An assembly execution device

Abstract

The present application provides an assembly execution device, which belongs to the field of assembly technology. The assembly execution device includes an adjustment device, a gripping device and a control system. The adjustment device includes an adjustment mechanism and a placement platform for placing a first assembly part, the placement platform is connected to the adjustment mechanism, and the adjustment mechanism is used to adjust the posture of the placement platform. The gripping device includes a gripping mechanism, a sensor and an actuator, the sensor is connected between the gripping mechanism and the actuator, the gripping mechanism is used to grip a second assembly part, the sensor is used to obtain a posture signal of the second assembly part gripped by the gripping mechanism, and the actuator is used to transport the second assembly part gripped by the gripping mechanism to the placement platform and assemble it with the first assembly part on the placement platform. The control system is used to control the action of the adjustment mechanism according to the posture signal to adjust the posture of the placement platform. An assembly execution device of this structure realizes high-precision assembly between assemblies.

Description

Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to an assembly execution device. Background Art

[0002] In the existing assembly process, a grasping device is generally used to grasp an assembly part and assemble it with another assembly part on an assembly platform. After the grasping device has worked for a period of time, the grasping device may not be able to grasp the assembly part in a correct form. The assembly part may tilt after being grasped, that is, the posture of the assembly part changes, making it impossible to assemble the two assembly parts well, and the assembly accuracy is poor. Summary of the invention

[0003] The embodiment of the present application provides an assembly execution device to improve the problem of poor assembly accuracy of existing equipment.

[0004] The embodiment of the present application provides an assembly execution device, including an adjustment device, a gripping device and a control system;

[0005] The adjusting device comprises an adjusting mechanism and a placement platform for placing the first assembly part, the placement platform is connected to the adjusting mechanism, and the adjusting mechanism is used to adjust the posture of the placement platform;

[0006] The grasping device comprises a grasping mechanism, a sensor and an actuator, wherein the sensor is connected between the grasping mechanism and the actuator, the grasping mechanism is used to grasp the second assembly part, the sensor is used to obtain the posture signal of the second assembly part grasped by the grasping mechanism, and the actuator is used to transport the second assembly part grasped by the grasping mechanism to the placement platform and assemble it with the first assembly part on the placement platform;

[0007] The control system is used to control the action of the adjustment mechanism according to the posture signal to adjust the posture of the placement platform.

[0008] In the above technical solution, a sensor is provided between the grasping mechanism and the execution mechanism of the grasping device. After the grasping mechanism grasps the second assembly part, the sensor will obtain the force information of the grasping mechanism grasping the second assembly part in three-dimensional space, that is, obtain the posture signal of the second assembly part. After the posture signal is transmitted to the control system, the control system controls the action of the adjustment mechanism of the adjustment device according to the posture signal, adjusts the posture of the placement platform, and then adjusts the posture of the first assembly part on the placement platform, so that the posture of the first assembly part is consistent with the posture of the second assembly part, so that the first assembly part and the second assembly part can achieve a high-precision assembly effect. The assembly execution device of this structure ensures the high-precision effect between the assemblies, has a simple maintenance process, and can be adapted to a wide range of assembly production and manufacturing processes. At the same time, it can ensure that the gaps between the assemblies are uniform, reduce the production of defective products, avoid errors in manual operations, save production costs, and improve assembly capacity.

[0009] In addition, the assembly execution device of the embodiment of the present application also has the following additional technical features:

[0010] In some embodiments of the present application, the assembly execution device further includes a frame;

[0011] The adjusting mechanism and the executing mechanism are both connected to the frame, and the executing mechanism is used to drive the grabbing mechanism to move in the horizontal, longitudinal and vertical directions relative to the frame.

[0012] In the above technical solution, the actuator can drive the grasping mechanism to move in the horizontal, longitudinal and vertical directions relative to the frame, that is, the grasping mechanism can move in three directions, so that the grasping mechanism has a larger grasping range. During the assembly process, after the grasping mechanism grasps the second assembly part at the grasping position, the actuator drives the grasping mechanism to move in the horizontal and longitudinal directions, so that the grasping mechanism is located directly above the placement platform, and then the actuator drives the grasping mechanism to move downward in the vertical direction, so that the second assembly part and the first assembly part can be finally assembled on the placement platform.

[0013] In some embodiments of the present application, the actuator includes a first moving seat, a second moving seat, a third moving seat, a first driving device, a second driving device, and a third driving device;

[0014] The first movable seat is movably disposed on the frame, and the first driving device is used to drive the first movable seat to move in the lateral direction relative to the frame;

[0015] The second movable seat is movably disposed on the first movable seat, and the second driving device is used to drive the second movable seat to move along the longitudinal direction relative to the first movable seat;

[0016] The third movable seat is movably arranged on the second movable seat, and the third driving device is used to drive the third movable seat to move along the vertical direction relative to the second movable seat;

[0017] The sensor is connected between the grabbing mechanism and the third moving seat.

[0018] In the above technical solution, the first driving device drives the first movable seat to move relative to the frame, so that the lateral movement of the grasping mechanism can be realized; the second driving device drives the second movable seat to move relative to the first movable seat, so that the longitudinal movement of the grasping mechanism can be realized; the third driving device drives the third movable seat to move vertically relative to the second movable seat, so that the vertical movement of the grasping mechanism can be realized. The lateral, longitudinal and vertical movements of the grasping mechanism can be realized in the above manner, and the structure is simple and easy to realize.

[0019] In some embodiments of the present application, the second mobile seat includes a bottom plate, a first side plate, a second side plate and a top plate;

[0020] The two ends of the first side plate are connected to the bottom plate and the top plate respectively, the two ends of the second side plate are connected to the bottom plate and the top plate respectively, the bottom plate is provided with a through hole for the third movable seat to pass through, the third movable seat is movably arranged between the first side plate and the second side plate, and the third driving device is connected to the top plate.

[0021] In the above technical solution, the second movable seat includes a bottom plate, a first side plate, a second side plate and a top plate, the two ends of the first side plate are respectively connected to the bottom plate and the top plate, and the two ends of the second side plate are respectively connected to the bottom plate and the top plate, so that the second movable seat is a rectangular frame structure as a whole, and has good structural stability. The third movable seat is movably arranged between the first side plate and the second side plate, which can be understood as the third movable seat moving inside the second movable seat, saving space. The third driving device is connected to the top plate to facilitate driving the third movable seat to move.

[0022] In some embodiments of the present application, a buffer member is provided on the top plate.

[0023] In the above technical solution, a buffer is provided on the top plate. When the third movable seat moves vertically upward under the action of the third driving device, the buffer can buffer the third movable seat, thereby avoiding rigid contact between the third movable seat and the top plate and improving the service life of the third movable seat.

[0024] In some embodiments of the present application, a first guide rail and a second guide rail are respectively provided on both sides of the third movable seat;

[0025] The bottom plate is provided with a first guide seat and a second guide seat, wherein the first guide seat forms a sliding fit with the first guide rail, and the second guide seat forms a sliding fit with the second guide rail.

[0026] In the above technical solution, the first guide rail and the second guide rail on both sides of the third movable seat respectively form a sliding fit with the first guide seat and the second guide seat on the bottom plate, thereby improving the stability of the third movable seat during vertical movement.

[0027] In some embodiments of the present application, the rack is supported on the bottom of the first moving seat, and the first moving seat is supported on the bottom of the second moving seat.

[0028] In the above technical solution, the frame is supported on the bottom of the moving seat, so that the first moving seat has good stability during the lateral movement. The first moving seat is supported on the bottom of the second moving seat, so that the second moving seat has good stability during the longitudinal movement.

[0029] In some embodiments of the present application, the grasping device further comprises a rotating mechanism;

[0030] The rotating mechanism is connected between the sensor and the actuator, and is used to drive the grasping mechanism to rotate around the vertically arranged axis.

[0031] In the above technical solution, a rotating mechanism is provided between the sensor and the actuator, and the rotating mechanism can drive the grasping mechanism to rotate around the vertically arranged axis. After the grasping mechanism grasps the second assembly part, the rotating mechanism can drive the grasping mechanism to rotate around the vertically arranged axis to adjust the direction of the second assembly part.

[0032] In some embodiments of the present application, the assembly execution device further includes a first image positioning device and a second image positioning device;

[0033] The first image positioning device is used to obtain a first position signal of a first assembly located on the placement platform;

[0034] The second image positioning device is used to obtain a second position signal of a second assembly part grasped by the grasping mechanism;

[0035] The control system is used to control the actuator to drive the second assembly part grasped by the grasping mechanism to move to just above the first assembly part located on the placement platform according to the first position signal and the second position signal.

[0036] In the above technical solution, during the assembly process, the first position signal of the first assembly part can be obtained through the first image positioning device, and the second position signal of the second assembly part can be obtained through the second image positioning device. The control system can control the actuator to drive the second assembly part to move to directly above the first assembly part according to the first position signal and the second position signal. At this time, the control system controls the actuator to drive the second assembly part to move vertically downward, so that the second assembly part and the first assembly part can be accurately assembled.

[0037] In some embodiments of the present application, the adjustment mechanism includes a support platform and at least three telescopic members;

[0038] One end of the telescopic member is hinged to the supporting platform, and the other end of the telescopic member is hinged to the placing platform;

[0039] The control system is used to control the extension and retraction of each retractable member according to the posture signal.

[0040] In the above technical solution, the two ends of the telescopic member are respectively hinged to the supporting platform and the placement platform. The control system controls the telescopic member to extend and retract to adjust the posture of the placement platform. The structure is simple and easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 A schematic diagram of the structure of an assembly execution device provided in an embodiment of the present application;

[0043] Figure 2 for Figure 1 The structural schematic diagram of the regulating device shown;

[0044] Figure 3 for Figure 1 The structural schematic diagram of the grabbing device shown is in the first viewing angle;

[0045] Figure 4 for Figure 1 The structure diagram of the grabbing device shown is at a second viewing angle.

[0046] Icons: 100-assembly actuator; 10-adjustment device; 11-adjustment mechanism; 111-support platform; 112-telescopic member; 12-placement platform; 20-grabbing device; 21-grabbing mechanism; 22-sensor; 23-actuator; 231-first moving seat; 2311-fourth guide rail; 232-second moving seat; 2321-bottom plate; 2322-first side plate; 2323-second side plate; 2324-top plate; 2325-through hole; 2326-first guide seat; 2327-buffer; 233-third moving seat ;2331-first guide rail;2332-nut;234-first drive device;235-second drive device;236-third drive device;2361-motor;2362-reducer;2363-screw;24-rotating mechanism;25-connecting piece;26-plate light source;30-frame;31-cabinet;311-support surface;32-support frame;321-third guide rail;33-feeding platform;34-stand;40-first image positioning device;50-second image positioning device;A-horizontal;B-longitudinal;C-vertical. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0050] In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0051] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] Example

[0053] The present application embodiment provides an assembly execution device 100, which can achieve high-precision assembly between assembly parts. Figure 1-Figure 4 The specific structure of the assembly execution device 100 is described in detail.

[0054] Figure 1 A schematic diagram of the structure of an assembly execution device 100 provided in an embodiment of the present application; Figure 2 for Figure 1 The structural schematic diagram of the regulating device 10 shown; Figure 3 for Figure 1 The structure diagram of the grabbing device 20 shown is in the first viewing angle; Figure 4 for Figure 1 The structure diagram of the grabbing device 20 shown is at a second viewing angle.

[0055] like Figure 1 As shown, the assembly execution device 100 includes an adjustment device 10, a gripping device 20 and a control system.

[0056] The adjusting device 10 includes an adjusting mechanism 11 and a placement platform 12 for placing the first assembly part, the placement platform 12 is connected to the adjusting mechanism 11, and the adjusting mechanism 11 is used to adjust the posture of the placement platform 12;

[0057] The gripping device 20 includes a gripping mechanism 21 ( Figure 1 Not shown), sensor 22 ( Figure 1The sensor 22 is connected between the grasping mechanism 21 and the implementing mechanism 23, the grasping mechanism 21 is used to grasp the second assembly part, the sensor 22 is used to obtain the posture signal of the second assembly part grasped by the grasping mechanism 21, and the implementing mechanism 23 is used to transport the second assembly part grasped by the grasping mechanism 21 to the placement platform 12, and assemble it with the first assembly part on the placement platform 12;

[0058] The control system is used to control the action of the adjustment mechanism 11 according to the posture signal to adjust the posture of the placement platform 12.

[0059] During the assembly process, after the gripping mechanism 21 grabs the second assembly part, the sensor 22 will obtain the force information of the gripping mechanism 21 grabbing the second assembly part, that is, obtain the posture signal of the second assembly part. After the posture signal is transmitted to the control system, the control system controls the adjustment mechanism 11 of the adjustment device 10 to operate according to the posture signal, adjusts the posture of the placement platform 12, and then adjusts the posture of the first assembly part on the placement platform 12, so that the posture of the first assembly part is consistent with the posture of the second assembly part, so that the first assembly part and the second assembly part can achieve a high-precision assembly effect. The assembly execution device 100 of this structure ensures a high-precision effect between the assemblies, has a simple maintenance process, and can be adapted to a wide range of assembly production and manufacturing processes. At the same time, it can ensure that the gaps between the assemblies are uniform, reduce the production of defective products, avoid errors in manual operations, save production costs, and improve assembly capacity.

[0060] It should be noted that, under the action of the control system, the adjusting mechanism 11 adjusts the posture of the first assembly to be consistent with the posture adjustment of the second assembly. It can be understood that when the second assembly grasped by the grasping mechanism 21 is tilted, the control system controls the adjusting mechanism 11 to operate so that the first assembly also tilts, so that the first assembly is parallel to the second assembly.

[0061] The control system can be a PLC (Programmable Logic Controller) or a single-chip microcomputer. Of course, the control system is not limited to the two structural forms of PLC and single-chip microcomputer.

[0062] Alternatively, if Figure 2 As shown, the adjustment mechanism 11 includes a support platform 111 and at least three telescopic members 112. One end of the telescopic member 112 is hinged to the support platform 111, and the other end of the telescopic member 112 is hinged to the placement platform 12. The control system is used to control the telescopic movement of each telescopic member 112 according to the posture signal.

[0063] The two ends of the telescopic member 112 are respectively hinged to the supporting platform 111 and the placement platform 12. The control system controls the telescopic member 112 to extend and retract, thereby adjusting the posture of the placement platform 12. The structure is simple and easy to implement.

[0064] The telescopic member 112 is ball-jointed to the supporting platform 111 , and the telescopic member 112 is ball-jointed to the placing platform 12 .

[0065] In this embodiment, the supporting platform 111 and the placing platform 12 are both annular. There are six telescopic members 112. In each of three adjacent telescopic members 112, the first two adjacent telescopic members 112 are distributed in an "eight" shape, and the last two adjacent telescopic members 112 are distributed in an inverted "eight" shape. Exemplarily, the telescopic member 112 is a cylinder.

[0066] In this embodiment, the sensor 22 is a multi-dimensional force sensor. Exemplarily, the sensor is a six-dimensional force sensor.

[0067] In other embodiments, the number of the telescopic members 112 between the supporting platform 111 and the placing platform 12 may also be three, four, or five.

[0068] Furthermore, the assembly execution device 100 further includes a frame 30. The adjustment mechanism 11 and the execution mechanism 23 are both connected to the frame 30, and the execution mechanism 23 is used to drive the grasping mechanism 21 to move in the horizontal direction A, the longitudinal direction B and the vertical direction C relative to the frame 30.

[0069] The actuator 23 can drive the grasping mechanism 21 to move in the horizontal direction A, the vertical direction B and the vertical direction C relative to the frame 30, that is, the grasping mechanism 21 can move in three directions, so that the grasping mechanism 21 has a larger grasping range. During the assembly process, after the grasping mechanism 21 grasps the second assembly part at the grasping position, the actuator 23 drives the grasping mechanism 21 to move in the horizontal direction A and the vertical direction B, so that the grasping mechanism 21 is located directly above the placement platform 12, and then the actuator 23 drives the grasping mechanism 21 to move downward in the vertical direction C, so that the second assembly part and the first assembly part can be finally assembled on the placement platform 12.

[0070] The frame 30 includes a cabinet 31, a support frame 32 and a feeding platform 33. The top surface of the cabinet 31 is a supporting surface 311. The support frame 32 and the feeding platform 33 are both fixed to the supporting surface 311. The support frame 32 is a frame structure. The supporting platform 111 of the adjusting mechanism 11 of the adjusting device 10 is fixed to the supporting surface 311. The actuator 23 of the grabbing device 20 is arranged on the support frame 32, so that the grabbing device 20 is located on the upper side of the adjusting device 10.

[0071] The feeding platform 33 is used to place the second assembly part, and the second assembly part can be placed on the feeding platform 33 by manual or robot loading. Similarly, the first assembly part can also be placed on the placement platform 12 by manual or robot loading.

[0072] When the grabbing mechanism 21 grabs the second assembly part on the feeding platform 33, the actuator 23 drives the grabbing mechanism 21 to move horizontally A and vertically B, so that the grabbing mechanism 21 is located directly above the feeding platform 33, and then the actuator 23 drives the grabbing mechanism 21 to move vertically C downward, and the grabbing mechanism 21 finally reaches the grabbing position to grab the second assembly part.

[0073] It should be noted that, in this embodiment, the function of the actuator 23 is to drive the gripping mechanism 21 to move in three mutually perpendicular directions. In other embodiments, the actuator 23 can drive the actuator 23 to move only in two mutually perpendicular directions, for example, the actuator 23 can drive the gripping mechanism 21 to move only in the horizontal direction A and the vertical direction C. After the gripping mechanism 21 grabs the second assembly part, the actuator 23 drives the gripping mechanism 21 to move in the horizontal direction A so that the gripping mechanism 21 is located directly above the placement platform 12, and then the actuator 23 drives the gripping mechanism 21 to move downward in the vertical direction C, so that the second assembly part and the first assembly part can be finally assembled on the placement platform 12.

[0074] Optionally, combined Figure 1 , Figure 3 The actuator 23 includes a first moving seat 231, a second moving seat 232, a third moving seat 233, a first driving device 234, a second driving device 235 and a third driving device 236. The first moving seat 231 is movably arranged on the frame 30, and the first driving device 234 is used to drive the first moving seat 231 to move in the horizontal direction A relative to the frame 30. The second moving seat 232 is movably arranged on the first moving seat 231, and the second driving device 235 is used to drive the second moving seat 232 to move in the longitudinal direction B relative to the first moving seat 231. The third moving seat 233 is movably arranged on the second moving seat 232, and the third driving device 236 is used to drive the third moving seat 233 to move in the vertical direction C relative to the second moving seat 232. The sensor 22 is connected between the grasping mechanism 21 and the third moving seat 233.

[0075] By driving the first movable seat 231 to move relative to the frame 30 through the first driving device 234, the lateral A movement of the grasping mechanism 21 can be achieved; by driving the second movable seat 232 to move relative to the first movable seat 231 through the second driving device 235, the longitudinal B movement of the grasping mechanism 21 can be achieved; by driving the third movable seat 233 to move vertically C relative to the second movable seat 232 through the third driving device 236, the vertical C movement of the grasping mechanism 21 can be achieved. The lateral A, longitudinal B and vertical C movements of the grasping mechanism 21 can be achieved in the above manner, and the structure is simple and easy to achieve.

[0076] Optionally, the support frame 32 of the frame 30 is supported on the bottom of the first movable seat 231, so that the first movable seat 231 has good stability during the lateral movement A. The first movable seat 231 is supported on the bottom of the second movable seat 232, so that the second movable seat 232 has good stability during the longitudinal movement B.

[0077] The first movable seat 231 is a plate-like structure, and two parallel third guide rails 321 are provided on the support frame 32 of the frame 30 for the first movable seat 231 to move. Exemplarily, the first driving device 234 is a first linear module, and the support frame 32 is connected to the first movable seat 231 through the first linear module, and the first linear module can realize the reciprocating movement of the first movable seat 231 in the horizontal direction A when it works.

[0078] The second moving seat 232 is also a plate-shaped structure, and the first moving seat 231 is provided with two parallel fourth guide rails 2311 for the second moving seat 232 to move. Exemplarily, the second driving device is a second linear module, and the first moving seat 231 and the second moving seat 232 are connected through the second linear module, and the second linear module can realize the reciprocating movement of the second moving seat 232 in the longitudinal direction B when the second linear module works.

[0079] In this embodiment, continue to refer to Figure 3 The second movable seat 232 includes a bottom plate 2321, a first side plate 2322, a second side plate 2323 and a top plate 2324, the two ends of the first side plate 2322 are respectively connected to the bottom plate 2321 and the top plate 2324, the two ends of the second side plate 2323 are respectively connected to the bottom plate 2321 and the top plate 2324, the bottom plate 2321 is provided with a through hole 2325 for the third movable seat 233 to pass through, the third movable seat 233 is movably arranged between the first side plate 2322 and the second side plate 2323, and the third driving device 236 is connected to the top plate 2324.

[0080] The second movable seat 232 includes a bottom plate 2321, a first side plate 2322, a second side plate 2323 and a top plate 2324. The two ends of the first side plate 2322 are connected to the bottom plate 2321 and the top plate 2324 respectively, and the two ends of the second side plate 2323 are connected to the bottom plate 2321 and the top plate 2324 respectively, so that the second movable seat 232 is a rectangular frame structure as a whole, and has good structural stability. The third movable seat 233 is movably arranged between the first side plate 2322 and the second side plate 2323, which can be understood as the third movable seat 233 moving inside the second movable seat 232, saving space. The third driving device 236 is connected to the top plate 2324, which is convenient for driving the third movable seat 233 to move.

[0081] The bottom plate 2321 of the second movable seat 232 is connected to the first movable seat 231 via a second linear module.

[0082] In this embodiment, the third movable seat 233 is a rectangular frame structure.

[0083] Furthermore, the first guide rail 2331 and the second guide rail 2331 are respectively provided on both sides of the third movable seat 233. Figure 3 The bottom plate 2321 of the second movable seat 232 is provided with a first guide seat 2326 and a second guide seat ( Figure 3 (not shown), the first guide seat 2326 forms a sliding fit with the first guide rail 2331, and the second guide seat forms a sliding fit with the second guide rail. This structure improves the stability of the third movable seat 233 during the vertical C movement.

[0084] Exemplarily, the third driving device 236 includes a motor 2361, a reducer 2362 and a screw 2363, the screw 2363 is connected to the motor 2361 through the reducer 2362, the reducer 2362 is fixed to the top plate 2324 of the second movable seat 232, and a nut 2332 is fixed to the third movable seat 233, and the nut 2332 is screwed to the outer side of the screw 2363. When the motor 2361 drives the screw 2363 to rotate, the third movable seat 233 will move vertically C relative to the second movable seat 232.

[0085] The nut 2332 threadedly connected to the screw rod 2363 is fixed on the top of the third movable seat 233 .

[0086] Furthermore, if Figure 4 As shown, a buffer 2327 is provided on the top plate 2324. When the third movable seat 233 moves upward in the vertical direction C under the action of the third driving device 236, after the nut 2332 on the third movable seat 233 contacts the buffer 2327, the buffer 2327 can buffer the third movable seat 233, thereby preventing the third movable seat 233 from having a rigid contact with the top plate 2324 and improving the service life of the third movable seat 233.

[0087] Among them, Figure 4 As shown, the buffer member 2327 is an elastic member. Exemplarily, the buffer member 2327 is made of elastic rubber material.

[0088] It should be noted that the sensor 22 can be directly connected to the actuator 23, that is, the sensor 22 is directly connected to the third movable seat 233; the sensor 22 can also be indirectly connected to the actuator 23 through an intermediate piece, that is, the sensor 22 is connected to the third movable seat 233 through an intermediate piece.

[0089] In this embodiment, Figure 3 , Figure 4 As shown, the gripping device 20 further includes a rotating mechanism 24, which is connected between the sensor 22 and the actuator 23, and is used to drive the gripping mechanism 21 to rotate around an axis arranged vertically in the C direction.

[0090] After the grasping mechanism 21 grasps the second assembly part, the grasping mechanism 21 can be driven to rotate around an axis arranged in the vertical direction C through the rotating mechanism 24 to adjust the direction of the second assembly part.

[0091] Exemplarily, the rotating mechanism 24 is a rotating platform, and the sensor 22 is connected to the rotating platform via a connecting piece 25 .

[0092] In the grasping device 20, the grasping mechanism 21 is used to grasp the second assembly part, and the grasping mechanism 21 can be of various structures. In this embodiment, the grasping mechanism 21 is exemplarily a plurality of suction cups distributed in a rectangular array, and the second assembly part is grasped by each suction cup. The grasping mechanism 21 is connected to the sensor 22 via a plate-shaped light source 26.

[0093] In general, when all suction cups are attracted to the second assembly part, the second assembly part is in a horizontal position; when only some suction cups are attracted to the second assembly part, the second assembly part may be tilted.

[0094] In addition, if Figure 1 As shown, the assembly actuator 23 also includes a first image positioning device 40 and a second image positioning device 50. The first image positioning device 40 is used to obtain a first position signal of a first assembly part located on the placement platform 12. The second image positioning device 50 is used to obtain a second position signal of a second assembly part grasped by the grasping mechanism 21. The control system is used to control the actuator 23 to drive the second assembly part grasped by the grasping mechanism 21 to move to the top of the first assembly part located on the placement platform 12 according to the first position signal and the second position signal.

[0095] During the assembly process, the first position signal of the first assembly part can be obtained through the first image positioning device 40, and the second position signal of the second assembly part can be obtained through the second image positioning device 50. The control system can control the actuator 23 to drive the second assembly part to move to directly above the first assembly part according to the first position signal and the second position signal. At this time, the control system controls the actuator 23 to drive the second assembly part to move downward vertically C, so that the second assembly part and the first assembly part can be accurately assembled.

[0096] The support frame 32 of the frame 30 is provided with a vertical C-arranged stand 34, and the first image positioning device 40 is installed on the stand 34, so that the first image positioning device 40 is located directly above the placement platform 12. The second image positioning device 50 is installed on the support surface 311 of the cabinet 31 of the frame 30, and the second image positioning device 50 is located at the lower side of the grasping device 20.

[0097] Taking the example that both the first assembly part and the second assembly part are rectangles, after the first assembly part is placed on the placement platform 12, the first image positioning device 40 photographs the first assembly part, and determines the geometric center point of the first assembly part according to the contour of the photographed image, and this center point is the first center point; after the grasping mechanism 21 grasps the second assembly part on the feeding platform 33, the grasping mechanism 21 is driven by the actuator 23 to move to directly above the second image positioning device 50, and the second image positioning device 50 photographs the second assembly part, and determines the geometric center point of the second assembly part according to the contour of the photographed image, and this center point is the second center point. The control system obtains the coordinate value of the first center point in the reference coordinate system (horizontal coordinate X1, vertical coordinate Y1), and obtains the coordinate value of the second center point in the reference coordinate system (horizontal coordinate X2, vertical coordinate Y2). The control system controls the actuator 23 to drive the second assembly to move horizontally a first distance (X2-X1) and vertically a second distance (Y2-Y1). At this time, the second assembly is located directly above the first assembly. The control system then controls the actuator 23 to drive the second assembly to move vertically downward in the direction C, thereby achieving precise assembly of the second assembly with the first assembly.

[0098] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An assembly execution device, characterized in that: include: An adjusting device, the adjusting device comprising an adjusting mechanism and a placement platform for placing the first assembly part, the placement platform being connected to the adjusting mechanism, and the adjusting mechanism being used to adjust the posture of the placement platform; A grasping device, the grasping device comprising a grasping mechanism, a sensor and an actuator, the sensor being connected between the grasping mechanism and the actuator, the grasping mechanism being used to grasp a second assembly part, the sensor being used to obtain a posture signal of the second assembly part grasped by the grasping mechanism, and the actuator being used to transport the second assembly part grasped by the grasping mechanism to the placement platform and assemble it with the first assembly part on the placement platform; as well as A control system, the control system being used to control the action of the adjustment mechanism according to the posture signal to adjust the posture of the placement platform; The assembly execution device also includes a frame; the adjustment mechanism and the actuator are both connected to the frame, and the actuator is used to drive the grasping mechanism to move in the horizontal, longitudinal and vertical directions relative to the frame; the actuator includes a first moving seat, a second moving seat, a third moving seat, a first driving device, a second driving device and a third driving device; the first moving seat is movably arranged on the frame, and the first driving device is used to drive the first moving seat to move in the horizontal direction relative to the frame; the second moving seat is movably arranged on the first moving seat, and the second driving device is used to drive the second moving seat to move in the longitudinal direction relative to the first moving seat; the third moving seat is movably arranged on the second moving seat, and the third driving device is used to drive the third moving seat to move in the vertical direction relative to the second moving seat; the sensor is connected between the grasping mechanism and the third moving seat.

2. The assembly execution device according to claim 1, characterized in that: The second movable seat comprises a bottom plate, a first side plate, a second side plate and a top plate; The two ends of the first side plate are connected to the bottom plate and the top plate respectively, the two ends of the second side plate are connected to the bottom plate and the top plate respectively, the bottom plate is provided with a through hole for the third movable seat to pass through, the third movable seat is movably arranged between the first side plate and the second side plate, and the third driving device is connected to the top plate.

3. The assembly execution device according to claim 2, characterized in that: A buffer is arranged on the top plate.

4. The assembly execution device according to claim 2, characterized in that: The first guide rail and the second guide rail are respectively provided on both sides of the third movable seat; The bottom plate is provided with a first guide seat and a second guide seat, wherein the first guide seat forms a sliding fit with the first guide rail, and the second guide seat forms a sliding fit with the second guide rail.

5. The assembly execution device according to claim 2, characterized in that: The frame is supported on the bottom of the first moving seat, and the first moving seat is supported on the bottom of the second moving seat.

6. The assembly execution device according to any one of claims 1 to 5, characterized in that: The gripping device also includes a rotating mechanism; The rotating mechanism is connected between the sensor and the actuator, and is used to drive the grasping mechanism to rotate around the vertically arranged axis.

7. The assembly execution device according to any one of claims 1 to 5, characterized in that: The assembly execution device also includes a first image positioning device and a second image positioning device; The first image positioning device is used to obtain a first position signal of a first assembly located on the placement platform; The second image positioning device is used to obtain a second position signal of a second assembly part grasped by the grasping mechanism; The control system is used to control the actuator to drive the second assembly part grasped by the grasping mechanism to move to just above the first assembly part located on the placement platform according to the first position signal and the second position signal.

8. The assembly execution device according to claim 1, characterized in that: The adjustment mechanism includes a support platform and at least three telescopic members; One end of the telescopic member is hinged to the supporting platform, and the other end of the telescopic member is hinged to the placing platform; The control system is used to control the extension and retraction of each retractable member according to the posture signal.

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