An assembly system for thin parts

Abstract

The present invention discloses an assembly system for thin parts, which includes a 3D printing unit, a handling unit, a vertical storage unit, a feeding unit, an assembly unit, a painting unit, a packaging unit and a general control unit. The vertical storage unit includes a three-dimensional storage frame, a stacker and a docking mechanism; the feeding unit includes a gantry handling mechanism, two groups of picking mechanisms, a gluing mechanism, a lifting mechanism, a vision detection and assembly module and two linear conveying lines; the assembly unit includes a gantry handling mechanism, a robot, a mobile assembly table, a screw driving mechanism and two linear conveying lines; the painting unit includes a handling robot assembly, an inspection table, a turning table, a painting device, a lifting and pushing mechanism and two linear conveying lines; the packaging unit includes a docking table, a gantry handling mechanism, a spider robot, a material transfer mechanism and two linear conveying lines; the linear conveying lines on each unit are connected in sequence. The present invention is formed by multiple independent units that are easy to combine or split, is convenient to use, and has a high degree of automation.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly equipment, and particularly relates to an assembly system for thin parts. Background Art

[0002] With the development of Internet of Things technology, ultra-high frequency RFID of radio frequency identification technology is one of the key technologies of the Internet of Things. Ultra-high frequency RFID technology is a non-contact automatic identification technology. It automatically identifies target objects through radio frequency signals and obtains relevant data without establishing mechanical or optical contact between the identification system and specific targets. It has advantages such as strong signal penetration ability, long distance, long service life, good environmental adaptability, and the ability to identify multiple tags simultaneously. In recent years, it has been applied to varying degrees. Electronic tags are usually composed of a chip and a shell connected by screws; with the maturity of mobile storage technology, people's demand for USB flash drives is no longer limited to the only storage function and miniaturized appearance. They also hope to have functions such as beautiful appearance, convenient to carry and not easy to lose, and having an advertising effect. Card-shaped USB flash drives are square or round like standard bank cards. According to different ways of opening the storage chip, they can be divided into two types: plug-in and flip-type card-shaped USB flash drives. Since the flip-type has a waterproof function, the demand is relatively large. However, in the card-shaped USB flash drive assembly industry, the existing assembly methods for card-shaped USB flash drives are all manual assembly line operations, which not only have low work efficiency, but also due to the uncertainty of manual work, the quality and quantity cannot be guaranteed; because the existing electronic tag assembly systems or card-shaped USB flash drive assembly systems can only meet the assembly use of corresponding products, the utilization rate is low, the production cost is high, and usually multiple modules are integrated into one body and cannot be randomly disassembled or combined, resulting in low system utilization efficiency and waste of assets. Summary of the Invention

[0003] In view of this, the present invention provides an assembly system for thin parts to solve the above technical problems.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An assembly system for thin parts, comprising:

[0006] A 3D printing unit, in which a 3D printer and a printing material temporary storage table are arranged within a 3D printing unit frame of the 3D printing unit;

[0007] A movable handling unit;

[0008] An automated storage and retrieval unit, the automated storage and retrieval unit includes a stereoscopic warehouse frame, at least one stacker and a docking mechanism arranged on the stereoscopic warehouse frame. The handling unit transports the materials located on the printing material temporary storage table to a transfer rack of the docking mechanism, and the materials located on the transfer rack are stored in the warehouse by using the stacker;

[0009] Loading unit, the loading unit includes a loading unit frame and a transition material table, a first gantry handling mechanism, a first picking mechanism, a second picking mechanism, a gluing mechanism, a lifting mechanism, a vision inspection and assembly module, a first rotary table, and two linear conveyors for primary conveying with opposite moving directions and respectively close to the corresponding sides of the loading unit frame. The materials taken out of the stacker are first placed on the corresponding linear conveyors for primary conveying. The linear conveyors are provided with RFID detectors. The first gantry handling mechanism is used to transfer the corresponding pallet located on the corresponding linear conveyor for primary conveying to the transition material table or transfer the pallet located on the transition material table to the corresponding linear conveyor for primary conveying. The first picking mechanism is used to transfer the materials on the transition material table to the first rotary table. The second picking mechanism is used to transfer the materials located on the lifting mechanism. The lifting mechanism is used to lift the pallet located on the corresponding linear conveyor. The vision inspection and assembly module uses the materials on the first rotary table and the materials provided by the second picking mechanism to achieve electronic label assembly;

[0010] Assembly unit, the assembly unit includes an assembly unit frame and a second gantry handling mechanism, an assembly unit material table, a first robot, a mobile assembly table, a screw driving mechanism, and two linear conveyors for secondary conveying with opposite moving directions and respectively close to the corresponding sides of the assembly unit frame. The second gantry handling mechanism is used to transfer the corresponding pallet located on the corresponding linear conveyor for secondary conveying to the assembly unit material table or transfer the pallet located on the assembly unit material table to the corresponding linear conveyor for secondary conveying. The mobile assembly table is used to receive the materials after assembly or gluing in the loading unit. The first robot is used to transfer the materials on the assembly unit material table to the mobile assembly table for assembly;

[0011] Spraying unit, the spraying unit includes a spraying unit chassis and a handling robot assembly, an inspection table, a turning table, a spraying device, a lifting and pushing mechanism, and two linear conveyors for tertiary conveying with opposite moving directions and respectively close to the corresponding sides of the spraying unit chassis. The inspection table is used to fold the foldable thin parts. The turning table is used to turn the materials for convenient double-sided spraying;

[0012] Packaging unit, the packaging unit includes a packaging unit frame and a docking table, a third gantry handling mechanism, a packaging unit object table, a spider robot, a material transfer mechanism, a second rotary table, and two linear conveyors for four-level conveying with opposite moving directions and respectively close to the corresponding side edges of the packaging unit frame. The lifting and pushing mechanism can directly send the sprayed material to the docking table. The packaging unit object table is used to temporarily store trays with box lids or box bodies. The spider robot is used to transfer box bodies or box lids to the second rotary table. The material transfer mechanism is used to place the material located on the docking table into the corresponding box body;

[0013] The linear conveyor for primary conveying, the linear conveyor for secondary conveying, the linear conveyor for tertiary conveying, and the linear conveyor for four-level conveying located on the same side are connected in sequence;

[0014] Total control unit, the total control unit is used to uniformly control the processes of part processing, loading and unloading, handling, inspection, assembly, logistics, warehousing, etc.

[0015] Further, it also includes at least one set of corner docking units. The corner docking unit includes a corner transfer frame and a corner robot, two docking linear conveyors arranged perpendicular to each other. The two docking linear conveyors are connected by a right-angle turning conveyor. The corner robot is located between the two docking linear conveyors.

[0016] Further, the linear conveyor also includes a conveyor line base and a slat tray conveyor arranged on the conveyor line base. Two material blocking electromagnet mechanisms are arranged on the slat tray conveyor. The two material blocking electromagnet mechanisms are respectively located at the corresponding ends of the slat tray conveyor. The material blocking electromagnet mechanism is used to stop the tray located on the slat tray conveyor.

[0017] Further, the handling unit includes a moving base, a handling robotic arm is arranged on the moving base, and a handling gripper is connected to the handling robotic arm.

[0018] Further, the vertical storage unit includes two stacker cranes arranged parallel to each other and respectively located on both sides of the warehouse. The docking mechanism is located between the two stacker cranes to facilitate the mutual transfer of materials on the two stacker cranes.

[0019] Furthermore, the stacker crane includes a first horizontal linear module slide, a servo rotary platform arranged on the first horizontal linear module slide, a first vertical linear module slide arranged on the servo rotary platform, and a telescopic arm arranged on the first vertical linear module slide. The telescopic arm is composed of multiple layers of stacked slide cylinders.

[0020] Furthermore, the docking mechanism further includes a second horizontal linear module slide table, the transfer rack is arranged on the second horizontal linear module slide table, the transfer rack is provided with a transfer gripper, a gripper driving cylinder drivingly connected to the transfer gripper, an RFID reader / writer head, and a first rodless cylinder. The first rodless cylinder is located on one side of the transfer gripper, and the first rodless cylinder is used to push the tray placed on the transfer rack into the tray receiving groove of the transfer rack.

[0021] Furthermore, the lifting mechanism includes a lifting fixing frame erected on the corresponding linear conveyor, an alignment clamping mechanism arranged on the lifting fixing frame, a lifting cylinder, and a lifting plate. The lifting cylinder is fixedly arranged on the conveyor base of the linear conveyor. When the lifting cylinder jacks up the lifting plate, the corresponding tray is sent into the clamping port of the alignment clamping mechanism.

[0022] Further, the vision inspection and assembly module includes a second robot and a vision inspection and assembly table. The second robot is used to transfer the corresponding materials located on the first rotating workbench to the vision inspection and assembly table or the mobile assembly table. Among them, the vision inspection and assembly table includes a table frame. There are two through holes on the tabletop of the table frame. A first light source is arranged at one through hole, and a positioning mechanism is arranged at the other through hole. A first camera is arranged below the first light source, and a second camera and a second light source are arranged below the positioning mechanism. The first flipping manipulator arranged on the table frame can flip the assembly materials placed on the positioning mechanism.

[0023] Further, the mobile assembly table includes a mobile table arranged on the assembly unit frame by using a third horizontal linear module slide table. The mobile table is provided with a first assembly tabletop. The first assembly tabletop has a T-shaped groove. The main groove of the T-shaped groove is used to place the thin plate, and the belly groove of the T-shaped groove is used to place the flipping plate pivotally connected to the thin plate. Three sets of side push components that can act on the side surface of the thin plate are arranged on the outer periphery of the main groove, and three sets of side push components that can act on the side surface of the flipping plate are arranged on the outer periphery of the belly groove. A second rodless cylinder is arranged on the mobile rack slidably arranged on the side surface of the first assembly tabletop, and the second rodless cylinder is used to press-fit the chips placed on the flipping plate.

[0024] Furthermore, the mobile table is also provided with a second assembly tabletop and a three-jaw clamping mechanism. The three-jaw clamping mechanism is located below the second assembly tabletop, and the three jaw teeth of the three-jaw clamping mechanism respectively protrude from the top surface of the second assembly tabletop through the corresponding avoidance holes located on the second assembly tabletop.

[0025] Further, a first vision detection module and a second vision detection module are also provided on the assembly unit frame. The first vision detection module is used for detecting the angle of the parts to be assembled, and the second vision detection module is used for detecting the angle of the assembly components placed on the second assembly tabletop.

[0026] Further, the detection table includes a detection table frame fixedly connected to the base frame of the painting unit. A detection head, a pushing and clamping mechanism, and a flip cover mechanism are provided on the detection table frame. The detection head is used for detecting the material type, the pushing and clamping mechanism is used for limiting and fixing the thin plate, and the flip cover mechanism is used for flipping the flip plate pivotally connected to the thin plate to fit with the thin plate.

[0027] Further, the flipping table includes a flipping table frame fixedly connected to the base frame of the painting unit. A second flipping manipulator and a waste box are provided on the flipping table frame.

[0028] Further, the lifting and pushing mechanism includes a lifting mechanism and a pushing mechanism both provided on the base frame of the painting unit. When the lifting carrier plate of the lifting mechanism descends to the corresponding position, the pushing mechanism pushes the material on the lifting carrier plate to the docking table.

[0029] Further, the handling claws of the first gantry handling mechanism, the picking claws of the first picking mechanism, the picking claws of the second picking mechanism, the glue spraying heads of the glue coating mechanism, the handling claws of the second gantry handling mechanism, and the transfer claws of the material transfer mechanism can all perform linear motions along the X-axis, Y-axis, and Z-axis.

[0030] It can be seen from the above technical solutions that the advantages of the present invention are as follows:

[0031] 1. A major feature of this production line is the modular design, that is, each unit forms an independent system separately, and a complete unified system is formed through the combination of each unit. This determines that the layout of this production line has various forms and can be applied to various occasions;

[0032] 2. A separate corner unit is provided in this production line, which can make the connection of two units turn 90°. Therefore, the layout of this assembly production line has diversity. Due to the existence of the corner unit, the production line layout can be spliced and changed to conveniently adapt to different sites;

[0033] 3. This production line adopts the modular design concept. The independent unit systems are also convenient for teaching and training. Each unit adopts a similar modular table frame, and the splicing and separation processes can be completed quickly. Each unit can be used for individual training projects.

[0034] In addition to the purposes, features, and advantages described above, the present invention has other purposes, features, and advantages. The present invention will be further described in detail below with reference to the drawings. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 It is a schematic diagram of a layout structure of the present invention.

[0037] Figure 2 It is a three-dimensional structure diagram of the 3D printing unit of the present invention.

[0038] Figure 3 It is a three-dimensional structure diagram of the handling unit of the present invention.

[0039] Figure 4 It is a three-dimensional structure diagram of a vertical storage unit of the present invention.

[0040] Figure 5 It is another three-dimensional structure diagram of the vertical storage unit of the present invention.

[0041] Figure 6 It is a three-dimensional structure diagram of the docking mechanism of the vertical storage unit of the present invention.

[0042] Figure 7 It is a three-dimensional structure diagram of the loading unit of the present invention.

[0043] Figure 8 It is a three-dimensional structure diagram of the lifting mechanism of the loading unit of the present invention.

[0044] Figure 9 It is a three-dimensional structure diagram of the vision inspection and assembly module of the loading unit of the present invention.

[0045] Figure 10 It is a structure diagram of the vision inspection and assembly table of the vision inspection and assembly module of the present invention.

[0046] Figure 11 It is a three-dimensional structure diagram of an assembly unit of the present invention.

[0047] Figure 12 It is another three-dimensional structure diagram of the assembly unit of the present invention.

[0048] Figure 13 It is a three-dimensional structure diagram of the mobile assembly table of the assembly unit of the present invention.

[0049] Figure 14Schematic three-dimensional structure diagram of the inkjet unit of the present invention.

[0050] Figure 15 Schematic partial structure diagram of the inkjet unit of the present invention.

[0051] Figure 16 Schematic three-dimensional structure diagram of the packaging unit of the present invention.

[0052] Figure 17 Schematic three-dimensional structure diagram of the corner docking unit of the present invention.

[0053] List of reference numerals: 3D printing unit 1, 3D printing unit frame 11, 3D printer 12, printing material temporary storage table 13, finished product display cabinet 14, raw material storage cabinet 15, handling unit 2, moving base 21, handling robotic arm 22, handling gripper 23, vertical storage unit 3, vertical storage frame 31, first horizontal linear module slide 32, servo rotating platform 33, first vertical linear module slide 34, telescopic arm 35, vertical storage control box 36, docking mechanism 37, second horizontal linear module slide 371, transfer rack 372, gripper driving cylinder 375, transfer gripper 376, RFID reader / writer 377, first rodless cylinder 378, feeding unit 4, feeding unit frame 41, transitional material table 42, first gantry handling mechanism 43, first picking mechanism 44, second picking mechanism 45, gluing mechanism 46, lifting mechanism 47, lifting fixing frame 471, lifting cylinder 472, lifting plate 473, alignment clamping mechanism 474, vision inspection and assembly module 48, second robot 481, vision inspection and assembly table 482, table frame 4821, first camera 4822, first light source 4823, positioning mechanism 4824, first flipping manipulator 4825, first rotating worktable 49, assembly unit 5, assembly unit frame 51, second gantry handling mechanism 52, assembly unit material table 53, first robot 54, moving assembly table 55, moving table 551, first assembly tabletop 552, side pushing component 553, moving rack 554, second rodless cylinder 555, second assembly tabletop 556, three-jaw clamping mechanism 557, screw driving mechanism 56, first vision inspection module 57, second vision inspection module 58, painting unit 6, painting unit chassis 61, handling robot component 62, inspection table 63, inspection table frame 631, top pushing and clamping mechanism 632, flip mechanism 633, inspection head 634, flipping table 64, flipping table frame 641, waste box 642, second flipping manipulator 643, painting equipment 65, moving platform 66, lifting and pushing mechanism 67, lifting load plate 671, packaging unit 7, packaging unit rack 71, docking table 72, third gantry handling mechanism 73, packaging unit object table 74, spider robot 75, material transfer mechanism 76, second rotating worktable 77, corner docking unit 8, corner adapter frame 81, corner robot 82, straight conveyor line 91, right-angle turning conveyor line 92, general control unit 10. Detailed implementation manners

[0054] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0055] Refer toFigures 1 to 17 For further description of this application, as Figure 1 shown, an assembly system for thin parts includes: a 3D printing unit 1, a movable handling unit 2, a vertical storage unit 3, a loading unit 4, an assembly unit 5, a painting unit 6, a packaging unit 7, two conveying modules with opposite moving directions, and a general control unit 10. The general control unit 10 mainly consists of a control system, a control cabinet, a console, an industrial computer, a server, an electronic display board, etc. The general industrial robot offline simulation software is used to realize the operation simulation of multiple production lines; through the MES system, unified management and control are carried out for links such as part processing, loading and unloading, handling, inspection, assembly, logistics, and warehousing. Among them, the conveying module is composed of multiple linearly arranged and sequentially connected straight conveying lines 91 or composed of multiple straight conveying lines 91 and at least one right-angle turning conveying line 92. An RFID detector is provided on the straight conveying line 91. The RFID detector on the straight conveying line 91 is used to judge whether the material is the material required by this unit. When the material is not the material required by this unit, it is conveyed to the next unit. When the material is the material required by this unit, it is transferred to the material platform of the corresponding unit by the corresponding transfer mechanism and waits for use.

[0056] Specifically, the straight conveying line 91 further includes a conveying line base and a slatted pallet conveyor arranged on the conveying line base. Two material blocking electromagnet mechanisms are arranged on the slatted pallet conveyor. The two material blocking electromagnet mechanisms are respectively located at the corresponding ends of the slatted pallet conveyor. The material blocking electromagnet mechanism is used to stop the pallet located on the slatted pallet conveyor.

[0057] As Figure 2 shown, a 3D printer 12, a printing material temporary storage table 13, a finished product display cabinet 14, and a raw material storage cabinet 15 are arranged in the 3D printing unit frame 11 of the 3D printing unit 1.

[0058] As Figure 3 shown, the handling unit 2 includes a moving base 21. A handling robotic arm 22 is arranged on the moving base 21, and a handling gripper 23 is connected to the handling robotic arm 22.

[0059] As Figure 4 and Figure 5 shown, the vertical storage unit 3 includes a three-dimensional storage frame 31, a vertical storage control box 36, at least one stacker arranged on the three-dimensional storage frame 31, and a docking mechanism 37. The handling unit 2 transports the material on the printing material temporary storage table 13 to the transfer rack 372 of the docking mechanism 37, and the material on the transfer rack 372 is warehoused by the stacker.

[0060] Specifically, the automated storage unit 3 includes two groups of stackers that are parallel to each other and located on both sides of the warehouse respectively. The docking mechanism 37 is located between the two groups of stackers to facilitate the mutual transfer of materials on the two groups of stackers. Among them, each stacker includes a first horizontal linear module slide 32, a servo rotating platform 33 arranged on the first horizontal linear module slide 32, a first vertical linear module slide 34 arranged on the servo rotating platform 33, and a telescopic arm 35 arranged on the first vertical linear module slide 34. The telescopic arm 35 is composed of multiple layers of stacked slide cylinders. A tray rack is provided on the top layer of the telescopic arm 35. The servo rotating platform 33 drives the telescopic arm to rotate 360°, which can conveniently transfer the materials after leaving the warehouse to the next unit.

[0061] As Figure 6 shown, the docking mechanism 37 further includes a second horizontal linear module slide 371. A transfer rack 372 is arranged on the second horizontal linear module slide 371. A transfer gripper 376, a gripper driving cylinder 375 drivingly connected to the transfer gripper 376, an RFID reader / writer 377, and a first rodless cylinder 378 are provided on the transfer rack 372. The first rodless cylinder 378 is located on one side of the transfer gripper 376, and the first rodless cylinder 378 is used to push the tray placed on the transfer rack 372 into the tray receiving groove of the transfer rack 372. The RFID reader / writer 377 is provided to read the material type for classified storage.

[0062] As Figure 7As shown in the figure, the loading unit 4 includes a loading unit frame 41, a transition material table 42, a first gantry handling mechanism 43, a first picking mechanism 44, a second picking mechanism 45, a gluing mechanism 46, a lifting mechanism 47, a vision inspection and assembly module 48, a first rotary table 49, and two linear conveyor lines 91 for primary conveying that are arranged with opposite moving directions and are respectively close to the corresponding side edges of the loading unit frame 41. The materials taken out of the stacker are first placed on the corresponding linear conveyor lines 91 for primary conveying. The first gantry handling mechanism 43 is used to transfer the pallet with materials located on the corresponding linear conveyor line 91 for primary conveying to the transition material table 42 or transfer the empty pallet located on the transition material table 42 to the corresponding linear conveyor line 91 for primary conveying to realize pallet recycling. The first picking mechanism 44 is used to transfer the materials on the transition material table 42 to the first rotary table 49. The second picking mechanism 45 is used to transfer the materials located on the lifting mechanism 47 to the vision inspection and assembly module 48. The lifting mechanism 47 is used to lift the corresponding pallet located on the corresponding linear conveyor line 91. The vision inspection and assembly module 48 uses the materials on the first rotary table 49 and the materials provided by the second picking mechanism 45 to perform electronic label assembly.

[0063] As Figure 8 shown, the lifting mechanism 47 includes a lifting fixed frame 471 erected on the corresponding linear conveyor line 91, an alignment and clamping mechanism 474, a lifting cylinder 472, and a lifting plate 473 arranged on the lifting fixed frame 471. The lifting cylinder 472 is fixedly arranged on the conveyor line base of the linear conveyor line 91. When the lifting cylinder 472 lifts the lifting plate 473, the corresponding pallet is sent into the clamping opening of the alignment and clamping mechanism 474. After the alignment and clamping mechanism 474 clamps the pallet, the lifting plate 473 can descend and reset, so as not to affect other pallets entering the next module. When the lifted materials are transferred, the lifting mechanism 47 is used to reset the empty pallet and make it enter the next unit.

[0064] As Figure 9 and Figure 10As shown, the visual inspection and assembly module 48 includes a second robot 481 and a visual inspection and assembly table 482. The second robot 481 is used to transfer the corresponding materials located on the first rotary table 49 to the visual inspection and assembly table 482 or the mobile assembly table 55. Among them, the visual inspection and assembly table 482 includes a table frame 4821. There are two through holes on the tabletop of the table frame 4821. A first light source 4823 is arranged at one through hole, and a positioning mechanism 4824 is arranged at the other through hole. A first camera 4822 is arranged below the first light source 4823, and a second camera and a second light source are arranged below the positioning mechanism 4824. The second camera and the second light source are arranged for visually inspecting the materials placed on the positioning mechanism 4824 by the second robot 481, and then controlling the clamping arm of the second robot 481 to rotate for position adjustment. The first light source 4823 and the first camera 4822 cooperate to visually inspect the materials to be clamped by the second robot 481. By comparing with the vision of the materials already placed on the positioning mechanism 4824 and then adjusting, the assembly accuracy is high. The positioning mechanism 4824 has a vertically penetrating notch. The first flipping manipulator 4825 arranged on the table frame 4821 can pass through the notch of the positioning mechanism 4824 to flip the assembled materials placed on the positioning mechanism 4824 in place, which is convenient for continuing to assemble other parts in the next process. It has high integration, is easy to use, and has high working efficiency.

[0065] As Figure 11 and Figure 12 shown, the assembly unit 5 includes an assembly unit frame 51 and a second gantry handling mechanism 52, an assembly unit material table 53, a first robot 54, a mobile assembly table 55, a screw driving mechanism 56, and two linear conveying lines 91 for secondary conveying with opposite movement directions and respectively close to the corresponding side edges of the assembly unit frame 51. The second gantry handling mechanism 52 is used to transfer the corresponding trays located on the corresponding linear conveying lines 91 for secondary conveying to the assembly unit material table 53, or transfer the trays located on the assembly unit material table 53 to the corresponding linear conveying lines 91 for secondary conveying for recycling, or transfer the corresponding empty trays located on the corresponding linear conveying lines 91 for secondary conveying to the linear conveying lines 91 for secondary conveying for recycling empty trays. The mobile assembly table 55 is used to receive the assembled or glue-coated materials transferred by the second robot 481 of the feeding unit 4. The first robot 54 is used to transfer the materials located on the assembly unit material table 53 to the mobile assembly table 55 for assembly. The function of the first robot 54 in this application is to pick up the back cover of the electronic tag or the chip of the USB flash drive.

[0066] As Figure 13As shown, the mobile assembly table 55 includes a mobile table 551 arranged on the assembly unit frame 51 by means of a third horizontal linear module slide. A first assembly table surface 552 is provided on the mobile table 551. The first assembly table surface 552 has a T-shaped groove. The main groove of the T-shaped groove is used for placing a thin plate, and the belly groove of the T-shaped groove is used for placing a flip plate pivotally connected to the thin plate. Three sets of side push components 553 that can act on the side surface of the thin plate are arranged on the outer periphery of the main groove, and three sets of side push components 553 that can act on the side surface of the flip plate are arranged on the outer periphery of the belly groove. A second rodless cylinder 555 is provided on a mobile frame 554 slidably arranged on the side surface of the first assembly table surface 552, and the second rodless cylinder 555 is used for pressing the chip placed on the flip plate; a second assembly table surface 556 and a three-jaw clamping mechanism 557 are further provided on the mobile table 551. The three-jaw clamping mechanism 557 is located below the second assembly table surface 556, and the three jaw teeth of the three-jaw clamping mechanism 557 respectively protrude through the corresponding avoidance holes on the second assembly table surface 556 to protrude from the top surface of the second assembly table surface 556.

[0067] A first vision detection module 57 and a second vision detection module 58 are further provided on the assembly unit frame 51. The first vision detection module 57 is used for detecting the angle of the electronic tag rear cover to be assembled clamped by the first robot 54, and the second vision detection module 58 is used for detecting the angle of the electronic tag assembly component placed on the second assembly table surface 556.

[0068] As Figure 14 As shown, the painting unit 6 includes a painting unit chassis 61 and a handling robot assembly 62, a detection table 63, a turning table 64, a painting device 65, a mobile platform 66, a lifting and pushing mechanism 67, and two linear conveying lines 91 for three-stage conveying with opposite moving directions and respectively close to the corresponding side edges of the painting unit chassis 61 arranged on the painting unit chassis 61. The detection table 63 is used for folding the foldable thin parts, the turning table 64 is used for turning the materials to facilitate double-sided spraying, and the mobile platform 66 is used for feeding the materials to be painted into or out of the painting chamber of the painting device 65.

[0069] As Figure 15As shown in the figure, the inspection table 63 includes an inspection table frame 631 fixedly connected to the bottom frame 61 of the spraying unit. An inspection head 634, a pushing and clamping mechanism 632, and a flip cover mechanism 633 are provided on the inspection table frame 631. The inspection head 634 is used to detect the material type and memory size. A groove is provided on the inspection table frame 631, and the thin plate of the USB flash drive is placed in the groove. The flip plate of the USB flash drive extends outward through a notch and is placed on the flip cover mechanism 633. The pushing and clamping mechanism 632 of the USB flash drive is located on the side of the thin plate away from the flip plate. The pushing and clamping mechanism 632 is used to limit and fix the thin plate, and the flip cover mechanism 633 is used to flip the flip plate pivoted on the thin plate to fit with the thin plate for spraying the outer surface of the USB flash drive.

[0070] The turning table 64 includes a turning table frame 641 fixedly connected to the bottom frame 61 of the spraying unit. A second turning manipulator 643 and a waste box 642 are provided on the turning table frame 641. The second turning manipulator 643 facilitates double-sided spraying of labels or USB flash drives, and the waste box 642 is used to collect waste materials.

[0071] The lifting and pushing mechanism 67 includes a lifting mechanism and a pushing mechanism both provided on the bottom frame 61 of the spraying unit. When the lifting carrier plate 671 of the lifting mechanism descends to the corresponding position, the pushing mechanism directly sends the sprayed material located on the lifting carrier plate 671 to the docking table 72 of the packaging unit 7.

[0072] As Figure 16 shown in the figure, the packaging unit 7 further includes a packaging unit frame 71, a third gantry handling mechanism 73, a packaging unit object table 74, a spider robot 75, a material transfer mechanism 76, a second rotary worktable 77, and two linear conveying lines 91 for four-stage conveying with opposite movement directions and respectively close to the corresponding side edges of the packaging unit frame 71. The packaging unit object table 74 is used to temporarily store the trays with box lids or box bodies. The third gantry handling mechanism 73 is used to transfer the trays with materials located on the corresponding linear conveying lines 91 for four-stage conveying to the packaging unit object table 74 or transfer the empty trays on the packaging unit object table 74 to the corresponding linear conveying lines 91 for four-stage conveying to realize tray recycling. The spider robot 75 is used to transfer box bodies or box lids to the second rotary worktable 77. The material transfer mechanism 76 is used to place the materials located on the docking table 72 into the corresponding box bodies. The spider robot 75 and the material transfer mechanism 76 cooperate to realize the packaging of the materials.

[0073] Specifically, the handling claws of the first gantry handling mechanism 43, the picking claws of the first picking mechanism 44, the picking claws of the second picking mechanism 45, the glue spraying heads of the glue applying mechanism 46, the handling claws of the second gantry handling mechanism 52, and the transfer claws of the material transfer mechanism 76 can all perform linear motions along the X-axis, Y-axis, and Z-axis.

[0074] The linear conveyor lines 91 for primary conveying, the linear conveyor lines 91 for secondary conveying, the linear conveyor lines 91 for tertiary conveying, and the linear conveyor lines 91 for quaternary conveying, which are located on the same side, are sequentially connected to form a linear conveying module.

[0075] As Figure 17 shown, it further includes at least one set of corner docking units 8. The corner docking unit 8 includes a corner transfer frame 81, a corner robot 82 provided on the corner transfer frame 81, and two mutually perpendicular docking linear conveyor lines 91. The two docking linear conveyor lines 91 are connected through a right-angle turning conveyor line 92, and the corner robot 82 is located between the two docking linear conveyor lines 91.

[0076] Specifically, each unit has an independent control module and casters. The single unit module can also be used for automated operation. The setting of the casters facilitates the movement of the module.

[0077] A major feature of this production line is the modular design, that is, each unit forms an independent system separately, and a complete unified system is formed through the combination of each unit. This determines that the layout of this production line has various forms and can be applied to various occasions; this production line is provided with a separate corner unit, which can connect two units and turn 90°. Therefore, the layout of this assembly production line has diversity. Due to the existence of the corner unit, the production line layout can be spliced and changed to conveniently adapt to different sites; this production line adopts the modular design concept. The independent unit system is also convenient for teaching and training. Each unit adopts a similar modular table frame, and the processes of splicing and separation can be completed quickly. Each unit can perform separate training projects.

[0078] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An assembly system for thin parts, characterized in that, it includes: a 3D printing unit (1), in which a 3D printer (12) and a printing material temporary storage table (13) are arranged within a 3D printing unit frame (11) of the 3D printing unit (1); a movable handling unit (2); a vertical storage unit (3), the vertical storage unit (3) includes a three-dimensional storage frame (31), at least one stacker and a docking mechanism (37) arranged on the three-dimensional storage frame (31), and the handling unit (2) transports the material located on the printing material temporary storage table (13) to a transfer rack (372) of the docking mechanism (37), and the material located on the transfer rack (372) is stored in the warehouse by using the stacker; a feeding unit (4), the feeding unit (4) includes a feeding unit frame (41) and a transition material table (42), a first gantry handling mechanism (43), a first picking mechanism (44), a second picking mechanism (45), a gluing mechanism (46), a lifting mechanism (47), a vision inspection and assembly module (48), a first rotary worktable (49), and two linear conveying lines (91) for primary conveying with opposite moving directions and respectively close to the corresponding sides of the feeding unit frame (41). The material taken out of the warehouse by using the stacker is first placed on the corresponding linear conveying line (91) for primary conveying. An RFID detector is arranged on the linear conveying line (91). The first gantry handling mechanism (43) is used to transfer the corresponding pallet located on the corresponding linear conveying line (91) for primary conveying to the transition material table (42) or transfer the pallet located on the transition material table (42) to the corresponding linear conveying line (91) for primary conveying. The first picking mechanism (44) is used to transfer the material on the transition material table (42) to the first rotary worktable (49). The second picking mechanism (45) is used to transfer the material located on the lifting mechanism (47). The lifting mechanism (47) is used to lift the pallet located on the corresponding linear conveying line (91). The vision inspection and assembly module (48) realizes the electronic label assembly by using the material located on the first rotary worktable (49) and the material provided by the second picking mechanism (45); Assembly unit (5), the assembly unit (5) includes an assembly unit frame (51) and a second gantry handling mechanism (52), an assembly unit material table (53), a first robot (54), a mobile assembly table (55), a screw driving mechanism (56), and two linear conveying lines (91) for secondary conveying with opposite moving directions and respectively close to the corresponding side edges of the assembly unit frame (51). The second gantry handling mechanism (52) is used to transfer the corresponding pallet located on the corresponding linear conveying line (91) for secondary conveying to the assembly unit material table (53) or transfer the pallet located on the assembly unit material table (53) to the corresponding linear conveying line (91) for secondary conveying. The mobile assembly table (55) is used to receive the materials after being assembled or coated by the feeding unit (4). The first robot (54) is used to transfer the materials located on the assembly unit material table (53) to the mobile assembly table (55) for assembly; Painting unit (6), the painting unit (6) includes a painting unit chassis (61) and a handling robot assembly (62), an inspection table (63), a flipping table (64), a painting device (65), a lifting and pushing mechanism (67), and two linear conveying lines (91) for tertiary conveying with opposite moving directions and respectively close to the corresponding side edges of the painting unit chassis (61). The inspection table (63) is used to fold the foldable thin parts. The flipping table (64) is used to facilitate double-sided spraying due to material flipping; Packaging unit (7), the packaging unit (7) includes a packaging unit frame (71) and a docking table (72), a third gantry handling mechanism (73), a packaging unit object table (74), a spider robot (75), a material transfer mechanism (76), a second rotary table (77), and two linear conveying lines (91) for quaternary conveying with opposite moving directions and respectively close to the corresponding side edges of the packaging unit frame (71). The lifting and pushing mechanism (67) can directly send the painted materials to the docking table (72). The packaging unit object table (74) is used to temporarily store the pallets with box lids or box bodies. The spider robot (75) is used to transfer the box bodies or box lids to the second rotary table (77). The material transfer mechanism (76) is used to place the materials located on the docking table (72) into the corresponding box bodies; The linear conveying lines (91) for primary conveying, the linear conveying lines (91) for secondary conveying, the linear conveying lines (91) for tertiary conveying, and the linear conveying lines (91) for quaternary conveying located on the same side are connected in sequence; Total control unit (10), the total control unit (10) is used to uniformly control the processes of part processing, loading and unloading, handling, inspection, assembly, logistics, warehousing, etc.

2. The assembly system for thin parts according to claim 1, wherein, It further includes at least one set of corner docking units (8), and each corner docking unit (8) includes a corner transfer rack (81), a corner robot (82) disposed on the corner transfer rack (81), two docking linear conveyors (91) arranged perpendicular to each other. The two docking linear conveyors (91) are connected through a right-angle turning conveyor (92), and the corner robot (82) is located between the two docking linear conveyors (91).

3. The assembly system for thin parts according to claim 1, characterized in that, the linear conveyor (91) further includes a conveyor base and a slat tray conveyor disposed on the conveyor base. Two material blocking electromagnet mechanisms are arranged on the slat tray conveyor, and the two material blocking electromagnet mechanisms are respectively located at the corresponding ends of the slat tray conveyor. The material blocking electromagnet mechanism is used to stop the tray located on the slat tray conveyor.

4. The assembly system for thin parts according to claim 1, characterized in that, the handling unit (2) includes a moving base (21), a handling robotic arm (22) is provided on the moving base (21), and a handling gripper (23) is connected to the handling robotic arm (22).

5. The assembly system for thin parts according to claim 1, characterized in that, the vertical storage unit (3) includes two sets of stackers that are parallel to each other and are respectively located on both sides of the warehouse. The docking mechanism (37) is located between the two sets of stackers to facilitate the mutual transfer of materials on the two sets of stackers.

6. The assembly system for thin parts according to claim 5, characterized in that, the stacker includes a first horizontal linear module slide (32), a servo rotating platform (33) disposed on the first horizontal linear module slide (32), a first vertical linear module slide (34) disposed on the servo rotating platform (33), and a telescopic arm (35) disposed on the first vertical linear module slide (34). The telescopic arm (35) is composed of multiple layers of stacked slide cylinders.

7. The assembly system for thin parts according to claim 5, characterized in that, the docking mechanism (37) further includes a second horizontal linear module slide (371), a transfer rack (372) is disposed on the second horizontal linear module slide (371). A transfer gripper (376), a gripper driving cylinder (375) drivingly connected to the transfer gripper (376), an RFID reader / writer (377), and a first rodless cylinder (378) are provided on the transfer rack (372). The first rodless cylinder (378) is located on one side of the transfer gripper (376), and the first rodless cylinder (378) is used to push the tray placed on the transfer rack (372) into the tray receiving groove of the transfer rack (372).

8. The assembly system for thin parts according to claim 3, characterized in that, The lifting mechanism (47) includes a lifting fixing frame (471) erected on the corresponding linear conveyor line (91), an alignment and clamping mechanism (474), a lifting cylinder (472) and a lifting plate (473) arranged on the lifting fixing frame (471). The lifting cylinder (472) is fixedly arranged on the conveyor base of the linear conveyor line (91). When the lifting cylinder (472) lifts the lifting plate (473), the corresponding tray is sent into the clamping opening of the alignment and clamping mechanism (474).

9. The assembly system for thin parts as claimed in claim 1, wherein, the vision inspection and assembly module (48) includes a second robot (481) and a vision inspection and assembly table (482). The second robot (481) is used to transfer the corresponding materials located on the first rotary worktable (49) to the vision inspection and assembly table (482) or the mobile assembly table (55). Among them, the vision inspection and assembly table (482) includes a table frame (4821). There are two through holes on the tabletop of the table frame (4821). A first light source (4823) is arranged at one through hole, and a positioning mechanism (4824) is arranged at the other through hole. A first camera (4822) is arranged below the first light source (4823), and a second camera and a second light source are arranged below the positioning mechanism (4824). The first flipping manipulator (4825) arranged on the table frame (4821) can flip the assembly materials placed on the positioning mechanism (4824).

10. The assembly system for thin parts as claimed in claim 1, wherein, the mobile assembly table (55) includes a mobile table (551) arranged on the assembly unit frame (51) by using a third horizontal linear module slide. A first assembly tabletop (552) is arranged on the mobile table (551). The first assembly tabletop (552) has a T-shaped groove. The main groove of the T-shaped groove is used to place the thin plate, and the belly groove of the T-shaped groove is used to place the flipping plate pivotally connected to the thin plate. Three sets of side pushing components (553) that can act on the side surface of the thin plate are arranged on the outer periphery of the main groove, and three sets of side pushing components (553) that can act on the side surface of the flipping plate are arranged on the outer periphery of the belly groove. A second rodless cylinder (555) is arranged on the mobile frame (554) slidably arranged on the side surface of the first assembly tabletop (552), and the second rodless cylinder (555) is used to press the chip placed on the flipping plate.

11. The assembly system for thin parts as claimed in claim 10, wherein, a second assembly tabletop (556) and a three-jaw clamping mechanism (557) are further arranged on the mobile table (551). The three-jaw clamping mechanism (557) is located below the second assembly tabletop (556), and the three claw teeth of the three-jaw clamping mechanism (557) respectively protrude through the corresponding avoidance holes located on the second assembly tabletop (556) to protrude from the top surface of the second assembly tabletop (556).

12. The assembly system for thin parts as claimed in claim 11, wherein, a first vision detection module (57) and a second vision detection module (58) are further provided on the assembly unit frame (51). The first vision detection module (57) is used for detecting the angle of the parts to be assembled, and the second vision detection module (58) is used for detecting the angle of the assembly components placed on the second assembly tabletop (556).

13. The assembly system for thin parts as claimed in claim 1, wherein, the detection table (63) includes a detection table frame (631) fixedly connected to the base frame (61) of the painting unit. A detection head (634), a pushing and clamping mechanism (632) and a flip mechanism (633) are provided on the detection table frame (631). The detection head (634) is used for detecting the material type, the pushing and clamping mechanism (632) is used for limiting and fixing the thin plate, and the flip mechanism (633) is used for flipping the flip plate pivotally connected to the thin plate to fit with the thin plate.

14. The assembly system for thin parts as claimed in claim 1, wherein, the turntable (64) includes a turntable frame (641) fixedly connected to the base frame (61) of the painting unit. A second flipping manipulator (643) and a waste box (642) are provided on the turntable frame (641).

15. The assembly system for thin parts as claimed in claim 1, wherein, the lifting and pushing mechanism (67) includes a lifting mechanism and a pushing mechanism both provided on the base frame (61) of the painting unit. When the lifting carrier plate (671) of the lifting mechanism descends to the corresponding position, the pushing mechanism pushes the material on the lifting carrier plate (671) onto the docking table (72).

16. The assembly system for thin parts as claimed in claim 1, wherein, the handling claws of the first gantry handling mechanism (43), the picking claws of the first picking mechanism (44), the picking claws of the second picking mechanism (45), the glue spraying heads of the glue applying mechanism (46), the handling claws of the second gantry handling mechanism (52) and the transfer claws of the material transfer mechanism (76) can all perform linear motions along the X-axis, Y-axis and Z-axis.

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