper head II 142 needs to be moved to complete the contact, and the control precision and buffering are poor. With this linear movement mechanism II 1426, the protection is significantly improved.

[0085] In addition, the linear movement mechanism II 1426 can also greatly facilitate the adsorption part 1427 to adsorb the workpiece. When processing materials with different packaging depths, it is not necessary to reprogram the large-range path of the movement mechanism II 141, but only needs to fine-tune at the end, improving the programming efficiency and adaptability.

[0086] In addition, when facing a workpiece with strong adsorption force, the workpiece can be directly installed using the adsorption accessory 1427. At this time, the combination of the rotating mechanism 1425 and the linear movement mechanism II 1426 enables the adsorption point of the adsorption accessory 1427 to move within a sector, thereby achieving non-vertical pick-and-place, such as oblique insertion.

[0087] More importantly, the linear movement mechanism II 1426 can also serve as an independent pressing mechanism to complete the pressing action of the chip 123. After the chip 123 is inserted into the slot of the PCB board 122, the adsorption accessory 1427 can be used as a precise pressing head through the combination of the rotating mechanism 1425 and the linear movement mechanism II 1426. The adsorption accessory 1427 is released from adsorption, and then the linear movement mechanism II 1426 drives it to extend linearly downward to apply a uniform vertical pressure to the tail of the chip, thereby completely pressing and locking it in the slot. At this time, the entire set of actions of "suction-insertion-pressing" can be completed without tool replacement, greatly improving production efficiency.

[0088] In one embodiment, when the clamping plate 1423 is at the farthest end of the movement stroke of the guide rail arm 1422 from the support II 1421, the end of the clamping plate 1423 away from the support II 1421 protrudes beyond the end of the guide rail arm 1422 away from the support II 1421.

[0089] In this embodiment, the clamping plate 1423 can achieve a grabbing operation behind a deep groove or a high obstacle. The protruding clamping plate 1423 can first extend into a recessed area (such as the deep part of a material box or the interior of a machine) or over an obstacle (such as a device guardrail or other lower parts), and then perform a clamping action. Taking the clamping of the chip 123 as an example, if it is necessary to pick up an SSD chip 123 from a very deep anti-static material box, the wall of the material box is very high. The clamping arm of a common gripper may be blocked by the wall of the material box and cannot be lowered into position. However, in this design, the clamping plate 1423 can be extended, allowing the end of the clamping plate 1423 to be lowered to contact the chip in the deep part, while the guide rail arm 1422 and the entire support II 1421 hover above the material box, avoiding interference. When the clamping plate 1423 delivers the workpiece to the target position, this design can also enable the workpiece to enter narrow and crowded spaces.

[0090] In one embodiment, the clamping plate driving mechanism 1424 includes a first sliding table 14241 arranged on the support II 1421, a second sliding table 14242 arranged on the output end of the first sliding table 14241, and two transmission arms 14243 slidingly arranged on the second sliding table 14242, one end of one of the transmission arms 14243 being fixedly connected to one of the clamping plates 1423, and one end of the other transmission arm 14243 being fixedly connected to the other clamping plate 1423. The sliding direction of the first sliding table 14241 is parallel to the guide direction of the guide rail arm 1422, and a linear driving mechanism II 14244 is further arranged to drive the output end of the first sliding table 14241 to move back and forth. The sliding direction of the second sliding table 14242 is parallel to the moving direction of the interval adjusting mechanism II.

[0091] In this embodiment, the linear driving mechanism II 14244 drives the entire clamping plate mechanism (including the output end of the first sliding table 14241, the second sliding table 14242, the transmission arm 14243, and the clamping plate 1423) to move forward / backward in the guide direction of the guide rail arm 1422. The action of entering / leaving the working area is realized. The interval adjusting mechanism II drives the two guide rail arms 1422 to move closer / further apart, thereby changing the initial interval between the two clamping plates 1423 and driving the clamping and loosening of the two clamping plates 1423.

[0092] At this time, the first sliding table 14241, the second sliding table 14242, and the transmission arm 14243 realize the power transmission of the linear driving mechanism II 14244 and the interval adjusting mechanism II. At this time, the "width adjustment" and the "advance / retreat / clamping" are two independent actions, but the first sliding table 14241, the second sliding table 14242, and the transmission arm 14243 realize linkage, and ensure that both actions have strong movement stability and carrying capacity, improving the motion reliability.

[0093] In one embodiment, the interval adjusting mechanism II is a linear moving mechanism III 1429 (double-head screw, double-sliding block module driven by synchronous belt, double-piston cylinder, etc.) with two output blocks that are fixedly arranged on the support II 1421 and relatively close or relatively far apart, one output end is fixedly connected with one guide rail arm 1422, and the other output end is fixedly connected with the other guide rail arm 1422.

[0094] In this embodiment, the two guide rail arms 1422 can be ensured to move synchronously towards or away from each other, so that the two clamping plates 1423 always open and close with a fixed central symmetric plane, facilitating accurate clamping of the workpiece by the clamping plate 1423.

[0095] In one embodiment, a sliding block 1428 is arranged on the guide rail arm 1422, and the clamping plate 1423 is fixedly arranged on the sliding block 1428. In the embodiment with the transmission arm 14243, the transmission arm 14243 is also fixedly arranged on the sliding block 1428.

[0096] In this embodiment, the slider 1428 is used as an intermediate and bearing unit between the guide arm 1422 and the clamping plate 1423 / transmission arm 14243, which can minimize the moving resistance of the clamping plate 1423, make the movement more smooth, and require smaller driving force. This ensures that the clamping plate 1423 can move quickly, respond quickly, be positioned accurately, and not be prone to jamming.

[0097] In one embodiment, the suction accessory 1427 is a negative pressure suction device or an electromagnet. The selection can be made according to the nature of the workpiece. For example, when sucking the chip 123, the negative pressure suction device is preferably used. When sucking the metal workpiece, the electromagnet can be used.

[0098] In one embodiment, the bracket II 1421 includes a fixed plate II 14211 and a side plate 14212 protruding on one side of the fixed plate II 14211. The clamping mechanism is arranged on the fixed plate II 14211. The suction mechanism is arranged at one end of the side plate 14212 away from the fixed plate II 14211. The rotating mechanism 1425 includes a rotating block 14251 rotatably arranged on the side plate 14212 and a rotating driving mechanism II 142252 driving the rotating block 14251. The rotating driving mechanism II 142252 includes a rotating power mechanism II 1422521 arranged on the fixed plate II 142211 and a belt mechanism II 1422522 connecting the rotating power mechanism II 1422521 and the rotating block 14251.

[0099] In this embodiment, the fixed plate II 142211 is used as a main mounting base plate and a force receiving base, and all heavy components of the clamping mechanism are mounted thereon, which ensures the structural rigidity. The side plate 14212 is used as a special support arm of the suction mechanism, which is away from the core movement area of the clamping mechanism. The rotation and up-down movement of the suction accessory 1427 (if provided with a linear movement mechanism II 14226) are provided with an unobstructed working space. No matter how the suction accessory 1427 rotates, it can completely avoid the clamping plate 1423.

[0100] The present application also provides another assembly robot, in order to facilitate the differentiation from the above-mentioned assembly robot, the assembly robot is defined as assembly robot II 142, which includes a movement mechanism II 141 and the above-mentioned clamping head II 1422 arranged on the output end of the movement mechanism II 141. The movement mechanism II 141 can be a six-axis robot or a three-coordinate movement platform.

[0101] The present application also provides an assembly method using the above-mentioned assembly robot II 142, which includes the following steps: S1, the interval adjusting mechanism II adjusts the interval of the two clamping plates 1423 to be larger than the workpiece to be clamped, and the rotating mechanism 1425 drives the moving stroke of the suction accessory 1427 away from the clamping plates 1423; S2, the suction accessory 1427 adsorbs the workpiece to be clamped, and then the rotating mechanism 1425 and the linear moving mechanism II 1426 cooperate to drive the suction accessory 1427 to enter the moving stroke of the two clamping plates 1423 at a required angle; S3, the interval adjusting mechanism II drives the two clamping plates 1423 to clamp the workpiece to be clamped at a specific angle and position on the suction accessory 1427; S4, the suction accessory 1427 cancels the adsorption, and exits the moving stroke of the two clamping plates 1423 through the rotating mechanism 1425 and the linear moving mechanism II 1426; S5, the clamping plate driving mechanism 1424 drives the two clamping plates 1423 clamping the workpiece to move; And / or, the moving mechanism II 141 drives the clamping head II 142 to move, so that the workpiece to be clamped moves to the target position; S6, after the workpiece to be clamped reaches the target position, the interval adjusting mechanism II drives the two clamping plates 1423 to release the clamped workpiece.

[0102] Reference to the accompanying drawings Figure 1 -Appendix Figure 9 The application also provides a hard disk assembly system, which comprises an assembly line, a packaging work station 8 and a finished product work station 9 arranged in sequence, and further comprises a double-layer backflow conveying line 10 connected with the assembly line, the packaging work station 8 and the finished product work station 9, and a hard disk jig 11 arranged on the double-layer backflow conveying line 10. The packaging work station 8 is provided with a clamping mechanical arm 15, a packaging box supply line 16 and a packaging box positioning jig 17, the packaging box supply line 16 comprises a conveying belt 161, a packaging box body supply mechanism 162 and a packaging cover body supply mechanism 163 arranged upstream of the conveying belt 161, and the downstream of the conveying belt 161 is arranged close to the finished product work station 9, and the packaging box positioning jig 17 comprises a packaging box body positioning mechanism 171 and a packaging cover body positioning mechanism 172.

[0103] The packaging box body positioning mechanism 171 comprises an embedded groove 1711 for positioning the packaging box body 201, a linear mechanism 1712 arranged on one side of the embedded groove 1711 and a positioning corner piece 1713 arranged at the output end of the linear mechanism 1712, after the clamping mechanical arm 15 places the packaging box body 201 in the embedded groove 1711, the linear mechanism 1712 drives the positioning corner piece 1713 to abut against one corner of the packaging box body 201, so that the packaging box body 201 reaches one corner of the embedded groove 1711, and accurate positioning is realized. The structure and working principle of the packaging cover body positioning mechanism 172 are consistent with those of the packaging box body positioning mechanism 171, and will not be described here.

[0104] The clamping mechanical arm 15 is used to transfer the packaging box body 201 and the packaging cover body 202 between the packaging box supply pipeline 16 and the packaging box positioning jig 17, and is also used to transfer the hard disk 12 between the hard disk jig 11 and the packaging box body 201 on the packaging cover body positioning mechanism 172, and is also used to fit the packaging cover body 202 on the packaging box positioning jig 17 to the packaging box body 201, and is also used to transfer the packaging box 20 after the packaging box body 201 and the packaging cover body 202 on the packaging box positioning mechanism 171 are fitted and the hard disk 12 is covered to the packaging box supply pipeline 16. The finished product station 9 is provided with a feeding mechanical arm 18 and a finished product warehouse 19, and the feeding mechanical arm 18 is used to transfer the packaging box 20 after the hard disk 12 is loaded and the cover is closed downstream of the packaging box supply pipeline 16 to the finished product warehouse 19.

[0105] The hard disk assembly system provided by the application has the following effects: I. The system takes the assembly line as the starting point, and finally returns the empty jig to the double-layer backflow conveying line 10 automatically through packaging and finished product processing, forming a complete production closed loop. This layout greatly reduces the material waiting, manual handling and assembly line idle time of the intermediate links, greatly improving the overall production efficiency.

[0106] II. The packaging box positioning jig 17 combines the precise operation of the clamping mechanical arm 15 to ensure the accuracy of the hard disk 12 loading, box cover closing and other actions, eliminate the misplacement, poor sealing or appearance damage that may be caused by manual packaging, and ensure the high consistency of the packaging quality.

[0107] III. The operation mechanism of the clamping mechanical arm 15 and the feeding mechanical arm 18 constitutes a highly automated production unit, covering all stations of feeding, transferring, packaging, closing, jig management, greatly reducing the number and skill requirements of the operating personnel, and achieving significant savings in labor costs.

[0108] In addition, the empty hard disk jig 11 on the double-layer backflow conveying line 10 on the finished product station 9 can be subjected to one of the operations of automatic feeding, alignment or cleaning by arranging a new operation mechanism on the finished product station 9. This design ensures that the new jig flowing into the assembly starting point is always in a ready state, avoids equipment jamming, assembly errors or production line interruption caused by raw material loss, jig loss, position skew or foreign matter, and greatly improves the stability and continuity of system operation.

[0109] When no operation mechanism is arranged on the finished product station 9, the above-mentioned operation can be performed at the starting point of the assembly line, but this will increase the length and redundancy of the assembly line.

[0110] The system not only realizes the automation of the assembly-packaging process, but also builds an efficient, stable and non-human intervention production closed loop through the automatic management function of the double-layer backflow conveying line 10 and the jig of the finished product station 9, which has a very high application value in large-scale hard disk 12 production.

[0111] In one embodiment, the finished product station 9 further includes an operating mechanism for at least one of feeding, cleaning and aligning the empty hard disk jig 11 on the finished product station 9. The operating mechanism can take over all the processing work of the empty hard disk jig 11 after backflow, complete the automation of the "last link" in the production cycle, and ensure that the starting end of the system always has available and good condition jigs. This makes the system seamlessly connect from assembly, packaging to empty jig recycling pretreatment, and can run continuously without any manual intervention, greatly improving the overall automation level.

[0112] When the operating mechanism can feed, i.e. when the empty hard disk jig 11 is placed with the components of the hard disk 12 to be assembled, the feeding and discharging of the finished product and raw materials of the hard disk 12 are located on the same side of the system, which can facilitate the feeding and discharging of the finished product and raw materials of the hard disk 12.

[0113] In one embodiment, the hard disk jig 11 includes a mobile carrier 111 arranged on the double-layer backflow conveying line 10 and a box embedding site 112, a chip embedding site 113 and a cover embedding site 114 arranged on the mobile carrier 111. The box embedding site 112 is used to embed the box 121 and the PCB board 122 of the hard disk 12, the chip embedding site 113 is used to embed the chip 123 of the hard disk 12, and the cover embedding site 114 is used to embed the cover 124 of the hard disk 12.

[0114] In this embodiment, by setting the box fitting position 112, the chip fitting position 113 and the cover fitting position 114, the box 121, the PCB board 122, the chip 123 and the cover 124 of the hard disk 12 are physically separated and independently positioned on the hard disk jig 11. This layout effectively avoids the collision, scratching or extrusion between components on the high-speed conveying line, provides the best protection for precision components, and significantly reduces the risk of material damage. Moreover, the independent fitting position provides an excellent operation interface for the automation equipment. The mechanical arm can easily and accurately grab and place a single component, which is very suitable for subsequent automatic assembly (such as chip 123 installation), visual inspection (such as missing part inspection, position calibration) or functional test (such as circuit connectivity test), thereby improving the automation level and process capacity of the system. In addition, the specific fitting position has a constraint effect on the shape and size of the component, which physically prevents the operator or automation equipment from placing the wrong component in the mismatched position, ensures that no material mixing or misassembly quality accidents occur during assembly, and improves production accuracy.

[0115] In one of the embodiments, the assembly line comprises an assembly station 3. The assembly station 3 is provided with an assembly mechanical arm for obliquely inserting the chip 123 in the chip fitting position 113 into the PCB board 122 in the box fitting position 112.

[0116] In one of the embodiments, the assembly mechanical arm is assembly mechanical arm I 113, and the specific structure, principle and technical effects of the assembly mechanical arm I 113 are described above and will not be repeated here.

[0117] In another embodiment, the assembly mechanical arm is assembly mechanical arm II 114, and the specific structure, principle and technical effects of the assembly mechanical arm II 114 are described above and will not be repeated here.

[0118] In one of the embodiments, the assembly line comprises a vertical storage station 1, a locking station 2, an assembly station 3, a dispensing station 4, a cover station 5, a code printing station 6 and a detection station 7 arranged in sequence. The vertical storage station 1 is used for feeding or replacing at least one of the box fitting position 112, the chip fitting position 113 and the cover fitting position 114 of the hard disk jig 11. The locking station 2 is used for locking the PCB board 122 in the box fitting position 112 on the box 121. The assembly station 3 is used for obliquely inserting the chip 123 in the chip fitting position 113 into the PCB board 122 in the box fitting position 112. The dispensing station 4 is used for dispensing the matching part of the box 121 and the cover 124. The upper cover work station 5 is used for covering the cover 124 to the box body 121; The code spraying and marking work station 6 is used for code spraying and marking on the installed hard disk 12. The detection work station 7 is used for power-on detection and / or visual appearance detection on the installed hard disk 12.

[0119] In the embodiment, the assembly line is sequentially provided with the warehouse, the locking, the assembly, the dispensing, the upper cover, the code spraying and marking and the detection work stations, forming a coherent automatic production sequence. The hard disk fixture 11 automatically flows between the work stations, eliminating the waiting, handling and handover time between processes, greatly shortening the single-piece production cycle of the hard disk 12, and significantly improving the overall production efficiency and capacity.

[0120] Specifically, the warehouse work station 1 as a material scheduling center can not only automatically feed the empty hard disk fixture 11 (at this time, the operating mechanism of the finished product work station 9 no longer feeds the empty hard disk fixture 11), but also flexibly changes the different embedded positions on the fixture according to the production instructions (adapt to different models of the box body 121, the chip 123 or the cover 124). This enables the entire production line to quickly switch between different models and specifications of hard disk products, greatly enhancing the flexibility of production and the response speed to market demand. The precise torque control of the locking work station 2 and the oblique insertion of the assembly mechanical arm of the assembly work station 3 ensure the precision and reliability of the PCB board 122 installation and the chip 123 insertion, which guarantee the product performance from the source. The dispensing work station 4 ensures the accuracy and path consistency of the sealant amount, ensuring the air tightness of the hard disk 12; the upper cover work station 5 realizes smooth and precise cover closing to avoid impact; the code spraying and marking work station 6 gives each product a clear and permanent identity. The detection work station 7 performs the final power-on function test and appearance inspection to ensure the yield of the products leaving the factory.

[0121] The embodiment is not simply a series connection of multiple work stations, but through lean process design, the professional work stations work in turn, realizing efficient and high-quality manufacturing of the hard disk 12 from parts to qualified products.

[0122] In one of the embodiments, the double-layer reflow conveying line 10 includes a surface conveying line 101, a reflow conveying line 102 and two groups of lifting transfer tables 103; The surface conveying line 101 is arranged on the workbench of the assembly line, the packaging work station 8 and the finished product work station 9; The reflow conveying line 102 is arranged in the assembly line, the packaging work station 8 and the finished product work station 9; One group of lifting transfer tables 103 is arranged at the head end of the assembly line, for transferring the hard disk jigs 11 at the tail end of the reflow conveying line 102 to the head end of the surface layer conveying line 101, and another group of lifting transfer tables 103 is arranged at the tail end of the finished product station 9, for transferring the hard disk jigs 11 at the tail end of the surface layer conveying line 101 to the head end of the reflow conveying line 102.

[0123] In the embodiment, by adopting the double-layer three-dimensional design of "surface layer conveying (full load) - bottom layer reflow (empty load)", bidirectional flow of materials is realized in the same factory area. This completely solves the problem that the traditional single-layer assembly line has to expand the layout to arrange the reflow conveying belt, and is particularly suitable for modern production workshops with limited space or high unit area output.

[0124] In one embodiment, the surface layer conveying line 101 and the reflow conveying line 102 are formed by multiple sections, and each station on the assembly line, the packaging station 8 and the finished product station 9 are provided with one section.

[0125] In the embodiment, the design of each station being equipped with an independent section of conveying line makes the entire system free from the limitations of the traditional integrated long conveying line. The length of the production line and the order of the stations are no longer fixed, and can be adjusted according to the production process, capacity upgrade (such as adding new stations) or changes in the layout of the workshop. Moreover, the modular segmented design allows each section of the conveying line to be independently controlled to start and stop. When a station (such as the detection station 7) has a longer processing time, the section of the conveying line where it is located can be temporarily stopped, while the upstream station segments can continue to flow and cache products. This avoids the problem of the entire production line being stalled due to a single station being blocked, and realizes fine management of the production rhythm and optimization of capacity.

[0126] The application also provides a hard disk assembly method using the above hard disk assembly system, comprising the following steps: S1, the assembly line assembles the box body 121, the PCB board 122, the chip 123 and the cover body 124 of the hard disk 12; S2, the assembled hard disk 12 is conveyed to the packaging station 8 by the double-layer reflow conveying line 10; S3, the packaging box body supply mechanism 162 and the packaging cover body supply mechanism 163 of the packaging box supply line 16 respectively lower a packaging box body 201 and a packaging cover body 202 onto the conveying belt 161, and the conveying belt 161 moves the packaging box body 201 and the packaging cover body 202 to the middle of the conveying belt 161; S4, the clamping mechanical arm 15 transfers the packaging box body 201 to the packaging box body positioning mechanism 171 and positions it, and transfers the packaging cover body 202 to the packaging cover body positioning mechanism 172 and positions it; S5, the clamping mechanical arm 15 transfers the hard disk 12 on the hard disk fixture 11 to the packaging box body 201 on the packaging box body positioning mechanism 171, and transfers the packaging cover body 202 on the packaging cover body positioning mechanism 172 to the packaging box body 201 on the packaging box body positioning mechanism 171 to complete the cover closing; S6, the clamping mechanical arm 15 transfers the packaging box 20 on the packaging box body positioning mechanism 171 to the middle of the conveying belt 161; S7, repeat steps S1-S6; S8, when step S3 is performed, the packaging box 20 with the hard disk 12 in the middle of the conveying belt 161 is transferred to the downstream of the conveying belt 161; S9, the feeding mechanical arm 18 transfers the packaging box 20 with the hard disk 12 and the closed cover downstream of the packaging box feeding line 16 to the finished product warehouse 19.

[0127] When the operating mechanism is provided in the finished product station 9, the operating mechanism can perform loading, cleaning and alignment operations on the empty hard disk fixture 11 on the finished product station 9 while S8 is performed.

[0128] The assembly method, from hard disk 12 assembly (S1), automatic conveying (S2) to automatic packaging and cover closing (S3-S6), and finally automatic warehousing (S9), constitutes a complete and seamless automatic production closed loop. All steps are automatically executed by the system equipment, which maximizes the elimination of process stagnation and manual handling, and significantly improves the overall production efficiency and capacity.

[0129] In addition, when the packaging station 8 is performing the packaging action (S3-S6) of the current hard disk 12, the assembly line is assembling the next hard disk 12 (S7) in parallel; at the same time, the finished product station 9 can perform warehousing (S9) on the packaged hard disk 12, and the operating mechanism of the finished product station 9 can process the empty fixture in parallel (loading, cleaning, alignment). The parallel mechanism of "assembly-packaging-fixture management" effectively eliminates the waiting time in the traditional serial process, enabling the system to run continuously at a speed close to the theoretical maximum, significantly improving the capacity.

[0130] Among them, the functions of empty packaging box input and finished product (packaged hard disk 12) output are integrated on the packaging box feeding line 16, realizing the high reuse of the logistics path. This avoids the space waste caused by setting up two independent conveying lines for inputting empty boxes and outputting finished products, and also reduces the travel requirements of the feeding mechanical arm 18.

[0131] The above is only the embodiment of the present application, and does not limit the present application. Any skilled person in the art can make many possible changes, modifications or modifications of the technical solutions of the present application without departing from the scope of the technical solutions of the present application, and equivalent embodiments of equivalent changes. Therefore, any simple modification, equivalent change and modification of the above embodiment according to the technical essence of the present application without departing from the technical solutions of the present application shall fall within the scope of protection of the technical solutions of the present application.

Claims

1. A hard disk assembly system, characterized by, The assembly line, the packaging station (8) and the finished product station (9) are sequentially arranged, and the double-layer backflow conveying line (10) and the hard disk jig (11) are arranged on the double-layer backflow conveying line (10). The packaging station (8) is provided with a clamping mechanical arm (15), a packaging box supply line (16) and a packaging box positioning jig (17), the packaging box supply line (16) comprises a conveying belt (161), a packaging box body supply mechanism (162) and a packaging cover body supply mechanism (163) arranged upstream of the conveying belt (161), the downstream of the conveying belt (161) is arranged close to the finished product station (9), the packaging box positioning jig (17) comprises a packaging box body positioning mechanism (171) and a packaging cover body positioning mechanism (172), the clamping mechanical arm (15) is used for transferring the packaging box body (201) and the packaging cover body (202) between the packaging box supply line (16) and the packaging box positioning jig (17), and is also used for transferring the hard disk (12) between the hard disk jig (11) and the packaging box body (201) on the packaging cover body positioning mechanism (172), and the packaging cover body (202) on the packaging box positioning jig (17) is matched to the packaging box body (201). The finished product station (9) is provided with a feeding mechanical arm (18) and a finished product warehouse (19), and the feeding mechanical arm (18) is used for transferring the packaging box (20) with the hard disk (12) and the closed cover downstream of the packaging box supply line (16) to the finished product warehouse (19).

2. The hard disk assembly system of claim 1, wherein, The finished product station (9) further comprises an operating mechanism for at least one of loading, cleaning and aligning the empty hard disk jig (11) on the finished product station (9).

3. The hard disk assembly system as described in claim 1, characterized in that, The hard disk jig (11) comprises a moving table (111) arranged on the double-layer backflow conveying line (10), and a box body embedding position (112), a chip embedding position (113) and a cover plate embedding position (114) arranged on the moving table (111). The box body embedding position (112) is used for embedding the box body (121) and the PCB board (122) of the hard disk (12), the chip embedding position (113) is used for embedding the chip (123) of the hard disk (12), and the cover plate embedding position (114) is used for embedding the cover body (124) of the hard disk (12).

4. The hard disk assembly system of claim 3, wherein the hard disk assembly system further comprises a hard disk drive (HDD) and a hard disk drive (HDD) cover. The assembly line comprises an assembly station (3). The assembly station (3) is provided with an assembly mechanical arm for obliquely inserting the chip (123) in the chip embedding position (113) into the PCB board (122) in the box body embedding position (112).

5. The hard disk assembly system of claim 4, wherein the hard disk assembly system further comprises a hard disk drive (HDD) and a hard disk drive (HDD) cover. The assembly mechanical arm is an assembly mechanical arm I (13). The assembly mechanical arm I (13) comprises a moving mechanism I (131) and a clamping head I (132) arranged on the output end of the moving mechanism I (131). The clamping head I (132) comprises a support I (1321), a rotating shaft (1322), a rotating drive mechanism I (1323) and a clamping mechanism (1324). The rotating shaft (1322) is rotatably arranged on the bracket I (1321), and the rotating driving mechanism I (1323) is used for driving the rotating shaft (1322) to rotate; The clamping mechanism (1324) comprises two parallel clamping arms (13241), one end of the two clamping arms (13241) is matched with the rotating shaft (1322) and rotates with the rotating shaft (1322), the other end forms a clamping end (132411) for clamping the workpiece, and at least one of the clamping arms (13241) is arranged on the rotating shaft (1322) in the axial sliding mode of the rotating shaft (1322); The clamping mechanism (1324) further comprises a spacing adjusting mechanism I for adjusting the spacing of the two clamping arms (13241).

6. The hard disk assembly system of claim 4, wherein the hard disk assembly system further comprises a hard disk drive (HDD) and a hard disk drive (HDD) cover. The assembly robot is an assembly robot II (14); The assembly robot II (14) comprises a moving mechanism II (141) and a clamping head II (142) arranged on the output end of the moving mechanism II (141); The clamping head II (142) comprises a bracket II (1421), a suction mechanism and a clamping mechanism; The clamping mechanism comprises a guide rail mechanism and a clamping plate mechanism; The guide rail mechanism comprises two guide rail arms (1422) arranged on the bracket II (1421), at least one of the guide rail arms (1422) is arranged on the bracket II (1421) in the sliding mode of approaching or moving away from the other guide rail arm (1422), and further comprises a spacing adjusting mechanism II for adjusting the spacing of the two guide rail arms (1422); The clamping plate mechanism comprises a clamping plate (1423) arranged on each of the two guide rail arms (1422) in the sliding mode, the opposite side of the two clamping plates (1423) is a clamping surface (14231), and further comprises a clamping plate driving mechanism (1424) for driving the two clamping plates (1423) to move synchronously in the guide rail direction of the guide rail arm (1422). The suction mechanism comprises a rotating mechanism (1425) arranged on the bracket II (1421) and a suction member (1427) arranged on the output end of the rotating mechanism (1425), the rotating axis of the rotating mechanism (1425) is parallel to the plane formed by the two guide rail arms (1422), and the suction surface of the suction member (1427) is adjusted in angle by the rotating mechanism (1425) and enters or exits the movement stroke of the two clamping plates (1423).

7. The hard disk assembly system of claim 3, wherein the hard disk assembly system further comprises a hard disk drive (HDD) and a hard disk drive (HDD) cover. The assembly line comprises a vertical warehouse work station (1), a locking work station (2), an assembly work station (3), a dispensing work station (4), a cover work station (5), a code printing and marking work station (6) and a detection work station (7) arranged in sequence; The vertical warehouse work station (1) is used for feeding or replacing at least one of a box body fitting position (112), a chip fitting position (113) and a cover fitting position (114) of different models in the hard disk jig (11); The locking work station (2) is used for locking the PCB (122) in the box body fitting position (112) on the box body (121); The assembly work station (3) is used for obliquely inserting the chip (123) in the chip fitting position (113) into the PCB (122) in the box body fitting position (112); The dispensing work station (4) is used for dispensing the fitting parts of the box body (121) and the cover body (124); The upper cover work station (5) is used for covering the cover body (124) to the box body (121); The code spraying and marking work station (6) is used for code spraying and marking the installed hard disk (12); The detection work station (7) is used for power-on detection and / or visual appearance detection on the installed hard disk (12).

8. The hard disk assembly system of any one of claims 1-7, wherein, The double-layer reflow conveying line (10) comprises a surface conveying line (101), a reflow conveying line (102) and two groups of lifting transfer tables (103); The surface conveying line (101) is arranged on the workbench of the assembly line, the packaging work station (8) and the finished product work station (9); The reflow conveying line (102) is arranged in the assembly line, the packaging work station (8) and the finished product work station (9); One group of lifting transfer tables (103) is arranged at the head end of the assembly line, and is used for transferring the hard disk jig (11) at the tail end of the reflow conveying line (102) to the head end of the surface conveying line (101); the other group of lifting transfer tables (103) is arranged at the tail end of the finished product work station (9), and is used for transferring the hard disk jig (11) at the tail end of the surface conveying line (101) to the head end of the reflow conveying line (102).

9. The hard disk assembly system as described in claim 8, characterized in that, The surface conveying line (101) and the reflow conveying line (102) are formed by multiple assemblies, and one assembly is arranged on each work station of the assembly line, the packaging work station (8) and the finished product work station (9).

10. A hard disk assembly method characterized by, The hard disk assembly system comprises the following steps: S1, the assembly line assembles the box body (121), the PCB board (122), the chip (123) and the cover body (124) of the hard disk (12); S2, the assembled hard disk (12) is conveyed to the packaging work station (8) through the double-layer reflow conveying line (10); S3, the packaging box body supply mechanism (162) and the packaging cover body supply mechanism (163) of the packaging box supply line (16) respectively lower a packaging box body (201) and a packaging cover body (202) to the conveying belt (161), and the conveying belt (161) moves the packaging box body (201) and the packaging cover body (202) to the middle of the conveying belt (161); S4, the clamping mechanical arm (15) transfers the packaging box body (201) to the packaging box body positioning mechanism (171) and positions it, and transfers the packaging cover body (202) to the packaging cover body positioning mechanism (172) and positions it; S5, the clamping mechanical arm (15) transfers the hard disk (12) on the hard disk jig (11) to the packaging box body (201) on the packaging box body positioning mechanism (171), and transfers the packaging cover body (202) on the packaging cover body positioning mechanism (172) to the packaging box body (201) on the packaging box body positioning mechanism (171) to complete the covering; S6, the clamping mechanical arm (15) transfers the packaging box (20) on the packaging box body positioning mechanism (171) to the middle of the conveying belt (161); S7, steps S1-S6 are repeated; S8, when step S3 is performed, the package box (20) with the hard disk (12) located in the middle of the conveying belt (161) is transferred to the downstream of the conveying belt (161); S9, the feeding mechanical arm (18) transfers the package box (20) with the hard disk (12) and the closed cover to the finished product warehouse (19) downstream of the package box feeding line (16).

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