Assembly apparatus and assembly method

Abstract

The application relates to an assembling device and an assembling method, wherein the assembling device comprises a transmission line body, a conveying assembly, a visual assembly and a control assembly, a first circular part is fixed in a transmission jig of the transmission line body; the conveying assembly comprises a first conveying structure and a clamping structure for clamping a second circular part; the visual assembly comprises a first visual structure and a second visual structure. Position information of the first circular part and the second circular part needing to be assembled is collected through the first visual structure and the second visual structure, then the transmission line body and the first conveying structure are controlled to be fitted according to the position information, and other parts are adjusted directly through the structures and the position information of the two, so that the assembling precision is guaranteed. The application effectively solves the problem that the concentricity between circular parts needing to be matched in the prior art is low.

Description

Technical Field

[0001] This application relates to the field of manufacturing technology, and more particularly to an assembly equipment and assembly method. Background Technology

[0002] With the development of the manufacturing industry, various products are gradually becoming more refined, especially some components in smart devices. These components are becoming smaller and more complex, placing higher demands on the manufacturing industry. Currently, mating circular parts usually require a certain degree of concentricity to function properly. Poor concentricity will cause problems in the fit between the two parts, resulting in poor product performance and affecting the user experience.

[0003] In existing technologies, the concentricity of mating circular components is usually controlled by the design of parts to obtain a certain benchmark. However, as the design of parts becomes more and more refined, the requirements for concentricity are becoming higher and higher. The concentricity controlled by assembly can only be controlled within a certain range, which is gradually unable to meet the needs of product development. Furthermore, the existing assembly methods are insufficient to support assembly with higher concentricity requirements. Summary of the Invention

[0004] This application provides an assembly device and an assembly method to solve the problem of low concentricity in the assembly of mating circular parts in the prior art.

[0005] In a first aspect, this application provides an assembly device for assembling a product, the product including a first circular component and a second circular component, comprising: a transmission line, a transport assembly, a vision assembly, and a control assembly. The transmission line includes a transport fixture that can slide along a first direction, and the first circular component is fixed inside the transport fixture. The transport assembly includes a clamping structure and a first transport structure fixedly connected together, the clamping structure being used to clamp the second circular component, and the first transport structure being used to transport the clamping structure. The vision assembly includes a first vision structure and a second vision structure, the acquisition ends of the first vision structure and the second vision structure both facing the transport fixture. The first vision structure, the second vision structure, the transmission line, and the first transport structure are electrically connected to the control assembly.

[0006] Furthermore, the transmission line also includes a second transport structure, which can drive the transmission fixture to move along a first direction, a second direction, and a third direction, wherein the first direction, the second direction, and the third direction are perpendicular to each other.

[0007] Furthermore, the first vision structure is used to collect the position information of the first circular component, and the control component adjusts the second transport structure to drive the transport fixture to the designated position based on the position information of the first circular component.

[0008] Furthermore, the second vision structure is used to collect the position information of the second circular component, and the control component adjusts the first transport structure to drive the clamping structure to move according to the position information of the second circular component.

[0009] Furthermore, the assembly equipment also includes a pressure holding assembly, which includes a displacement structure and a pressure holding rod. The pressure holding rod is arranged along the second direction. The displacement structure is electrically connected to the control assembly. The displacement structure can drive the pressure holding rod to slide along the second direction. The pressure holding rod has a pressure holding state that abuts against the second circular component.

[0010] Furthermore, the vision component also includes a third vision structure, the acquisition end of which is set facing the transmission fixture, and the third vision structure is electrically connected to the control component. The third vision structure is used to acquire the first and second circular parts after assembly.

[0011] Furthermore, the transport component also includes a third transport structure, a fourth vision structure, and a transfer structure. The third transport structure, the fourth vision structure, and the transfer structure are all electrically connected to the control component. The fourth vision structure collects transport information from the third transport structure, and the transfer structure adjusts the shape of the second circular component for clamping by the clamping structure.

[0012] Secondly, this application also provides an assembly method, which uses the assembly equipment described above, and further includes:

[0013] S10, the first vision structure acquires and transmits the first position information of the first circular component in the fixture;

[0014] S20, the second visual structure acquires the second position information of the second circular component in the clamping structure.

[0015] S30, the control component adjusts the position of the second circular component to match the position of the first circular component based on the first position information and the second position information;

[0016] S40, based on the first position information and the second position information, the bonding transfer fixture is transferred to the pressure holding position. The pressure holding rod of the pressure holding assembly abuts against the second circular component under the drive of the displacement structure, so that the product is in a pressure holding state.

[0017] Furthermore, after acquiring the first position information of the first circular component in the transmission fixture, the assembly method further includes:

[0018] S11, The control component is provided with preset position information of the first circular component, and the control component calculates the direction and distance that the first circular component needs to move based on the first position information;

[0019] S12, the control component controls the second transport structure to move the first circular component until the first position information is consistent with the preset position information.

[0020] Furthermore, the preset position information includes the arc length and center position of the first circular component at the preset position.

[0021] The technical solutions provided in this application have the following advantages compared with the prior art:

[0022] This application provides an assembly device and method. The assembly device includes a transmission line, a transport component, a vision component, and a control component. The transmission line includes a transport fixture that can slide along a first direction, and a first circular component is fixed inside the transport fixture. The transport component includes a clamping structure and a first transport structure fixedly connected to each other. The clamping structure is used to clamp a second circular component, and the first transport structure is used to transport the clamping structure. The vision component includes a first vision structure and a second vision structure, both of which have their acquisition ends facing the transport fixture. The first vision structure, the second vision structure, the transmission line, and the first transport structure are electrically connected to the control component. The position information of the first and second circular components to be assembled is acquired by the first and second vision structures. Based on the position information, the transmission line and the first transport structure are controlled to make them fit together, thus achieving assembly. This assembly directly adjusts other components based on the structure and position information of the two components, ensuring assembly accuracy. This application effectively solves the problem of low concentricity in the assembly of circular components that need to cooperate in the prior art. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This paper shows a three-dimensional structural schematic diagram of an assembly device provided in an embodiment of the present application;

[0026] Figure 2 It shows Figure 1 Top view of the assembly equipment;

[0027] Figure 3 It shows Figure 1 A top view of the vision components of the assembly equipment;

[0028] Figure 4 It shows Figure 1 A three-dimensional structural diagram of the vision components of the assembly equipment;

[0029] Figure 5 It shows Figure 1 A three-dimensional structural diagram of the third transport structure of the assembly equipment;

[0030] Figure 6 It shows Figure 1 A three-dimensional structural diagram of the first transport structure of the assembly equipment;

[0031] Figure 7 A schematic diagram of the assembly structure of the product provided in an embodiment of this application is shown.

[0032] The above figures include the following reference numerals:

[0033] 10. Transmission line body; 11. Transmission fixture; 12. Second transport structure; 20. Transport component; 21. Clamping structure; 22. First transport structure; 221. First track; 222. Second track; 223. Third track; 23. Third transport structure; 231. Fourth track; 232. Fifth track; 233. Sixth track; 234. Adsorption structure; 24. Fourth vision structure; 30. Vision component; 31. First vision structure; 32. Second vision structure; 33. Third vision structure; 40. Pressure holding component; 41. Displacement structure; 42. Pressure holding rod body; 100. Product; 110. First circular component; 120. Second circular component. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] like Figure 1 , Figure 2 and Figure 7As shown, in a first aspect, embodiments of this application provide an assembly device, including: a transmission line 10, a transport component 20, a vision component 30, and a control component. The transmission line 10 includes a transmission fixture 11 that can slide along a first direction X, and a first circular component 110 is fixed inside the transmission fixture 11. The transport component 20 includes a clamping structure 21 and a first transport structure 22 fixedly connected together. The clamping structure 21 is used to clamp a second circular component 120, and the first transport structure 22 is used to transport the clamping structure 21. The vision component 30 includes a first vision structure 31 and a second vision structure 32, and the acquisition ends of the first vision structure 31 and the second vision structure 32 are both arranged facing the transmission fixture 11. The first vision structure 31, the second vision structure 32, the transmission line 10, and the first transport structure 22 are electrically connected to the control component. Position information of the first circular component 110 and the second circular component 120 to be assembled is acquired by the first vision structure 31 and the second vision structure 32. Based on this position information, the transmission line 10 and the first transport structure 22 are controlled to align them, thus achieving assembly. This assembly method directly adjusts other components based on the structural and positional information of the two components, ensuring assembly accuracy. This application effectively solves the problem of low concentricity in the assembly of mating circular components in the prior art.

[0036] like Figure 1 and Figure 2 As shown, in the technical solution of this embodiment, the transmission line 10 further includes a second transport structure 12. The second transport structure 12 can drive the transmission fixture 11 to move along the first direction X, the second direction Y, and the third direction Z, which are perpendicular to each other. This arrangement allows the transmission fixture 11 to adjust its position in each of the three directions. Specifically, the second transport structure 12 includes a slide rail arranged along the first direction X, a transport seat cooperating with the slide rail, a first cylinder that can extend along the second direction Y, and a second cylinder that can extend along the third direction Z. The transport seat drives the transfer fixture 11 to slide on the slide rail. The first cylinder is fixed on the transport seat and drives the transfer fixture 11 to move in the second direction Y. The second cylinder is fixedly connected to the output end of the first cylinder through a connector. The transfer fixture 11 is connected to the output end of the second cylinder to realize displacement in the third direction Z. This arrangement allows the transfer fixture 11 to be adjusted in three directions. Since the acquisition ends of the first vision structure 31 and the second vision structure 32 are both set facing the transfer fixture, the first vision structure 31, the second vision structure 32, and the slide rail can be adjusted during equipment assembly so that the orientation of the acquisition ends of the first vision structure 31 and the second vision structure 32 is perpendicular to the orientation of the slide rail, thereby improving the acquisition accuracy of the first vision structure 31 and the second vision structure 32, so as to ensure high assembly reference accuracy between the first circular component 110 and the second circular component 120 and high concentricity after assembly.

[0037] In the technical solution of this embodiment (not shown in the figure), the first vision structure 31 is used to collect the position information of the first circular component 110. Based on the position information of the first circular component 110, the control component adjusts the second transport structure 12 to drive the transfer fixture 11 to a designated position. This arrangement allows the first circular component 110 to appear in a preset position, providing a positioning reference during the assembly process to improve the accuracy of subsequent assembly. Simultaneously, this arrangement ensures that the assembly reference for products in the same group is the same, and also guarantees that the position of the transfer fixture 11 remains consistent after it leaves the transport line 10, facilitating subsequent processing and production.

[0038] In the technical solution of this embodiment (not shown in the figure), the second vision structure 32 is used to collect the position information of the second circular component 120. The control component adjusts the first transport structure 22 to drive the clamping structure 21 to move based on the position information of the second circular component 120. By combining the position information of the second circular component 120 with the position of the first circular component 110 at a specified location, the specific displacement information that the first transport structure 22 needs to adjust is calculated. Then, the first transport structure 22 drives the clamping structure 21, thereby assembling the second circular component 120 with the first circular component 110. It should be noted that both the first vision structure 31 and the second vision structure 32 can use a camera lens or a microscope for image acquisition. This method can obtain more accurate position information of the circular component, enabling precise position adjustments. Using a microscope provides higher visual precision and allows for real-time image capture for position adjustments, making the adjustment process visualized and facilitating high-precision adjustments during production.

[0039] It should be noted that, as Figure 6 As shown, in this embodiment, the first transport structure 22 includes a first track 221, a second track 222, and a third track 223. The first track 221 is arranged along the second direction Y, the second track 222 is arranged along the first direction X, and the third track 223 is arranged along the third direction Z. A clamping structure 21 is fixedly arranged at one end of the third track 223 near the bottom. The arrangement of multiple tracks allows the first transport structure 22 to move more accurately in three directions, facilitating assembly. The clamping structure 21 includes two clamping arms, which can move along the second direction Y to switch between a clamping state and a relaxed state.

[0040] like Figures 1 to 3As shown, in this embodiment, the assembly equipment further includes a pressure-holding assembly 40. The pressure-holding assembly 40 includes a displacement structure 41 and a pressure-holding rod 42. The pressure-holding rod 42 is positioned along the second direction Y. The displacement structure 41 is electrically connected to the control component. The displacement structure 41 can drive the pressure-holding rod 42 to slide along the second direction Y. The pressure-holding rod 42 has a pressure-holding state that abuts against the second circular component 120. The pressure-holding assembly 40 is designed to further tighten the connection between the two circular components after they are assembled in a close-fitting manner, thus improving the assembly effect after the circular components are assembled. It should be noted that the displacement structure 41 drives the pressure-holding rod 42 to perform the pressure-holding operation via a slide rail.

[0041] like Figure 3 and Figure 4 As shown, in the technical solution of this embodiment, the vision component 30 further includes a third vision structure 33. The acquisition end of the third vision structure 33 is disposed facing the transmission fixture 11. The third vision structure 33 is electrically connected to the control component. The third vision structure 33 is used to acquire the first circular component 110 and the second circular component 120 after assembly. The third vision structure 33 acquires the product 100 after assembly and is used to detect whether the assembly of the first circular component 110 and the second circular component 120 meets the requirements.

[0042] like Figure 1 , Figure 2 and Figure 5As shown, in the technical solution of this embodiment, the transport component 20 further includes a third transport structure 23, a fourth vision structure 24, and a transfer structure. The third transport structure 23, the fourth vision structure 24, and the transfer structure are all electrically connected to the control component. The fourth vision structure 24 collects transport information from the third transport structure 23. The transfer structure adjusts the shape of the second circular component 120 for clamping by the clamping structure 21. The third transport structure 23 includes a fourth track 231, a fifth track 232, a sixth track 233, and an adsorption structure 234. The fourth track 231 is set along the second direction Y, the fifth track 232 is set along the first direction X, and the sixth track 233 is set along the third direction Z. The fourth vision structure 24 and the adsorption structure 234 are fixedly arranged at one end of the sixth track 233 near the bottom. The adsorption structure 234 is used to adsorb the second circular component 120. After the second circular component 120 has been processed in the previous round, it is adsorbed by the adsorption structure 234 and transported by the third transport structure 23. Then, it is changed in direction by the transfer structure for clamping by the clamping structure 21 and finally assembled. The fourth vision structure 24 is specifically used for positioning the adsorption structure 234 before adsorption and for positioning the transport point after adsorption. This ensures accurate transport from the previous process to the assembly process and reduces the difficulty of positioning the subsequent transport components 20, thereby improving assembly accuracy. The transfer structure includes a first turntable and a clamp. The first turntable rotates 90 degrees under the drive of a motor. The second circular component 120 is sheet-like and is placed horizontally on the first turntable after being adsorbed by the adsorption structure 234. After the first turntable rotates, the second circular component 120 is placed on a vertical plane. After rotation, the second circular component 120 is inserted into the clamp, with the clamping end of the second circular component 120 facing upwards. At this time, the clamping structure 21 rotates to clamp the clamping end. The clamp releases and flips to disengage, ensuring that the transfer of the second circular component 120 is not interfered with, avoiding deformation and reducing time consumption. After the second circular component 120 is removed, the clamp returns to its initial state for the next clamping step.

[0043] Secondly, this application also provides an assembly method, which uses the assembly equipment described above, and further includes:

[0044] S10, the first vision structure 31 acquires the first position information of the first circular component 110 in the jig 11. Specifically, the first vision structure 31 is a microscope, and the first position information includes the position information of the center of the first circular component 110, the distance information of the first circular component 110 from the first vision structure 31, and the roundness information of the outer circle of the first circular component 110. It can be understood that when a circle is on a plane, the distance from any point on the circle to the center is equal. However, in space, because the plane on which the circle is located may not be perpendicular to the direction of the microscope's line of sight to the circular structure, the distance from a point on the circle to the center in the circular structure acquired by the microscope is not equal. At this time, there is a deviation in the actual position of the center, which is not conducive to assembly. Acquiring roundness information can adjust the plane on which the circle is located to be perpendicular to the line of sight of the microscope to acquire the circular structure. On the one hand, it can locate the circle, and on the other hand, it can obtain more accurate position information of the center.

[0045] S20, the second visual structure 32 acquires the second position information of the second circular component 120 in the clamping structure 21; specifically, the second visual structure 32 is a microscope, and the second position information includes the position information of the center of the second circular component 120, the distance information of the second circular component 120 from the second visual structure 32, and the roundness information of the second circular component 120.

[0046] S30, the control component adjusts the position of the second circular component 120 to match the position of the first circular component 110 according to the first position information and the second position information. Specifically, it adjusts the planes on which the circles of the first circular component 110 and the second circular component 120 are parallel to each other according to the roundness information of the circles of the first circular component 110 and the second circular component 120. Then, it adjusts the first circular component 110 and the second circular component 120 so that their centers are on the same axis according to the position information of the center of the first circular component 110 and the second circular component 120. Finally, it adjusts the distance between the first circular component 110 and the second circular component 120 according to the distance information of the first circular component 110 from the first visual structure 31 and the distance information of the second circular component 120 from the second visual structure 32, thereby realizing the assembly of the first circular component 110 and the second circular component 120.

[0047] S40, based on the first and second position information, the assembled transfer fixture 11 is transferred to the pressure-holding position. Driven by the displacement structure 41, the pressure-holding rod 42 of the pressure-holding assembly 40 abuts against the first circular component 110 or the second circular component 120, thus placing the product 100 in a pressure-holding state. After the product 100 is in place, the pressure-holding rod 42 is displaced along the second direction Y, causing the pressure-holding rod 42 to tightly bond the second circular component 120 to the first circular component 110. In an optional embodiment, the pressure-holding time is the same as the bonding time, thus synchronizing the pressure-holding process, the bonding process, and even the subsequent testing process, enabling seamless integration and achieving automated continuous production while ensuring pressure holding.

[0048] In the technical solution of this embodiment, after acquiring the first position information of the first circular component 110 in the transmission fixture 11, the assembly method further includes:

[0049] S11, the control component is provided with preset position information of the first circular component 110. The control component calculates the direction and distance that the first circular component 110 needs to move based on the first position information. Specifically, the preset position information is the position information of the reserved transfer fixture 11. When the position of the transfer fixture 11 can reach the preset position after adjustment, the next assembly step can be carried out.

[0050] S12, the control component controls the second transport structure 12 to move the first circular component 110 until the first position information matches the preset position information. After the movement is completed, it serves as a positioning reference for the subsequent assembly of the second circular component 120.

[0051] It should be noted that, in an optional embodiment, the preset position information can be the position of the pressure holding rod 42 in the pressure holding assembly 40. This setting can achieve precise alignment during the pressure holding process, which can reduce the need for the first circular component 110 and the second circular component 120 to be displaced after bonding in order to further maintain pressure, and avoid the problem of low assembly accuracy caused by mutual influence or even interference between the two during the movement.

[0052] In this embodiment, the preset position information includes the arc length and center position of the first circular component 110 at the preset position. This setting allows for precise control of the specific position of the first circular component 110 after positioning.

[0053] In one specific embodiment, the first circular component 110 is a hollow circular component with a mounting portion fixed at a relative position to the hollow circle. The second circular component 120 is assembled by fitting against the mounting portion, specifically by adhesive bonding. During step S10, the first vision structure 31 acquires the inner circle roundness information of the hollow circle of the first circular component 110, and adjusts the plane containing the hollow circle to be perpendicular to the line of sight of the first vision structure 31 using the inner circle roundness information. Then, combining this with the distance information between the plane containing the hollow circle and the first vision structure 31, the position information of the virtual center of the hollow circle is calculated, thereby determining the specific position information of the mounting portion in the first circular component 110. Based on the specific position information of the mounting portion and the preset position information of the first circular component 110 within the control component, the first circular component 110 is transported to the preset position, providing a reference for the installation of the second circular component 120.

[0054] The second circular component 120 is a solid, sheet-like circular component. The side of the second circular component 120 facing the second visual structure 32 has two reference lines of a certain width. The length of the reference lines is equal to the diameter of the second circular component 120, meaning the center of the second circular component 120 is located within the area where the two reference lines intersect. When executing step S20, the position information of the center of the second circular component 120 is acquired. The second visual structure 32 first acquires the roundness information of the circle of the second circular component 120 to avoid the plane containing the circle being non-perpendicular to the acquisition line of the second visual structure 32. When the plane containing the circle is perpendicular to the acquisition line of the second visual structure 32, the position information of the edges of the two reference lines is acquired, and the midline between the two edges of the reference lines is calculated based on the edge position information. The intersection point of the two midlines is the position of the center of the circle. Finally, based on the size of the circle of the second circular component 120 acquired by the second visual structure 32, the distance between the second circular component 120 and the second visual structure 32 is calculated. After obtaining the first position information of the first circular component 110 and the second position information of the second circular component 120, steps S30 and S40 are executed. This operation avoids the inaccuracy of the center position of the second circular component 120 due to the line width of the reference line, thereby improving the concentricity after assembly. The concentricity error generated by this operation can be reduced to between 0.00mm and 0.15mm.

[0055] It should be noted that the product in this application is specifically an electronic pen. The concentricity of the first circular component 110 and the second circular component 120 corresponds to the ink output of the electronic pen. When there is a large deviation in concentricity, the ink output of the lines output on the electronic screen will be mismatched, making it impossible for the user to use the pen accurately. The electronic pen made using the above-described assembly mechanism can effectively solve the above problem and improve the user experience. It can also be used for different types of assembly precision, and can be assembled through the cooperation of multiple directions, not limited to concentric precision.

[0056] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0057] The above are merely specific embodiments of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An assembly apparatus for assembling a product (100), said product comprising a first circular component (110) and a second circular component (120), characterized in that, include: The transmission line body (10) includes a transmission fixture (11) that can slide along a first direction, and the first circular component (110) is fixed inside the transmission fixture (11). The transport assembly (20) includes a clamping structure (21) and a first transport structure (22) fixedly connected together. The clamping structure (21) is used to clamp the second circular component (120), and the first transport structure (22) is used to transport the clamping structure (21). The vision component (30) includes a first vision structure (31) and a second vision structure (32), the acquisition ends of the first vision structure (31) and the second vision structure (32) are both arranged facing the transmission fixture (11); The control component, the first vision structure (31), the second vision structure (32), the transmission line (10) and the first transport structure (22) are electrically connected to the control component respectively; The transport component (20) further includes a third transport structure (23), a fourth vision structure (24), and a transfer structure. The third transport structure (23), the fourth vision structure (24), and the transfer structure are all electrically connected to the control component. The fourth vision structure (24) collects transport information from the third transport structure (23). The transfer structure adjusts the shape of the second circular component (120) for clamping by the clamping structure (21). The third transport structure (23) includes the sixth track (233) and the adsorption structure (234). The sixth track (233) is fixedly provided with a fourth visual structure (24) and an adsorption structure (234) near the bottom end. The transfer structure includes a first turntable and a clamp. The first turntable rotates 90 degrees under the drive of a motor. The second circular component (120) is sheet-shaped and is placed on the first turntable through an adsorption structure (234). After rotation, the second circular component (120) is inserted into the clamp. The second circular component (120) is a solid circular component. The side of the second circular component (120) facing the second visual structure (32) has two reference lines with a certain width. The length of the reference lines is equal to the diameter of the second circular component (120). The second visual structure (32) acquires the second position information of the second circular component (120) in the clamping structure (21), including: The second visual structure (32) first obtains the roundness information of the circle of the second circular component (120); Collect the position information of the sidelines of the two baselines, and calculate the midline between the two sidelines of the baselines based on the position information. The intersection point of the two midlines is the position of the center of the circle. Based on the size of the circle of the second circular component (120) acquired by the second visual structure (32), the distance between the second circular component (120) and the second visual structure (32) is calculated.

2. The assembly equipment according to claim 1, characterized in that, The transmission line (10) also includes a second transport structure (12), which can drive the transmission fixture (11) to move along the first direction, the second direction and the third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other.

3. The assembly equipment according to claim 2, characterized in that, The first vision structure (31) is used to collect the position information of the first circular component (110). The control component adjusts the second transport structure (12) to drive the transport fixture (11) to the designated position according to the position information of the first circular component (110).

4. The assembly equipment according to claim 3, characterized in that, The second vision structure (32) is used to collect the position information of the second circular component (120). The control component adjusts the first transport structure (22) to drive the clamping structure (21) to move according to the position information of the second circular component (120).

5. The assembly equipment according to claim 4, characterized in that, The assembly equipment further includes a pressure holding assembly (40), which includes a displacement structure (41) and a pressure holding rod (42). The pressure holding rod (42) is arranged along the second direction. The displacement structure (41) is electrically connected to the control assembly. The displacement structure (41) can drive the pressure holding rod (42) to slide along the second direction. The pressure holding rod (42) has a pressure holding state that abuts against the second circular component (120).

6. The assembly equipment according to claim 4, characterized in that, The vision component (30) further includes a third vision structure (33), the acquisition end of which is set facing the transmission fixture (11), the third vision structure (33) is electrically connected to the control component, and the third vision structure (33) is used to acquire the first circular component (110) and the second circular component (120) after assembly.

7. An assembly method, characterized in that, The assembly method uses the assembly equipment as described in any one of claims 1 to 6, and the assembly method further includes: S10 The first visual structure (31) acquires the first position information of the first circular component (110) in the transmission fixture (11); S20 The second visual structure (32) acquires the second position information of the second circular component (120) in the clamping structure (21); S30 The control component adjusts the position of the second circular component (120) to match the position of the first circular component (110) according to the first position information and the second position information; S40 According to the first position information and the second position information, the bonding transfer fixture (11) is transferred to the pressure holding position. The pressure holding rod (42) of the pressure holding assembly (40) abuts against the second circular component (120) under the drive of the displacement structure (41), so that the product (100) is in a pressure holding state.

8. The assembly method according to claim 7, characterized in that, After acquiring the first position information of the first circular component (110) in the transfer fixture (11), the assembly method further includes: S11 The control component is provided with preset position information of the first circular component (110), and the control component calculates the direction and distance that the first circular component (110) needs to move based on the first position information; S12 The control component controls the second transport structure (12) to move the first circular component (110) until the first position information is consistent with the preset position information.

9. The assembly method according to claim 8, characterized in that, The preset position information includes the arc length and center position of the first circular component (110) at the preset position.

10. The assembly method according to claim 7, characterized in that... The first position information includes the position information of the center of the first circular component (110), the distance information of the first circular component (110) from the first visual structure (31), and the roundness information of the outer circle of the first circular component (110); The second position information includes the position information of the center of the second circular component (120), the distance information of the second circular component (120) from the second visual structure (32), and the roundness information of the outer circle of the second circular component (120); The control component adjusts the position of the second circular component (120) to match the position of the first circular component (110) based on the first position information and the second position information, including: Adjust the planes where the circles of the first circular component (110) and the second circular component (120) are located to be parallel to each other based on the roundness information of the circle of the first circular component (110) and the roundness information of the circle of the second circular component (120); Based on the position information of the center of the first circular component (110) and the center of the second circular component (120), adjust the first circular component (110) and the second circular component (120) so that their centers are on the same axis. The distance between the first circular component (110) and the second circular component (120) is adjusted according to the distance information between the first circular component (110) and the first visual structure (31) and the distance information between the second circular component (120) and the second visual structure (32), thereby realizing the assembly of the first circular component (110) and the second circular component (120).

11. The assembly method according to claim 7, characterized in that... The first circular component (110) is a hollow circular component; The first visual structure (31) acquires the first position information of the first circular component (110) in the transmission fixture (11), including: The first visual structure (31) acquires the inner circle roundness information of the hollow circle of the first circular component (110), and adjusts the plane where the hollow circle is located to be perpendicular to the acquisition line of the first visual structure (31) through the inner circle roundness information. The location information of the virtual center of the hollow circle is calculated by combining the distance information between the plane where the hollow circle is located and the first visual structure (31), thereby determining the specific location information of the installation part in the first circular component (110).

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