Clamping mechanism and assembly table

Abstract

The application provides a clamping mechanism and an assembly machine, which are used for simplifying the mechanism composition of the assembly machine and reducing the cost of the assembly machine. The clamping mechanism comprises a mechanical arm, a clamping module, a positioning module and a driving module. The mechanical arm can move along the X-axis direction and the Y-axis direction. The clamping module comprises two clamping units, both of which are installed on the mechanical arm, oppositely arranged along the X-axis direction, and at least one of which can move along the X-axis direction. The positioning module comprises a first positioning unit and a second positioning unit, both of which are installed on the mechanical arm. Along the Z-axis direction, the first positioning unit and the second positioning unit are spaced and oppositely arranged. The driving module is installed on the mechanical arm and electrically connected with the clamping module and the positioning module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servers, and in particular to a clamping mechanism and an assembly machine. BACKGROUND

[0002] In a factory automation assembly scene, a to-be-assembled part needs to be assembled into a target position, and must pass through a raw material supply position, a to-be-assembled position, and a pre-assembly position in sequence, and then reach the target position. However, the entire assembly process of the to-be-assembled part is divided into multiple actions, and a mechanism needs to be set up for each action, resulting in a large number of mechanisms in the assembly machine and high cost of the assembly machine. SUMMARY

[0003] The present application provides a clamping mechanism and an assembly machine, which are used to simplify the mechanism composition of the assembly machine and reduce the cost of the assembly machine.

[0004] In a first aspect, the present application provides a clamping mechanism, which includes a mechanical arm, a clamping module, a positioning module, and a driving module. The mechanical arm is movable along an X-axis direction and a Y-axis direction. The clamping module is installed on the mechanical arm. The clamping module includes two clamping units, both of which are installed on the mechanical arm. Along the X-axis direction, the two clamping units are oppositely arranged, and at least one of the clamping units is movable along the X-axis direction. The two clamping units are used to clamp a to-be-assembled part from a raw material supply position.

[0005] The positioning module is installed on a base. The positioning module includes a first positioning unit and a second positioning unit, both of which are installed on the mechanical arm. Along a Z-axis direction, the first positioning unit and the second positioning unit are spaced apart and oppositely arranged. The first positioning unit and the second positioning unit are used to position the to-be-assembled part along the Z-axis direction.

[0006] The driving module is installed on the mechanical arm and is electrically connected with the clamping module and the positioning module.

[0007] In the working process of the clamping mechanism, the driving module drives at least one of the clamping units to move along the X-axis direction, the two clamping units clamp the to-be-assembled part located at the raw material supply position, the driving module drives the first positioning unit and / or the second positioning unit to move along the Z-axis direction, the first positioning unit and the second positioning unit position the to-be-assembled part along the Z-axis direction, and the mechanical arm moves along the X-axis direction and / or the Y-axis direction to move the to-be-assembled part from the raw material supply position to the to-be-assembled position. That is, the clamping mechanism can integrate the functions of clamping, positioning, and transporting. Compared with the prior art, when the clamping mechanism is used in the assembly machine, the positioning mechanism for positioning the to-be-assembled part can be omitted, the positioning function is integrated into the clamping mechanism, the mechanism composition of the assembly machine is simplified, and the cost of the assembly machine is reduced.

[0008] In a possible implementation, the two clamping units are mirror-symmetric about the mechanical arm. The driving module drives the two clamping units to move along the X-axis direction towards the component to be assembled, and the two clamping units position the component to be assembled along the X-axis direction, where the two clamping units have the same moving distance along the X-axis direction. That is, the clamping module integrates the functions of clamping and positioning, which is conducive to simplifying the mechanism of the assembly machine and reducing the cost of the assembly machine.

[0009] In a possible implementation, the clamping unit includes a conveying part and a driving part. The conveying part is in contact with the component to be assembled. The driving part is electrically connected with the conveying part, and is configured to drive the conveying part to convey the component to be assembled from the assembly position to the pre-assembly position, so as to realize pre-assembly of the component to be assembled. That is, the clamping device integrates the functions of clamping, positioning and pre-assembly, which is conducive to simplifying the mechanism of the assembly machine and reducing the cost of the assembly machine.

[0010] In a possible implementation, the conveying part includes a conveying belt. The conveying belt is in frictional contact with the component to be assembled. The driving part is configured to drive the conveying belt to rotate, so as to convey the component to be assembled from the assembly position to the pre-assembly position, and realize pre-assembly of the component to be assembled.

[0011] The conveying belts of the conveying parts in the two clamping units are in frictional contact with the component to be assembled. Since the conveying belt is generally made of rubber, the softness of the conveying belt is good. When the two clamping units clamp the component to be assembled, the conveying belts of the conveying parts in the two clamping units are in frictional contact with the component to be assembled, and no scratches are generated on the outer surface of the component to be assembled, so that the component to be assembled is not damaged.

[0012] In a possible implementation, the conveying part further includes a main transmission assembly and a slave transmission assembly. The conveying belt is sleeved on the main transmission assembly and the slave transmission assembly. The driving member is configured to drive the main transmission assembly to rotate, so as to drive the conveying belt and the slave transmission assembly to rotate. The main transmission assembly and the slave transmission assembly rotate, which ensures stable rotation of the conveying belt and helps to ensure stable conveying of the component to be assembled by the conveying belt.

[0013] In a possible implementation, the conveying part further includes a transmission belt. The transmission belt is sleeved on the main transmission assembly and the slave transmission assembly, and is arranged on one side of the conveying belt close to the driving part and is spaced apart from the conveying belt. When the main transmission assembly rotates, the transmission belt and the slave transmission assembly are driven to rotate, so as to drive the conveying belt to rotate. The main transmission assembly and the slave transmission assembly rotate, which ensures stable rotation of the transmission belt. The transmission belt, the main transmission assembly and the slave transmission assembly jointly drive the conveying belt to rotate, so as to ensure stable rotation of the conveying belt and further ensure stable conveying of the component to be assembled by the conveying belt.

[0014] In a possible implementation, the first positioning unit comprises two first positioning assemblies, each of which is mounted on one side of a clamping unit, and each of which is used to abut against the surface of the component to be assembled along the Z-axis direction to achieve positioning of the component to be assembled along the positive direction of the Z-axis.

[0015] In a possible implementation, each of the first positioning assemblies is rotatable relative to the clamping unit about the Z-axis direction. During the conveying of the component to be assembled from the component-to-be-assembled position to the component-to-be-pre-assembled position by the conveying part of the clamping unit, each of the first positioning assemblies is rotatable relative to the clamping unit about the Z-axis direction under the driving of the component to be assembled, and no relative movement occurs between each of the first positioning assemblies and the component to be assembled, and no friction occurs between each of the first positioning assemblies and the component to be assembled, which not only facilitates the conveying of the component to be assembled by the conveying part, but also leaves no scratches on the bottom surface of the component to be assembled, and thus no damage to the component to be assembled.

[0016] In a possible implementation, the second positioning unit comprises two second positioning assemblies, which are arranged in a spaced manner and are electrically connected to the driving module, and the driving module is used to drive the two positioning assemblies to move along the Z-axis direction towards the component to be assembled, and each of the two second positioning assemblies is used to abut against the surface of the component to be assembled along the Z-axis direction to achieve positioning of the component to be assembled along the negative direction of the Z-axis.

[0017] In a possible implementation, the mechanical arm comprises a support arm and a conveying module, the clamping module is mounted on one end of the support arm, and the conveying module is mounted on the other end of the support arm, and the conveying module is used to drive the support arm to move along the X-axis direction and the Y-axis direction, and the support arm drives the clamping device to move along the X-axis direction and the Y-axis direction to convey the component to be assembled gripped by the clamping device from the component supply position to the component-to-be-assembled position. In this way, the two clamping units of the clamping device are mirror-symmetrical about the support arm.

[0018] In a second aspect, the present application provides an assembly machine, which comprises an assembly mechanism, any of the clamping mechanisms described above, and a processor, the processor is electrically connected to the driving module of the assembly mechanism and the clamping mechanism, and the processor is used to drive the assembly mechanism to assemble the component to be assembled to the target position.

[0019] In the assembly machine described in the present application, the clamping mechanism can integrate the functions of material taking, positioning and conveying, and the positioning mechanism for positioning the component to be assembled in the prior art is omitted, the mechanism composition of the assembly machine is simplified, the workload of designing, installing and debugging the assembly machine is reduced, and the cost of the assembly machine is reduced. Moreover, the material taking, positioning and conveying of the component to be assembled are realized by the clamping mechanism, and the assembly of the component to be assembled is realized by the assembly mechanism, and the clamping mechanism and the assembly mechanism can work in parallel, which not only can reduce the energy consumption of the assembly machine, but also can improve the assembly efficiency of the assembly machine and the production capacity of the assembly machine.

[0020] In a third aspect, the application provides an assembling method of the to-be-assembled part, which uses the above-mentioned assembling machine to realize the assembling of the to-be-assembled part. The assembling method of the to-be-assembled part comprises:

[0021] The clamping mechanism clamps and positions the to-be-assembled part from the feeding position;

[0022] The clamping mechanism moves the to-be-assembled part from the feeding position to the to-be-assembled position;

[0023] The assembling mechanism assembles the to-be-assembled part to the target position.

[0024] In the process of assembling the to-be-assembled part by the assembling machine, the clamping mechanism can integrate the functions of taking, positioning and transporting, thereby eliminating the positioning mechanism for positioning the to-be-assembled part in the prior art, simplifying the mechanism composition of the assembling machine, reducing the workload of designing, installing and debugging the assembling machine, and helping to reduce the cost of the assembling machine. Moreover, the clamping mechanism and the assembling mechanism can work in parallel by using the clamping mechanism to realize the taking, positioning and transporting of the to-be-assembled part and using the assembling mechanism to realize the assembling of the to-be-assembled part, which not only can reduce the energy consumption of the assembling machine, but also can improve the assembling efficiency of the to-be-assembled part and the production capacity of the assembling machine.

[0025] In a possible implementation, in the step of clamping and positioning the to-be-assembled part by the clamping mechanism, the driving module drives at least one clamping unit to move along the X-axis direction, two clamping units clamp the to-be-assembled part from the feeding position, the driving module drives the first positioning unit and / or the second positioning unit to move along the Z-axis direction, and the first positioning unit and the second positioning unit position the to-be-assembled part along the Z-axis direction.

[0026] The first positioning unit and the second positioning unit both abut against the surface of the to-be-assembled part along the Z-axis direction.

[0027] In a possible implementation, in the step of clamping and positioning the to-be-assembled part by the clamping mechanism, the driving module drives at least one clamping unit to move along the X-axis direction, two clamping units clamp the to-be-assembled part from the feeding position, the driving module drives the first positioning unit and / or the second positioning unit to move along the Z-axis direction, and the first positioning unit and the second positioning unit position the to-be-assembled part along the Z-axis direction.

[0028] In a possible implementation, in the step of moving the to-be-assembled part from the feeding position to the to-be-assembled position by the clamping mechanism, the mechanical arm moves along the X-axis direction and / or the Y-axis direction and drives the clamping module to move along the X-axis direction and / or the Y-axis direction, so as to move the to-be-assembled part from the feeding position to the to-be-assembled position.

[0029] In a possible implementation, in the step of moving the mechanical arm along the X-axis direction and / or the Y-axis direction, the conveying module drives the support arm to move along the X-axis direction and / or the Y-axis direction, and the support arm drives the clamping module to move along the X-axis direction and / or the Y-axis direction, so as to move the to-be-assembled part from the feeding position to the to-be-assembled position.

[0030] In a possible implementation, after the step of moving the to-be-assembled part from the feeding position to the to-be-assembled position by the clamping mechanism, and before the step of assembling the to-be-assembled part to the target position by the assembling mechanism, the method further includes: driving, by the driving part, the conveying part to convey the to-be-assembled part from the to-be-assembled position to the pre-assembly position, so as to realize pre-assembly of the to-be-assembled part. That is, the clamping device can integrate the three functions of clamping, positioning, and pre-assembly, which is beneficial to simplifying the mechanism composition of the assembly machine and reducing the cost of the assembly machine.

[0031] In the step of assembling the to-be-assembled part to the target position by the assembling mechanism, the assembling mechanism assembles the to-be-assembled part from the pre-assembly position to the target position.

[0032] In a possible implementation, in the step of driving, by the driving part, the conveying part to convey the to-be-assembled part from the to-be-assembled position to the pre-assembly position, the driving part drives the transmission belt to rotate, and the transmission belt conveys the to-be-assembled part to the pre-assembly position, so as to realize pre-assembly of the to-be-assembled part.

[0033] The transmission belts of the conveying parts in the two clamping units are in frictional contact with the to-be-assembled part. Since the transmission belt is generally a rubber belt, the softness of the transmission belt is good. When the two clamping units clamp the to-be-assembled part, the transmission belts of the conveying parts in the two clamping units are in frictional contact with the to-be-assembled part, and no scratches are generated on the outer surface of the to-be-assembled part, so that the to-be-assembled part is not damaged.

[0034] In a possible implementation, in the step of driving, by the driving part, the transmission belt to rotate, the driving part drives the main transmission assembly to rotate, the main transmission assembly drives the transmission belt and the slave transmission assembly to rotate, and the main transmission assembly, the slave transmission assembly, and the transmission belt drive the conveying belt to rotate, so as to ensure stable rotation of the conveying belt and stable conveying of the to-be-assembled part by the conveying belt.

[0035] In a possible implementation, in the step of driving, by the driving part, the transmission belt to rotate, the driving part drives the main transmission assembly to rotate, the main transmission assembly drives the transmission belt and the slave transmission assembly to rotate, and the main transmission assembly, the slave transmission assembly, and the transmission belt drive the conveying belt to rotate, so as to ensure stable rotation of the conveying belt and stable conveying of the to-be-assembled part by the conveying belt. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will describe the drawings needed to be used by the embodiments of the present application.

[0037] Figure 1 is a schematic diagram of an assembly machine, a semi-finished product, and an assembly structure of a to-be-assembled part provided by the embodiments of the present application;

[0038] Figure 2 is Figure 1 is a flowchart of a process in which the assembly machine table as shown in

[0039] Figure 3 is an assembly structure of a mechanical arm and a piece to be assembled in the assembly machine table as shown in Figure 1

[0040] Figure 4 is a front view structural diagram of the assembly structure as shown in Figure 3

[0041] Figure 5 is a structural diagram of a clamping device and a piece to be assembled in the assembly structure as shown in Figure 3

[0042] Figure 6 is a structural diagram of a clamping device in the assembly structure as shown in Figure 3

[0043] Figure 7 is a process flowchart of an assembly method of a piece to be assembled provided by an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0045] Please refer to Figure 1 and Figure 2 , Figure 1 is an assembly structure diagram of an assembly machine table 100, a semi-finished product 200 and a piece to be assembled 300 provided by an embodiment of the present application, Figure 2 is Figure 1 is a flowchart of a process in which the assembly machine table 100 as shown in Figure 1 is provided with a Z-axis direction, an X-axis direction and a Y-axis direction, and the Z-axis direction, the X-axis direction and the Y-axis direction are perpendicular to each other in pairs. It should be noted that in some other embodiments, the Z-axis direction, the X-axis direction and the Y-axis direction can also not be perpendicular to each other in pairs.

[0046] ​​​​The embodiment provides an assembly machine 100 used for assembling electronic equipment. The electronic equipment can be electronic products such as computers, routers, switches and servers. Next, the electronic equipment is taken as a server for example. The assembly machine 100 comprises a bearing table 110, a processor 120, a clamping mechanism 130 and an assembly mechanism 140. The bearing table 110 has a tool position (not marked in the figure) which bears a semi-finished product 200. The semi-finished product 200 is an electronic equipment which is not completed. The semi-finished product 200 has one or more target positions 201, and each target position 201 is used for assembling a to-be-assembled part 300. Exemplarily, the to-be-assembled part 300 can be a power supply of the electronic equipment. Exemplarily, the coordinates of the target position 201 can be (X0, Y0, Z0).

[0047] The clamping mechanism 130 and the assembly mechanism 140 are electrically connected with the processor 120. In the embodiment, the clamping mechanism 130 can clamp and position the to-be-assembled part 300 under the driving of the processor 120, and can also move the to-be-assembled part 300 from the feeding position 202 to the to-be-assembled position 203, and can also transport the to-be-assembled part 300 from the to-be-assembled position 203 to the pre-assembly position 204, so as to realize the material taking, positioning, transporting and pre-assembly of the to-be-assembled part 300. That is, the clamping mechanism 130 can integrate the four functions of material taking, positioning, transporting and pre-assembly. The assembly mechanism 140 can assemble the to-be-assembled part 300 from the pre-assembly position 204 to the target position 201 under the driving of the processor 120, so as to realize the assembly of the to-be-assembled part 300.

[0048] In other embodiments, the clamping mechanism 130 can also clamp and position the to-be-assembled part 300 under the driving of the processor 120, and can also move the to-be-assembled part 300 from the feeding position 202 to the to-be-assembled position 203, so as to realize the material taking, positioning and transporting of the to-be-assembled part 300. That is, the clamping mechanism 130 can integrate the three functions of material taking, positioning and transporting. At this time, the assembly mechanism 140 can transport the to-be-assembled part 300 from the to-be-assembled position 203 to the pre-assembly position 204 under the driving of the processor 120, and can also assemble the to-be-assembled part 300 from the pre-assembly position 204 to the target position 201, so as to realize the pre-assembly and assembly of the to-be-assembled part 300. That is, the assembly mechanism 140 integrates the two functions of pre-assembly and assembly.

[0049] It can be understood that, compared with the prior art, in the assembly machine 100 shown in the embodiment of the present application, the clamping mechanism 130 can integrate the four functions of material taking, positioning, transporting and pre-assembly, which is equivalent to omitting the positioning mechanism for realizing the positioning of the to-be-assembled part 300 in the prior art, simplifying the mechanism composition of the assembly machine 100, reducing the workload of designing, installing and debugging the assembly machine 100, and helping to reduce the cost of the assembly machine 100.

[0050] Please refer to Figure 1 , Figure 2 and Figure 3 ,Figure 3 is Figure 1 is shown in the assembly structure diagram of the clamping mechanism 130 and the to-be-assembled part 300 in the assembly machine 100. Among them, Figure 3 only a partial structure diagram of the clamping mechanism 130 is shown.

[0051] In this embodiment, the clamping mechanism 130 can be driven by the processor 120 to move along the X-axis direction and the Y-axis direction. That is, the clamping mechanism 130 is a mechanism that can move in the X-Y plane. The clamping mechanism 130 includes a mechanical arm (not marked in the figure) and a clamping device 160, and the clamping device 160 is installed on the mechanical arm. Both the mechanical arm and the clamping device 160 are electrically connected with the processor 120.

[0052] In this embodiment, the mechanical arm can move along the X-axis direction and the Y-axis direction. Specifically, the mechanical arm includes a support arm 150 and a conveying module (not shown). Among them, the support arm 150 is parallel to the Z-axis direction. The conveying module is installed at one end of the support arm 150 and is electrically connected with the processor 120. The conveying module can be driven by the processor 120 to move along the X-axis direction and the Y-axis direction, so as to drive the support arm 150 to move along the X-axis direction and the Y-axis direction.

[0053] The clamping device 160 is installed at the other end of the support arm 150. The clamping device 160 can be driven by the processor 120 to clamp and position the to-be-assembled part 300, and can also convey the to-be-assembled part 300 from the feeding position 202 to the pre-assembly position 204, realizing the material taking, positioning and pre-assembly of the to-be-assembled part 300. That is, the clamping device 160 can integrate the three functions of material taking, positioning and pre-assembly. Among them, the clamping device 160 can be driven by the support arm 150 to move along the X-axis direction and the Y-axis direction, so as to move the to-be-assembled part 300 clamped by the clamping device 160 from the feeding position 202 to the to-be-assembled position 203. Among them, the coordinates of the feeding position 202 can be (X1, Y1, Z1), and the coordinates of the to-be-assembled position 203 can be (X2, Y2, Z2). Exemplarily, Z2 = Z1.

[0054] In the process of conveying the to-be-assembled part 300 from the feeding position 202 to the pre-assembly position 204 by the clamping mechanism 130, first, the clamping device 160 is driven by the processor 120 to clamp and position the to-be-assembled part 300 from the feeding position 202, realizing the material taking and positioning of the to-be-assembled part 300, second, the conveying module is driven by the processor 120 to move along the X-axis direction and / or the Y-axis direction, so as to drive the support arm 150 and the clamping device 160 to move along the X-axis direction and / or the Y-axis direction, so as to move the to-be-assembled part 300 from the feeding position 202 to the to-be-assembled position 203, realizing the conveying of the to-be-assembled part 300, and finally, the clamping device 160 is driven by the processor 120 to convey the to-be-assembled part 300 from the to-be-assembled position 203 to the pre-assembly position 204, realizing the pre-assembly of the to-be-assembled part 300.

[0055] Please refer to Figure 4 、 Figure 5 and Figure 6 , Figure 4 is a front view structural schematic diagram of the assembled structure shown in Figure 3 , Figure 5 is a schematic diagram of the assembled structure of the clamping device 160 and the to-be-assembled part 300 shown in Figure 3 , Figure 6 is a schematic diagram of the structure of the clamping device 160 in the assembled structure shown in Figure 3 . The front view structural schematic diagram refers to the structural schematic diagram observed along the Y-axis direction.

[0056] The clamping device 160 includes a base 10, a driving module 20, a clamping module 30, and a positioning module 40, and the driving module 20, the clamping module 30, and the positioning module 40 are all mounted on the base 10. In this embodiment, the base 10 is mounted on a mechanical arm to realize the installation between the clamping device 160 and the mechanical arm. Specifically, the base 10 is mounted on the other end of the support arm 150 to realize the installation between the base 10, the driving module 20, the clamping module 30, and the positioning module 40 and the mechanical arm. Illustratively, the base 10 is provided with a mounting hole (not marked in the figure), and the end of the support arm 150 away from the conveying module is mounted on the mounting hole to realize the installation between the base 10 and the support arm 150. The base 10 can be mirror-symmetrical about the support arm 150.

[0057] The driving module 20 is electrically connected to the processor 120, and the clamping module 30 and the positioning module 40 are both electrically connected to the driving module 20. Specifically, the driving module 20 can include a first driving unit 21 and a second driving unit (not shown), and the first driving unit 21 and the second driving unit are both electrically connected to the processor 120. The first driving unit 21 is an electric machine that can provide clamping power, and the second driving unit is an electric machine that can provide positioning power. In other embodiments, the clamping device 160 further includes two driving modules 20, both of which are electrically connected to the processor 120, one of which is an electric machine that provides clamping power, and the other of which is an electric machine that provides positioning power. The present application does not make specific limitations on this.

[0058] The clamping module 30 is electrically connected to the driving module 20 and the processor 120. Specifically, the clamping module 30 is electrically connected to the first driving unit 21. The clamping module 30 can clamp and position the to-be-assembled part 300 under the drive of the first driving unit 21 to realize the clamping and positioning of the to-be-assembled part 300. The clamping module 30 can also transfer the to-be-assembled part 300 from the to-be-assembled position 203 to the pre-assembled position 204 under the drive of the processor 120 to realize the pre-assembly of the to-be-assembled part 300. That is, the clamping module 30 integrates three functions of material taking, positioning, and pre-assembly.

[0059] The clamping module 30 includes two clamping units 31, both of which are mounted on the base 10 and electrically connected with the driving module 20. Specifically, along the X-axis direction, the two clamping units 31 are respectively mounted on opposite sides of the base 10. Among them, the two clamping units 31 are spaced and oppositely arranged. In this embodiment, the two clamping units 31 can move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to realize the clamping or placing of the to-be-assembled part 300. Among them, the two clamping units 31 can move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to relatively approach, so as to realize the clamping of the to-be-assembled part 300, and can also move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to relatively away, so as to realize the placing of the to-be-assembled part 300.

[0060] In other embodiments, only one clamping unit 31 can move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to realize the clamping or placing of the to-be-assembled part 300. At this time, one clamping unit 31 can move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to relatively approach the other clamping unit 31, so as to realize the clamping of the to-be-assembled part 300, and can also move relative to the base 10 along the X-axis direction under the driving of the driving module 20 to relatively away from the other clamping unit 31, so as to realize the placing of the to-be-assembled part 300.

[0061] In this embodiment, the two clamping units 31 are the same in structure and are mirror-symmetric about the support arm 150. In other embodiments, the two clamping units 31 can also be different in structure and / or can not be mirror-symmetric about the support arm 150.

[0062] When the clamping module 30 clamps the to-be-assembled part 300, the two clamping units 31 move along the X-axis direction towards the direction of the to-be-assembled part 300, and the moving distances of the two clamping units 31 are the same, so as to realize the positioning of the to-be-assembled part 300 in the X-axis direction. When the clamping module 30 places the to-be-assembled part 300, the two clamping units 31 move away from the to-be-assembled part 300, and the moving distances of the two clamping units 31 are the same. In other embodiments, when the clamping module 30 clamps or places the to-be-assembled part 300, the moving distances of the two clamping units 31 can also be different, which is not limited in the present application.

[0063] Next, in order to facilitate understanding, taking two clamping units 31 as a first clamping unit 31a and a second clamping unit 31b, and the first clamping unit 31a is located on the side of the second clamping unit 31b towards the positive direction of the X-axis as an example, the process of clamping and placing the to-be-assembled part 300 by the clamping module 30 is specifically described.

[0064] When the clamping module 30 clamps the to-be-assembled part 300, the first clamping unit 31a moves along the negative direction of the X axis by a first distance, the second clamping unit 31b moves along the positive direction of the X axis by a second distance, and the first clamping unit 31a and the second clamping unit 31b are relatively close to clamp the to-be-assembled part 300. The first distance and the second distance are equal. In other words, when the clamping module 30 clamps the to-be-assembled part 300, the first clamping unit 31a and the second clamping unit 31b have the same moving distance. It can be understood that, since the first clamping unit 31a and the second clamping unit 31b are mirror-symmetrical about the support arm 150, the first clamping unit 31a and the second clamping unit 31b have the same moving distance during the clamping of the to-be-assembled part 300 by the clamping module 30, and the clamping module 30 can also realize positioning of the to-be-assembled part 300 in the X axis direction.

[0065] Similarly, when the clamping module 30 places the to-be-assembled part 300, the first clamping unit 31a moves along the positive direction of the X axis by a third distance, the second clamping unit 31b moves along the negative direction of the X axis by a fourth distance, and the first clamping unit 31a and the second clamping unit 31b are relatively far away to place the to-be-assembled part 300. The third distance and the fourth distance are equal.

[0066] In addition, the two clamping units 31 are also electrically connected with the processor 120, and can drive the to-be-assembled part 300 to be transmitted from the to-be-assembled position 203 to the pre-assembled position 204 under the driving of the processor 120. Please refer to Figure 6 Each clamping unit 31 comprises a driving part 32 and a transmission part 37. The driving part 32 is electrically connected with the processor 120. For example, the driving part 32 is a motor for providing transmission power. The transmission part 37 is electrically connected with the driving part 32 and in contact with the to-be-assembled part 300. The transmission part 37 can drive the to-be-assembled part 300 to be transmitted from the to-be-assembled position 203 to the pre-assembled position 204 under the driving of the driving part 32. The pre-assembled position 204 has coordinates (X3, Y3, Z3). For example, X3=X0=X2, Y0>Y3>Y2, and Z3=Z0=Z2.

[0067] In other embodiments, X3≠X0, Y0=Y3, and Z3=Z0, or X3=X0, Y0=Y3, and Z3≠Z0, or X3≠X0, Y0≠Y3, and Z3=Z0, or X3≠X0, Y0=Y3, and Z3≠Z0, or X3=X0, Y0≠Y3, and Z3≠Z0. The present application does not specifically limit the coordinates of the pre-assembled position 204 and the target position 201.

[0068] The transmission part 37 includes a main transmission assembly 33, a slave transmission assembly 34, a transmission belt 35 and a transmission belt 36 in this embodiment. The main transmission assembly 33 is electrically connected with the driving part 32. The slave transmission assembly 34 is arranged along the Y-axis direction and spaced from the main transmission assembly 33. The transmission belt 35 and the transmission belt 36 are sleeved on the main transmission assembly 33 and the slave transmission assembly 34. The transmission belt 36 is arranged along the Z-axis direction and spaced from the transmission belt 35, and located on the side of the transmission belt 35 close to the driving part 32. The driving part 32 can drive the main transmission assembly 33 to rotate, and the main transmission assembly 33 drives the slave transmission assembly 34, the transmission belt 35 and the transmission belt 36 to rotate. The rotation of the main transmission assembly 33 and the slave transmission assembly 34 ensures the stable rotation of the transmission belt 36, and the transmission belt 36 drives the transmission belt 35 to rotate together with the main transmission assembly 33 and the slave transmission assembly 34, so as to ensure the stable rotation of the transmission belt 35, and further ensure the stable transmission of the transmission belt 35 to the to-be-assembled part 300.

[0069] The main transmission assembly 33 includes a main transmission shaft 331, a main transmission roller 332 and a main transmission roller 333. The main transmission shaft 331 is parallel to the Z-axis direction. The main transmission roller 332 and the main transmission roller 333 are sleeved on the main transmission shaft 331 and fixed relative to the main transmission shaft 331. The main transmission roller 332 and the main transmission roller 333 are arranged along the Z-axis direction and spaced from each other, and the main transmission roller 333 is located on the side of the main transmission roller 332 facing the Z-axis direction. The main transmission shaft 331 can be driven by the driving part 32 to rotate, so as to drive the main transmission roller 332 and the main transmission roller 333 to rotate.

[0070] The slave transmission assembly 34 is located on the side of the main transmission assembly 33 facing the Y-axis direction. The slave transmission assembly 34 includes a slave transmission shaft 341, a slave transmission roller 342 and a slave transmission roller 343. The slave transmission shaft 341 is parallel to the Z-axis direction. The slave transmission roller 342 and the slave transmission roller 343 are sleeved on the slave transmission shaft 341 and fixed relative to the slave transmission shaft 341. The slave transmission roller 342 and the slave transmission roller 343 are arranged along the Z-axis direction and spaced from each other, and the slave transmission roller 343 is located on the side of the slave transmission roller 342 facing the Z-axis direction.

[0071] In addition, the slave transmission shaft 341 is located on the side of the main transmission shaft 331 facing the Y-axis direction and spaced from the main transmission shaft 331. The slave transmission roller 342 is located on the side of the main transmission roller 332 facing the Y-axis direction and spaced from the main transmission roller 332. The slave transmission roller 343 is located on the side of the main transmission roller 333 facing the Y-axis direction and spaced from the main transmission roller 333.

[0072] A conveyor belt 35 is fitted onto the main conveyor roller 332 and the slave conveyor roller 342. Exemplarily, the conveyor belt 35 is a rubber belt. Specifically, the conveyor belt 35 meshes with the main conveyor roller 332 and the slave conveyor roller 342. The outer surface of the conveyor belt 35 is used to contact the workpiece 300 to be loaded. When the main drive shaft 331 rotates under the drive of the drive unit 32, it drives the main conveyor roller 332 to rotate, thereby driving the conveyor belt 35 and the slave conveyor roller 342 to rotate. In some other embodiments, the conveyor belt 35 may also make frictional contact with the main conveyor roller 332 and the slave conveyor roller 342.

[0073] When the clamping module 30 clamps the workpiece 300, the conveyor belts 35 of both clamping units 31 are in frictional contact with the workpiece 300. The outer surfaces of both conveyor belts 35 are in continuous contact with the workpiece 300 and generate pressure, thereby enabling the clamping module 30 to clamp the workpiece 300. It is understandable that, since the conveyor belts 35 are generally made of rubber, they have good flexibility. When the conveyor belts 35 of the two clamping units 31 clamp the workpiece 300, they will not cause scratches on the outer surface of the workpiece 300, and therefore will not damage the workpiece 300.

[0074] During the process of clamping the workpiece 300 by the clamping module 30, when the main drive shafts 331 of the two clamping units 31 rotate under the drive of the drive unit 32, they drive the main conveyor roller 332 to rotate, which in turn drives the conveyor belt 35 and the driven conveyor roller 342 to rotate. The conveyor belts 35 of the two clamping units 31 can convey the workpiece 300. For example, when the main drive shafts 331 of the two clamping units 31 rotate clockwise under the drive of the drive unit 32, the conveyor belts 35 of the two clamping units 31 can convey the workpiece 300 along the Y-axis direction, so as to convey the workpiece 300 from the waiting position 203 to the pre-installation position 204, thereby realizing the pre-installation of the workpiece 300.

[0075] The transmission belt 36 is sleeved on the main drive roller 333 and the driven roller 343, and is located on the side of the conveyor belt 35 facing the Z-axis direction. Exemplarily, the transmission belt 36 is a rubber belt. Specifically, the transmission belt 36 meshes with the main drive roller 333 and the driven roller 343. When the main drive shaft 331 rotates under the drive of the drive unit 32, it also drives the main drive roller 333 to rotate, which in turn drives the transmission belt 36 and the driven roller 343 to rotate. The rotation of the main drive roller 333, the second rotating roller, and the transmission belt 36 can also drive the main conveyor roller 332, the conveyor belt 35, and the driven roller 342 to rotate, which helps to improve the conveying stability of the conveyor belt 35. In some other embodiments, the transmission belt 36 may also make frictional contact with the main drive roller 333 and the driven roller 343.

[0076] The positioning module 40 is electrically connected to the drive module 20. Specifically, the positioning module 40 is electrically connected to the second drive unit, and the positioning module 40 can position the workpiece 300 to be installed under the drive of the second drive unit to achieve the positioning of the workpiece 300. The positioning module 40 includes a first positioning unit 41 and a second positioning unit 42. The first positioning unit 41 is installed on the side of the clamping module 30 away from the base 10 and is used to abut against the surface of the workpiece 300 away from the base 10 along the Z-axis direction. The second positioning unit 42 is installed on the side of the first positioning unit 41 facing the base 10 and is used to abut against the surface of the workpiece 300 facing the base 10 along the Z-axis direction. Along the Z-axis direction, the first positioning unit 41 and the second positioning unit 42 are spaced apart and arranged opposite to each other.

[0077] In this embodiment, the second positioning unit 42 is electrically connected to the drive module 20. The second positioning unit 42 can move along the Z-axis direction under the drive of the drive module 20 to position the workpiece 300 to be assembled along the Z-axis direction, together with the first positioning unit 41. In other embodiments, the second positioning unit 42 can also be electrically connected to the drive module 20, and the first positioning unit 41 can also be electrically connected to the drive module 20. The first positioning unit 41 can move along the Z-axis direction under the drive of the drive module 20 to position the workpiece 300 to be assembled along the Z-axis direction, together with the second positioning unit 42. Alternatively, both the first positioning unit 41 and the second positioning unit 42 can be electrically connected to the drive module 20, and both the first positioning unit 41 and the second positioning unit 42 can move along the Z-axis direction under the drive of the drive module 20 to position the workpiece 300 to be assembled along the Z-axis direction.

[0078] The first positioning unit 41 includes two first positioning components 43. Each first positioning component 43 is mounted on the side of a clamping unit 31 facing away from the base 10. The two first positioning components 43 are arranged at intervals along the Z-axis direction and are both used to abut against the surface of the workpiece 300 facing away from the base 10 along the Z-axis direction to achieve positioning of the workpiece 300 along the positive Z-axis direction.

[0079] Each of the first positioning components 43 is rotatable relative to the clamping unit 31 about the Z-axis. For example, each first positioning component 43 includes two first positioning members 44, both of which are mounted on the bottom side of the clamping unit 31 and are rotatable relative to the clamping unit 31 about the Z-axis. The two first positioning members 44 are spaced apart along the Y-axis. In some other embodiments, the first positioning component 43 may also be fixed relative to the clamping unit 31; that is, the first positioning component 43 may not rotate relative to the clamping unit 31.

[0080] The second positioning unit 42 includes two second positioning components 45, both of which are electrically connected to the drive module 20. The two second positioning components 45 are spaced apart along the X-axis. Both second positioning components 45 are electrically connected to the second drive unit of the first positioning component 43 and can move along the negative Z-axis direction under the drive of the second drive unit to abut against the surface of the workpiece 300 facing the base 10 along the Z-axis direction. Each second positioning component 45 includes a positioning post (not shown in the figure), which abuts against the surface of the workpiece 300 facing the base 10 to achieve positioning of the workpiece 300 along the negative Z-axis direction.

[0081] During the process of clamping the workpiece 300 by the clamping device 160, in the first positioning unit 41, the four first positioning members 44 all abut against the bottom surface of the workpiece 300 away from the base 10. In the second positioning unit 42, the two second positioning components 45 move along the negative Z-axis direction under the drive of the second driving unit of the driving module 20 to abut against the surface of the workpiece 300 facing the base 10, thereby realizing the positioning of the workpiece 300 in the Z-axis direction.

[0082] Since both first positioning members 44 in the two first positioning components 43 of the first positioning unit 41 can rotate relative to the clamping unit 31 around the Z-axis, during the process of the clamping device 160 transferring the workpiece 300 to be installed from the installation position 203 to the pre-installation position 204, the four first positioning members 44 can rotate relative to the clamping unit 31 around the Z-axis under the drive of the workpiece 300. There will be no relative movement between the four first positioning members 44 and the workpiece 300, and there will be no friction between the four first positioning members 44 and the workpiece 300. This not only helps the clamping device 160 to pre-install the workpiece 300, but also prevents the four first positioning members 44 from leaving scratches on the bottom surface of the workpiece 300, thus preventing damage to the workpiece 300.

[0083] In addition, the clamping device 160 also includes a camera module 50, which is mounted on the side of the base 10 facing the Y-axis and electrically connected to the processor 120. The camera module 50 is used to acquire the position information of the target position 201 of the semi-finished product 200 and send the position information of the target position 201 to the processor 120. Based on the position information of the target position 201, the processor 120 drives the clamping mechanism 130 to realize the picking, positioning, transportation and pre-loading of the workpiece 300 to be assembled.

[0084] In the assembly machine 100 shown in this embodiment, the clamping mechanism 130 can not only clamp and position the workpiece 300 to be assembled, but also move the workpiece 300 from the feeding position 202 to the assembly position 203, and convey the workpiece 300 from the assembly position 203 to the pre-assembly position 204. That is, the clamping mechanism 130 can integrate four functions: material picking, positioning, transportation, and pre-assembly. The assembly mechanism 140 only needs to assemble the workpiece 300 from the pre-assembly position 204 to the target position 201 to complete the assembly of the workpiece 300. In other words, the assembly machine 100 shown in this embodiment eliminates the positioning mechanism required by existing assembly machines, integrating the positioning function into the clamping mechanism 130, simplifying the mechanical components of the assembly machine 100, reducing the workload of designing, installing, and debugging the assembly machine 100, and reducing the cost of the assembly machine 100.

[0085] Moreover, in the process of assembling the workpiece 300 by the assembly machine 100 shown in this embodiment, the workpiece 300 is mainly transported from the feeding position 202 to the pre-assembly position 204 by the clamping mechanism 130, and then the workpiece 300 is assembled from the pre-assembly position 204 to the target position 201 by the assembly mechanism 140. The entire assembly process is completed by two mechanisms, the clamping mechanism 130 and the assembly mechanism 140, instead of by the clamping mechanism 130 alone. The clamping mechanism 130 and the assembly mechanism 140 can work in parallel, which not only reduces the participation of the clamping mechanism 130 in the assembly process of the workpiece 300, thus reducing energy consumption, but also helps to improve the working efficiency of the assembly machine 100 and increase the production capacity of the assembly machine 100.

[0086] Please see Figure 7 , Figure 7 This application provides an assembly method for a component to be assembled, used to assemble the component 300 onto the semi-finished product 200. The assembly method utilizes the aforementioned assembly machine 100.

[0087] The assembly method for the parts to be assembled includes steps S1 to S4.

[0088] Step S1: The clamping mechanism 130 clamps and positions the workpiece 300 to be installed from the feeding position 202. For example, the coordinates of the feeding position 202 are (X1, Y1, Z1). In this embodiment, the clamping device 160 clamps and positions the workpiece 300 to be installed from the feeding position 202. Specifically, the clamping module 30, driven by the driving module 20, clamps the workpiece 300 to be installed from the feeding position 202 and positions it along the X-axis. The positioning module 40, driven by the driving module 20, positions the workpiece 300 along the Z-axis. Specifically, the driving module 20 drives two clamping units 31 to move along the X-axis, and the two clamping units 31 clamp the workpiece 300 to be installed from the feeding position 202 and position it along the X-axis. The drive module 20 drives the second positioning unit 42 to move along the Z-axis direction, and the first positioning unit 41 and the second positioning unit 42 position the workpiece 300 to be installed along the Z-axis direction. At this time, the first positioning unit 41 abuts against the surface of the workpiece 300 away from the base 10, and the second positioning unit 42 abuts against the surface of the workpiece 300 facing the base 10.

[0089] In step S2, the clamping mechanism 130 moves the workpiece 300 to be loaded from the feeding position 202 to the loading position 203. For example, the coordinates of the loading position 203 are (X2, Y2, Z2), where Z2 = Z1. Specifically, the robotic arm moves along the X-axis and / or Y-axis, driving the clamping module 30 to move along the X-axis and / or Y-axis to move the workpiece 300 from the feeding position 202 to the loading position 203. When the clamping mechanism 130 clamps and positions the workpiece 300, it sends a first signal to the processor 120. Based on the first signal from the clamping module 30, the processor 120 drives the transport module to move along the X-axis and / or Y-axis. The transport module then drives the support arm 150 and the clamping device 160 to move along the X-axis and / or Y-axis to move the workpiece 300 from the feeding position 202 to the loading position 203.

[0090] In step S3, the clamping mechanism 130 transfers the component 300 to be installed from the installation position 203 to the pre-installation position 204. For example, the coordinates of the pre-installation position 204 are (X3, Y3, Z3), where X3 = X2, Y3 > Y2, and Z3 = Z2. In this embodiment, when the clamping mechanism 130 moves the component 300 to the installation position 203, it sends a second signal to the processor 120. Based on the second signal from the clamping mechanism 130, the processor 120 drives the clamping module 30 to transfer the component 300 from the installation position 203 to the pre-installation position 204, thus completing the pre-installation of the component 300. Specifically, in the two clamping units 31, the driving unit 32 drives the conveying unit 37 to transfer the component 300 from the installation position 203 to the pre-installation position 204, thus completing the pre-installation of the component 300. Among them, the conveyor belts 35 of the two clamping units 31 can transport the workpiece 300 to be loaded along the Y-axis direction, so as to transport the workpiece 300 to be loaded from the loading position 203 to the pre-loading position 204, thereby realizing the pre-loading of the workpiece 300.

[0091] In step S4, the assembly mechanism 140 assembles the component to be assembled 300 to the target position 201. In this embodiment, the assembly mechanism 140 assembles the component to be assembled 300 from the pre-assembly position 204 to the target position 201. Specifically, after the clamping mechanism 130 conveys the component to be assembled 300 to the pre-assembly position 204, it sends a third signal to the processor 120. Based on the third signal from the clamping mechanism 130, the processor 120 drives the assembly mechanism 140 to assemble the component to be assembled 300 from the pre-assembly position 204 to the target position 201. For example, the coordinates of the target position 201 are (X0, Y0, Z0), X0 = X3, Y0 > Y3, Z0 = Z3.

[0092] In some other embodiments, the assembly method of the component to be assembled may not include step S3. After the clamping mechanism 130 transfers the component to be assembled 300 to the mounting position 203, it sends a feedback signal to the processor 120. Based on the feedback signal from the clamping mechanism 130, the processor 120 drives the assembly mechanism 140 to transfer the component to be assembled 300 from the mounting position 203 to the pre-assembly position 204, and then assembles the component to be assembled 300 from the pre-assembly position 204 to the target position 201. Alternatively, based on the feedback signal from the clamping mechanism 130, the processor 120 drives the assembly mechanism 140 to directly assemble the component to be assembled 300 from the mounting position 203 to the target position 201.

[0093] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Where there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A clamping mechanism, characterized in that, include: A robotic arm capable of moving along the X-axis and Y-axis directions; A clamping module includes two clamping units, both of which are mounted on the robotic arm. The two clamping units are arranged opposite to each other along the X-axis, and at least one of the clamping units is movable along the X-axis. Each clamping unit includes a conveying part and a driving part. The conveying part includes a conveyor belt that is in frictional contact with the workpiece to be loaded. The driving part is electrically connected to the conveying part and is used to drive the conveyor belt to rotate. The conveyor belt is used to transport the workpiece to be loaded from the loading position to the pre-loading position. A positioning module includes a first positioning unit and a second positioning unit, both mounted on the robotic arm. Along the Z-axis, the first and second positioning units are spaced apart and arranged opposite to each other. The first positioning unit includes two first positioning components, each mounted on one side of a clamping unit. Both first positioning components are used to abut against the surface of the workpiece to be loaded along the Z-axis. Each first positioning component can rotate relative to the clamping unit around the Z-axis. The second positioning unit includes two second positioning components, spaced apart and electrically connected to a drive module. The drive module drives the two second positioning components to move towards the workpiece to be loaded along the Z-axis, and both second positioning components abut against the surface of the workpiece to be loaded along the Z-axis. And the drive module, which is mounted on the robotic arm and electrically connected to the gripping module and the positioning module; The drive module drives at least one of the clamping units to move along the X-axis direction, and the two clamping units clamp the workpiece to be installed located at the feeding position. The drive module drives the first positioning unit and / or the second positioning unit to move along the Z-axis direction, and the first positioning unit and the second positioning unit position the workpiece to be installed along the Z-axis direction. The robotic arm moves along the X-axis direction and / or the Y-axis direction to move the workpiece to be installed from the feeding position to the installation position.

2. The clamping mechanism according to claim 1, characterized in that, Along the X-axis, the two clamping units are mirror-symmetrical about the robotic arm. The drive module drives both clamping units to move toward the workpiece along the X-axis. The two clamping units position the workpiece along the X-axis, wherein the two clamping units move the same distance along the X-axis.

3. The clamping mechanism according to claim 1, characterized in that, The conveying unit further includes a main drive assembly, a driven assembly, and a drive belt. The main drive assembly is electrically connected to the driving unit. The driven assembly is spaced apart from the main drive assembly. The drive belt and the conveyor belt are both sleeved on the main drive assembly and the driven assembly. The drive belt is spaced apart from the conveyor belt and is located on the side of the conveyor belt closer to the driving unit. The driving unit is used to drive the main drive assembly to rotate. The main drive assembly is used to drive the conveyor belt, the driven assembly, and the drive belt to rotate.

4. The clamping mechanism according to any one of claims 1 to 3, characterized in that, The robotic arm includes a support arm and a transport module. The clamping module is installed at one end of the support arm, and the transport module is installed at the other end of the support arm. The transport module is used to drive the support arm to move along the X-axis and the Y-axis.

5. An assembly machine, characterized in that, The assembly includes an assembly mechanism, a clamping mechanism as described in any one of claims 1 to 4, and a processor, wherein the processor is electrically connected to the assembly mechanism and the drive module, and the processor is used to drive the assembly mechanism to assemble the workpiece to be assembled to the target position.

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