Assembly line and assembly method

Abstract

The application discloses an assembly production line, which comprises a workpiece feeding device, a workpiece feeding device for supplying workpieces; an assembly part feeding and discharging device, the assembly part feeding and discharging device is arranged on one side of the workpiece feeding device, the assembly part feeding and discharging device is used for supplying assembly parts assembled on the workpieces, and the assembly part feeding and discharging device is provided with an identification mechanism for identifying the point glue position information on the workpieces; an assembly point glue equipment, the assembly point glue equipment is arranged on one side of the assembly part feeding and discharging device, the assembly point glue equipment receives the workpieces and the assembly parts, the assembly point glue equipment can identify the assembly position information of the workpieces, and after the contour of the assembly part is matched with the assembly position information, the assembly part is installed on the workpiece, and then the assembly part and the workpiece are fixed by point glue at the connecting position according to the point glue position information. The application has the advantages of automatically assembling the workpieces and products, and high assembly and point glue efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of assembly and dispensing, and particularly relates to an assembly production line and an assembly method. BACKGROUND

[0002] With the popularization of intelligent driving, laser radars are increasingly applied on vehicles. Patent CN212410936U discloses a laser radar, and lenses, reflecting sheets and the like are fixed in a lens by four screws. The screw fixing mode has the following problems: 1. low assembly efficiency; 2. the scheme of locking and fixing by four screws cannot guarantee that the four corners of the lens are uniformly stressed; 3. the screws block the area of the lens receiving light; and 4. due to the small size of the screws, the screws cannot be automatically assembled by automatic equipment and manual assembly costs are high. SUMMARY

[0003] The present application aims to at least solve one of the problems in the prior art.

[0004] To this end, the present application provides an assembly production line and an assembly method, which has the advantages of automatically assembling workpieces and products, and high assembly and dispensing efficiency.

[0005] The assembly production line according to an embodiment of the present application comprises: a workpiece feeding device for supplying workpieces; an assembly part feeding and discharging device arranged on one side of the workpiece feeding device, for supplying assembly parts assembled on the workpieces, the assembly part feeding and discharging device being provided with an identification mechanism for identifying dispensing position information on the workpieces; and an assembly dispensing device arranged on one side of the assembly part feeding and discharging device, for receiving workpieces and assembly parts, the assembly dispensing device being capable of identifying assembly position information of the workpieces, and installing the assembly parts on the workpieces after the contour of the assembly parts matches the assembly position information, and then dispensing and fixing the assembly parts and the workpieces at the connection position according to the dispensing position information.

[0006] According to an embodiment of the present application, the workpiece feeding device comprises: a feeding mechanism for conveying a workpiece tray assembly, the workpiece tray assembly being provided with a plurality of workpieces; a movement mechanism capable of taking the workpiece tray assembly out of the feeding mechanism and moving the workpiece tray assembly to a workpiece grabbing position; a carrying mechanism for grabbing workpieces from the workpiece tray assembly; and a turnover transfer mechanism capable of receiving workpieces from the carrying mechanism, moving the workpieces to a next work procedure and turning over the workpieces to a required angle for the next work procedure.

[0007] According to an embodiment of the present application, the moving mechanism comprises: a dragging assembly, which is capable of extracting the workpiece tray assembly from the feeding mechanism; and a z-direction moving assembly, which is connected to the dragging assembly and is capable of moving the dragging assembly along the z-direction.

[0008] According to an embodiment of the present application, the carrying mechanism comprises: a y-direction moving assembly; an x-direction moving assembly, which is installed on the y-direction moving assembly and is capable of moving the x-direction moving assembly along the y-direction; a z-direction moving assembly, which is installed on the x-direction moving assembly and is capable of moving the z-direction moving assembly along the x-direction; and a clamping assembly, which is installed on the z-direction moving assembly and is capable of moving the clamping assembly along the z-direction.

[0009] According to an embodiment of the present application, the overturning and transferring mechanism comprises: a lifting assembly, which is capable of moving an installation plate along the z-direction; a driving assembly, which is installed on the installation plate; and an overturning assembly, which is installed on the driving assembly, is capable of moving along the y-direction, and is capable of receiving the workpiece clamped by the carrying mechanism and overturning the workpiece.

[0010] According to an embodiment of the present application, the assembly feeding and discharging device comprises: a clamping mechanism, which is used to clamp the workpiece conveyed by the workpiece feeding device and clamp the workpiece on the assembly dispensing equipment; a feeding mechanism, which is used to convey the tray on which the assembly is placed; a transferring mechanism, which is used to receive the tray from the feeding mechanism and convey the tray to the material taking position; a picking mechanism, which is used to pick the assembly from the tray on the transferring mechanism and pick the assembly on the assembly dispensing equipment; and a discharging mechanism, which is located below the feeding mechanism, and is used to collect and convey the empty tray after the assembly in the tray is picked by the picking mechanism.

[0011] According to an embodiment of the present application, the feeding mechanism comprises: a first feeding assembly, which is located on one side of the tray; a second feeding assembly, which is located on the other side of the tray and is capable of approaching the first feeding assembly to support the tray; and a jacking assembly, which is located below the tray and is used to jack up the tray.

[0012] According to one embodiment of the present application, the transferring mechanism comprises a transferring plate, a first lifting assembly located at one side of the transferring plate, a second lifting assembly located at the other side of the transferring plate, and a transferring driving assembly connected with the transferring plate for driving the transferring plate to move.

[0013] According to one embodiment of the present application, the feeding mechanism comprises a feeding driving member and a feeding support connected with the feeding driving member, the feeding driving member being capable of driving the feeding support to move along the z direction, the feeding support being used for collecting empty trays, and an ejection assembly for conveying the empty trays on the feeding support to outside of the device.

[0014] According to one embodiment of the present application, the assembly feeding and discharging device further comprises a mechanical hand assembly and a detection mechanism, the grabbing mechanism, the picking mechanism and the detection mechanism being all installed on the mechanical hand assembly, the detection mechanism being used for detecting the mounting quality of the workpiece after the previous process, the picking mechanism comprising a picking mounting plate connected with the mechanical hand assembly, a picking connecting module having one end installed on the picking mounting plate, and a picking module installed on the other end of the picking connecting module, the picking module being capable of picking the assembly from the tray.

[0015] According to one embodiment of the present application, the assembly dispensing equipment comprises a workpiece conveying device conveying the workpiece and the assembly, a dispensing process module located at one side of the workpiece conveying device, the dispensing process module being capable of shooting and calibrating the assembly, an assembly module movable between the dispensing process module and the workpiece conveying device, the assembly module being capable of shooting and calibrating the workpiece, the assembly module picking and adjusting the angle of the assembly and then mounting the assembly on the workpiece, and a dispensing module for dispensing glue at the connection between the assembly and the workpiece.

[0016] According to one embodiment of the present application, the assembly module comprises a mounting plate, a z-direction linear module installed on the mounting plate, a rotating mechanism installed on the z-direction linear module, the z-direction linear module driving the rotating mechanism to move along the z direction, and a sucking mechanism slidingly installed on the rotating mechanism, the rotating mechanism driving the sucking mechanism to rotate, the sucking mechanism being used for sucking the assembly, and a constant force spring provided between the sucking mechanism and the rotating mechanism, the constant force spring being used for applying an upward supporting force to the sucking mechanism.

[0017] According to an embodiment of the present application, the dispensing process module comprises: a base plate; an assembly part box mounted on the base plate, the assembly part box being used for placing defective assembly parts; a calibration module mounted on the base plate, the calibration module being used for calibrating a dispensing head; and an assembly part vision device mounted on the base plate, the assembly part vision device being used for taking pictures of assembly parts to adjust assembly angles.

[0018] According to an embodiment of the present application, the workpiece conveying device comprises: a conveying track; and a workpiece clamping jig arranged on the conveying track, the conveying track driving the workpiece clamping jig to perform linear reciprocating motion, the workpiece clamping jig being used for placing workpieces and assembly parts.

[0019] According to an embodiment of the present application, an assembly method comprises: step one, a workpiece feeding device continuously feeding workpieces to the rear of an assembly production line; step two, an assembly part feeding device continuously feeding assembly parts to the rear of the assembly production line, and a recognition mechanism recognizing dispensing position information on the workpieces; step three, an assembly dispensing device receiving the workpieces and the assembly parts, the assembly dispensing device completing assembly after matching the profile of the assembly parts with the assembly position information of the workpieces, and then dispensing and fixing the connection between the assembly parts and the workpieces according to the dispensing position information and performing curing treatment.

[0020] According to an embodiment of the present application, the assembly method further comprises: step four, adjusting the workpiece with the installed assembly parts to a certain angle to expose another assembly position on the workpiece, and continuously conveying the workpiece to the rear of the assembly production line; step five, a subsequent assembly part feeding device feeding another assembly part; step six, a subsequent assembly dispensing device repeating step three to install the another assembly part at another assembly position on the workpiece; and step seven, repeating steps four to six until all assembly positions on the workpiece are installed with corresponding assembly parts.

[0021] According to an embodiment of the present application, in step three, the assembly dispensing device first recognizes the assembly position information of the workpiece, and then recognizes and adjusts the angle and position of the assembly part to match the profile of the assembly part with the assembly position information of the workpiece, and installs the assembly part on the workpiece while ensuring that the installation pressure does not exceed 1N, and performs dispensing position calibration before dispensing, compares the calibrated dispensing position with a standard dispensing position, and adjusts the calibrated dispensing position according to the position difference.

[0022] The beneficial effects of the present application are that the present application continuously supplies workpieces by using a workpiece feeding device, continuously supplies assembly pieces by using an assembly piece feeding and discharging device, installs assembly pieces on workpieces by using an assembly dispensing equipment and performs dispensing fixation, so that the whole assembly and dispensing process is automated, the efficiency of assembly and dispensing is improved, the installation precision between assembly pieces and workpieces is high, the stress is uniform, automatic assembly can be performed on workpieces according to the requirements of installation quantity and installation angle, the identification mechanism can identify the respective dispensing position information of different assembly pieces, identification is not required before dispensing each time, and the production speed is improved.

[0023] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application.

[0024] In order to make the above-mentioned objectives, characteristics and advantages of the present application more apparent and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, including the accompanying drawings, in which:

[0026] Figure 1 is a structural schematic diagram of the present application.

[0027] Figure 2 is a schematic diagram of the feeding device of the present application.

[0028] Figure 3 is another schematic diagram of the feeding device of the present application.

[0029] Figure 4 is a schematic diagram of the movement mechanism of the present application.

[0030] Figure 5 is another schematic diagram of the movement mechanism of the present application.

[0031] Figure 6 is a schematic diagram of the towed load assembly of the present application.

[0032] Figure 7 is a schematic diagram of the z-direction movement assembly of the present application.

[0033] Figure 8 is a schematic diagram of the carrying mechanism of the present application.

[0034] Figure 9 is a schematic diagram of the x-direction movement assembly and the z-direction movement assembly of the present application.

[0035] Figure 10 is a schematic diagram of the clamping assembly of the present application.

[0036] Figure 11 is a schematic view of the turnover conveying mechanism of the present application.

[0037] Figure 12 is a schematic view of the driving assembly and turnover assembly of the present application.

[0038] Figure 13 is a schematic view of the turnover assembly of the present application.

[0039] Figure 14 is a schematic view of the feeding and discharging device of the present application.

[0040] Figure 15 is a perspective view of the feeding and discharging device of the present application.

[0041] Figure 16 is a schematic view of the feeding mechanism and transfer mechanism of the present application.

[0042] Figure 17 is another schematic view of the feeding mechanism and transfer mechanism of the present application.

[0043] Figure 18 is a schematic view of the jacking assembly of the present application.

[0044] Figure 19 is another schematic view of the jacking assembly of the present application.

[0045] Figure 20 is a schematic view of the mechanical hand assembly of the present application.

[0046] Figure 21 is a schematic view of the transfer driving assembly of the present application.

[0047] Figure 22 is a top view of the support platform of the present application.

[0048] Figure 23 is a schematic view of the use state of the discharging mechanism of the present application.

[0049] Figure 24 is another schematic view of the discharging mechanism of the present application.

[0050] Figure 25 is a schematic view of the discharging assembly of the present application.

[0051] Figure 26 is a schematic view of the picking mechanism of the present application.

[0052] Figure 27 is a schematic view of the grabbing mechanism of the present application.

[0053] Figure 28 is a schematic view of the identification mechanism of the present application.

[0054] Figure 29 is a schematic diagram of the detection mechanism of the present application.

[0055] Figure 30 is a schematic diagram of the structure of the assembly dispensing equipment of the present application.

[0056] Figure 31 is a schematic diagram of the structure of the upper part of the assembly dispensing equipment.

[0057] Figure 32 is a schematic diagram of the structure of the lower part of the assembly dispensing equipment.

[0058] Figure 33 is a schematic diagram of the structure of the dispensing module.

[0059] Figure 34 is a schematic diagram of the structure of the dispensing module.

[0060] Figure 35 is another schematic diagram of the structure of the dispensing assembly.

[0061] Figure 36 is a schematic diagram of the structure of the left view of Figure 35

[0062] Figure 37 is a schematic diagram of the structure of the dispensing valve in the first dispensing position.

[0063] Figure 38 is a schematic diagram of the structure of the dispensing valve in the second dispensing position.

[0064] Figure 39 is a schematic diagram of the structure of the holding block.

[0065] Figure 40 is a schematic diagram of the structure of the right view of Figure 37

[0066] is a schematic diagram of the structure of the right view of Figure 41 Figure 38 is a schematic diagram of the structure of the first angle of the assembly module.

[0067] Figure 42 is a schematic diagram of the structure of the second angle of the assembly module.

[0068] Figure 43 is a schematic diagram of the structure of the third angle of the assembly module.

[0069] Figure 44 is a schematic diagram of the structure of the dispensing process module.

[0070] Figure 45 is a schematic diagram of the structure of the front view of the dispensing process module.

[0071] Figure 46 is a schematic diagram of the structure of the front view of the dispensing process module.

[0072] ​​Figure 47 is a structural schematic diagram embodying the positional relationship of the workpiece and the assembly.

[0073] Figure 48 is a structural schematic diagram of the workpiece clamping fixture in the present application.

[0074] Figure 49 is a structural schematic diagram of the assembly clamping assembly embodying the first clamping member, the second clamping member and the assembly in the present application.

[0075] Figure 50 is a structural schematic diagram embodying the bottom plate, the first work plate and the second work plate in the present application.

[0076] Figure 51 is a structural schematic diagram embodying the negative pressure port in the present application. DETAILED DESCRIPTION

[0077] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0078] The assembly production line and the assembly method of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0079] As shown in Figures 1-51 , the assembly production line according to the embodiments of the present application comprises: a workpiece feeding device 1, an assembly feeding and discharging device 2 and an assembly dispensing equipment 3. The workpiece feeding device 1 is used to supply workpieces. The assembly feeding and discharging device 2 is arranged on one side of the workpiece feeding device 1. The assembly feeding and discharging device 2 is used to supply assembly parts assembled on the workpieces. The assembly feeding and discharging device 2 is provided with an identification mechanism 27 for identifying the dispensing position information on the workpiece. The assembly dispensing equipment 3 is arranged on one side of the assembly feeding and discharging device 2. The assembly dispensing equipment 3 receives the workpiece and the assembly part. The assembly dispensing equipment 3 can identify the assembly position information of the workpiece, and install the assembly part on the workpiece after the contour of the assembly part matches the assembly position information. Then, the assembly dispensing equipment 3 dispenses and fixes the connection between the assembly part and the workpiece according to the dispensing position information.

[0080] The application continuously supplies workpieces by the workpiece feeding device 1, continuously supplies assembly parts by the assembly part feeding and discharging device 2, installs the assembly parts on the workpieces by the assembly dispensing equipment 3 and performs dispensing fixation, so that the whole assembly and dispensing process is automated, the efficiency of assembly and dispensing is improved, the installation precision between the assembly parts and the workpieces is high, the stress is uniform, the automatic assembly can be performed on the workpieces according to the installation quantity and installation angle requirements, the identification mechanism 27 can identify the respective dispensing position information of different assembly parts, identification is not required before each dispensing, and the production speed is improved.

[0081] As Figures 2 to 13 The workpiece feeding device 1 comprises a feeding mechanism 11, a movement mechanism 12, a carrying mechanism 13 and a turnover transfer mechanism 14, the feeding mechanism 11 is used for conveying a workpiece tray assembly 114, the workpiece tray assembly 114 is placed with workpieces to be processed, the movement mechanism 12 can take out the workpiece tray assembly 114 from the feeding mechanism 11 and drive the workpiece tray assembly 114 to move to a workpiece grabbing position along the z direction, the carrying mechanism 13 is used for grabbing workpieces from the workpiece tray assembly 114, and the turnover transfer mechanism 14 is used for receiving workpieces from the carrying mechanism 13 along the z direction and driving the workpieces to move to the next operation process along the x direction and also turning the workpieces to the required angle of the next process. The number of workpiece tray assemblies 114 is multiple, and multiple workpiece tray assemblies 114 are arranged in the frame 111.

[0082] The application can take out the workpiece tray assembly 114 from the feeding mechanism 11 by the movement mechanism 12, and put the empty workpiece tray assembly 114 back into the feeding mechanism 11, so that two functions of taking and recycling can be realized by one mechanism; the workpieces can be automatically grabbed from the workpiece tray assembly 114 by the carrying mechanism 13; the turnover transfer mechanism 14 is modularly and integrally arranged, which not only can realize workpiece turnover but also can realize workpiece conveying, improves production efficiency, and the integrated arrangement is also beneficial to reducing the structural space of the equipment. Therefore, the automatic feeding of the workpieces can be realized by the cooperation of the feeding mechanism 11, the movement mechanism 12, the carrying mechanism 13 and the turnover transfer mechanism 14, which not only can improve the work efficiency but also can reduce the manual work intensity.

[0083] As Figures 4 to 7As shown, the moving mechanism 12 comprises a drag load assembly 121 capable of extracting the workpiece tray assembly 114 from the frame 111 and a z-direction moving assembly 122 connected with the drag load assembly 121 and capable of moving the drag load assembly 121 along the z-direction. The drag load assembly 121 comprises a first support plate 1211 connected with the z-direction moving assembly 122, a first driving member 1212, a first guide member 1213 and a second guide member 1214 arranged on the first support plate 1211, the first guide member 1213 and the second guide member 1214 being respectively arranged on two sides of the first driving member 1212, and a second support plate 1215 connected with the first driving member 1212 and connected with the first guide member 1213 through a first connecting plate 1216 and connected with the second guide member 1214 through a second connecting plate 1217.

[0084] The first support plate 1211 is further provided with a guide block 1219 arranged on each side of the first support plate 1211, and the two guide blocks 1219 are respectively arranged at one end of the first guide member 1213 and the second guide member 1214, and the guide block 1219 can support the first connecting plate 1216 and the second connecting plate 1217.

[0085] The moving mechanism 12 of the present application can not only extract the workpiece tray assembly 114 from the incoming material mechanism 11, but also can send the empty workpiece tray assembly 114 back to the incoming material mechanism 11 after the workpieces in the workpiece tray assembly 114 are grabbed by the carrying mechanism 13. Thus, the workpiece tray assembly 114 can be extracted and sent back through one mechanism, which is beneficial to improve the utilization rate of the equipment space and reduce the overall volume and size of the equipment.

[0086] For example, the second support plate 1215 is provided with a pushing assembly 1218 near one side of the workpiece tray assembly 114. The pushing assembly 1218 comprises a pushing cylinder 12181 and a pushing block 12182 connected to the output end of the pushing cylinder 12181. It should be noted that the length of the second support plate 1215 is smaller than that of the first support plate 1211, so that most of the first connecting plate 1216 and the second connecting plate 1217 are used to place the workpiece tray assembly 114, and the remaining part of the first connecting plate 1216 and the second connecting plate 1217 is used to install the second support plate 1215. The second support plate 1215 is also provided with a photoelectric sensing mounting piece 12151 and a second photoelectric sensor 12152 near one side of the workpiece tray assembly 114, and the second photoelectric sensor 12152 is used to detect whether the workpiece tray assembly 114 is successfully taken out. After the workpiece tray assembly 114 is extracted from the frame 111 by the dragging assembly 121, the pushing assembly 1218 can fine-tune the position of the workpiece tray assembly 114. After fine-tuning the position of the workpiece tray assembly 114, the handling mechanism 13 can easily grasp the workpiece.

[0087] For example, the first support plate 1211 is also provided with a first limiting block 12111 and a second limiting block 12112, which are respectively located on both sides of the first support plate 1211. The first limiting block 12111 and the second limiting block 12112 are oppositely arranged, and the line connecting the first limiting block 12111 and the second limiting block 12112 is parallel to the first driving member 1212. The lower surface of the second support plate 1215 is provided with a third limiting block 12153. When the second support plate 1215 moves towards the frame 111, the cooperation of the first limiting block 12111 and the third limiting block 12153 can limit the movement distance of the second support plate 1215; when the second support plate 1215 moves away from the frame 111, the cooperation of the second limiting block 12112 and the third limiting block 12153 can limit the movement distance of the second support plate 1215. The first limiting block 12111 and the second limiting block 12112 are also provided with a buffer structure 12113.

[0088] Specifically, the z-direction movement assembly 122 comprises a bottom plate 1221 and a sliding plate 1225, the second driving member 1222, the third guide member 1223 and the fourth guide member 1224 are installed on the bottom plate 1221, the third guide member 1223 and the fourth guide member 1224 are respectively located on the two sides of the second driving member 1222, the sliding plate 1225 is connected with the second driving member 1222, one end of the sliding plate 1225 is connected with the third guide member 1223, the other end of the sliding plate 1225 is connected with the fourth guide member 1224, and the sliding plate 1225 is connected with the first support plate 1211. The bottom plate 1221 is fixedly connected with the shell mechanism 15. For example, the third guide member 1223 and the fourth guide member 1224 are guide rails, and the two ends of the sliding plate 1225 are connected with the third guide member 1223 and the fourth guide member 1224 through the high blocks 1228 respectively.

[0089] For example, the bottom plate 1221 is further provided with two fourth limiting blocks 12212, the positions of the two fourth limiting blocks 12212 correspond to the positions of the two high blocks 1228, and when the sliding plate 1225 moves downward to the lowermost end, the fourth limiting blocks 12212 can prevent the sliding plate 1225 from moving excessively. For example, one side of the high block 1228 on the third guide member 1223 is provided with a first photoelectric baffle 12281, and the bottom plate 1221 is provided with three first photoelectric limiters 1229 at the position on the side of the third guide member 1223, one of the first photoelectric limiters 1229 is located at the bottom of the bottom plate 1221, and the other two first photoelectric limiters 1229 are located at the top of the bottom plate 1221, when the high block 1228 moves up and down, the first photoelectric baffle 12281 can be driven to move up and down, when the first photoelectric baffle 12281 is just located in the first photoelectric limiter 1229, a signal can be triggered to limit the limit position of the sliding plate 1225 moving up and down.

[0090] For example, the sliding plate 1225 is provided with a first reinforcing block 1226 and a second reinforcing block 1227, and one side of the first support plate 1211 is located between the first reinforcing block 1226 and the second reinforcing block 1227.

[0091] As shown in FIG. 13, Figures 8 to 10 The carrying mechanism 13 comprises a y-direction movement assembly 131, an x-direction movement assembly 132, a z-direction movement assembly 133 and a clamping assembly 134, the x-direction movement assembly 132 is installed on the y-direction movement assembly 131, the y-direction movement assembly 131 can drive the x-direction movement assembly 132 to move along the y direction; the z-direction movement assembly 133 is installed on the x-direction movement assembly 132, the x-direction movement assembly 132 can drive the z-direction movement assembly 133 to move along the x direction; and the clamping assembly 134 is installed on the z-direction movement assembly 133, the z-direction movement assembly 133 can drive the clamping assembly 134 to move along the z direction.

[0092] Specifically, the clamping assembly 134 comprises a connecting plate 1341, a clamping jaw cylinder 1342, a buffer module 1343 and a detection module 1344. The connecting plate 1341 is connected with the z-direction moving assembly 133. The clamping jaw cylinder 1342 is connected with the connecting plate 1341. The clamping jaw cylinder 1342 comprises a first clamping jaw 13421 and a second clamping jaw 13422. The buffer module 1343 is installed on the clamping jaw cylinder 1342 and located between the first clamping jaw 13421 and the second clamping jaw 13422. The detection module 1344 is installed on the buffer module 1343. For example, the clamping jaw cylinder 1342 can drive the first clamping jaw 13421 and the second clamping jaw 13422 to move away from each other or move close to each other. When the first clamping jaw 13421 and the second clamping jaw 13422 move close to each other, the workpiece can be clamped.

[0093] The buffer module 1343 comprises a buffer plate 13431, a buffer 13432 and a pressing plate 13433. The buffer plate 13431 is connected with the jaw cylinder 1342. The buffer 13432 is arranged through the buffer plate 13431. One end of the buffer 13432 is connected with the adapter plate 1341. The other end of the buffer 13432 is connected with the pressing plate 13433. For example, the number of the buffer plate 13431 is two. The number of the buffer 13432 is four. Two buffers 13432 are arranged on one buffer plate 13431. The other two buffers 13432 are arranged on the other buffer plate 13431. The two buffer plates 13431 are respectively installed on the two sides of the jaw cylinder 1342. The pressing plate 13433 is located between the first jaw 13421 and the second jaw 13422. When the clamping assembly 134 is used to clamp the workpiece, the clamping assembly 134 is moved to the top of the workpiece through the y-direction moving assembly 131 and the x-direction moving assembly 132. Then the clamping assembly 134 is moved downward through the z-direction moving assembly 133, so that the pressing plate 13433 is in contact with the surface of the workpiece. Then the jaw cylinder 1342 drives the first jaw 13421 and the second jaw 13422 to clamp the two sides of the workpiece, so as to take out the workpiece from the workpiece box 1143. The buffer 13432 makes the pressing plate 13433 have a certain elasticity, so that the workpiece is not pressed when it is in contact with the workpiece. The detection module 1344 comprises a second photoelectric limit switch 13441 and a second photoelectric baffle 13442. The second photoelectric baffle 13442 is installed on one side of the pressing plate 13433. The second photoelectric limit switch 13441 is installed on the buffer plate 13431. The positions of the second photoelectric baffle 13442 and the second photoelectric limit switch 13441 correspond to each other. When the pressing plate 13433 is in contact with the workpiece, the pressing plate 13433 has a tendency to move upward. When the second photoelectric baffle 13442 blocks the light emitted by the second photoelectric limit switch 13441, a signal can be generated to trigger the jaw cylinder 1342 to drive the first jaw 13421 and the second jaw 13422 to clamp the two sides of the workpiece. For example, two pressing blocks 13434 can be arranged on the lower surface of the pressing plate 13433. When the pressing blocks 13434 are arranged on the lower surface of the pressing plate 13433, the contact between the pressing plate 13433 and the surface of the workpiece is changed from surface contact to point contact. If the force is too large when the surface contact occurs, the workpiece is easy to tilt. After the workpiece is clamped, the workpiece can not be clamped firmly. The point contact can avoid this situation.

[0094] For example, the visual positioning module 135 is also installed on the z-direction moving plate 1334. The visual positioning module 135 is used to detect and identify the position of the workpiece, so as to facilitate the clamping assembly 134 to clamp the workpiece accurately.

[0095] For example, Figures 11 to 13As shown, the turnover transfer mechanism 14 comprises a lifting assembly 141, a mounting plate 142, a driving assembly 143 and a turnover assembly 144. The mounting plate 142 is connected with the lifting assembly 141, the driving assembly 143 is mounted on the mounting plate 142, and the turnover assembly 144 is mounted on the driving assembly 143. The driving assembly 143 can drive the turnover assembly 144 to move along the x direction, and the turnover assembly 144 can hold the workpiece grabbed by the carrying mechanism 13 and turn over the workpiece. For example, the mounting plate 142 is connected with the shell mechanism 15, and the lifting assembly 141 can drive the driving assembly 143 and the turnover assembly 144 to move up and down as a whole through the mounting plate 142. The driving assembly 143 comprises a driving bottom plate 1431, a driving cylinder 1432, a driving guide 1433 and a guide sliding block 1434. The driving cylinder 1432 and the driving guide 1433 are both mounted on the driving bottom plate 1431, the driving bottom plate 1431 is connected with the mounting plate 142 through a supporting plate, the driving cylinder 1432 and the driving guide 1433 are arranged in parallel with each other, and the guide sliding block 1434 is mounted on the driving guide 1433. The turnover assembly 144 comprises a turnover bottom plate 1440, a rotating cylinder 1441, a turnover table 1442, a first limiting module 1445 and a second limiting module 1446. The turnover bottom plate 1440 is connected with the driving assembly 143, the rotating cylinder 1441 is arranged on the turnover bottom plate 1440, one end of the turnover table 1442 is connected with the output end of the rotating cylinder 1441 through a first supporting block 1443, the other end of the turnover table 1442 is connected with a second supporting block 1444, the first limiting module 1445 penetrates through the turnover table 1442 and is used for limiting the workpiece in the x direction, and the second limiting module 1446 is mounted on the turnover bottom plate 1440 and located on one side of the turnover table 1442 and is used for limiting the workpiece in the y direction.

[0096] For example, the turnover table 1442 comprises a first side plate 14421, a second side plate 14422, a third side plate 14423 and a rotating plate 14424, the first side plate 14421 is connected to the rotating plate 14424 close to one end of the rotating cylinder 1441, the second side plate 14422 is connected to the rotating plate 14424 away from one end of the rotating cylinder 1441, that is, the first side plate 14421 and the second side plate 14422 are oppositely arranged, the third side plate 14423 is installed on one side of the rotating plate 14424, and both ends of the third side plate 14423 are connected with the first side plate 14421 and the second side plate 14422 respectively. The first supporting block 1443 is connected with the first side plate 14421, and the second supporting block 1444 is connected with the second side plate 14422. When the rotating cylinder 1441 works, the whole turnover table 1442 can be turned over, for example, by 90°. After the carrying mechanism 13 clamps the workpiece, it can be moved to the area where the turnover transfer mechanism 14 is located, and then the turnover table 1442 is moved to the position directly below the workpiece by driving the cylinder 1432. The lifting assembly 141 lifts the turnover table 1442 to pick up the workpiece. After picking up, the lifting assembly 141 lowers the turnover table 1442 again.

[0097] For example, the turnover bottom plate 1440 is also provided with two limiting columns 1447, which are located below the rotating plate 14424 and on the same side of the rotating plate 14424. The limiting column 1447 can limit the rotation direction and rotation angle of the turnover table 1442. The first limiting module 1445 comprises a first sliding table cylinder 14451 and a first limiting plate 14452, the first limiting plate 14452 is connected with the output end of the first sliding table cylinder 14451, the first sliding table cylinder 14451 is installed on the lower surface of the rotating plate 14424, and the first limiting plate 14452 penetrates the rotating plate 14424. The second limiting module 1446 comprises a second sliding table cylinder 14461 and a second limiting plate 14462, the second limiting plate 14462 is connected with the output end of the second sliding table cylinder 14461, the second sliding table cylinder 14461 is installed on the turnover bottom plate 1440, and the second limiting plate 14462 is located on the side of the rotating plate 14424 away from the third side plate 14423. Through the cooperation of the first limiting plate 14452, the second limiting plate 14462, the second side plate 14422 and the third side plate 14423, the workpiece can be limited in all directions to prevent the workpiece from falling off the turnover table 1442.

[0098] As Figures 14 to 29The assembly feeding and discharging device 2 comprises a grabbing mechanism 21, a feeding mechanism 22, a transfer mechanism 23, a picking mechanism 24 and a discharging mechanism 25. The grabbing mechanism 21 is used to grab the workpiece conveyed from the previous process and grab it onto the workpiece clamping fixture 36. The feeding mechanism 22 is used to convey the tray 221 on which the assembly is placed. The transfer mechanism 23 is used to receive the tray 221 from the feeding mechanism 22 and convey it to the picking position. The picking mechanism 24 is used to pick the assembly from the tray 221 on the transfer mechanism 23 and pick it onto the workpiece clamping fixture 36. The discharging mechanism 25 is located below the feeding mechanism 22. After the assembly in the tray 221 is picked by the picking mechanism 24, the empty tray 221 is moved to the discharging mechanism 25 by the transfer mechanism 23. The discharging mechanism 25 is used to collect and move the empty tray 221. In other words, after the worker places a plurality of trays 221 on the feeding mechanism 22, the transfer mechanism 23 can automatically receive one tray 221 from the feeding mechanism 22 and move it to the picking position. When the picking mechanism 24 picks all the assemblies on the tray 221, the discharging mechanism 25 can automatically recover the empty tray 221. Then, the transfer mechanism 23 receives the next tray 221 from the feeding mechanism 22 and moves it to the designated position, and the cycle continues.

[0099] Specifically, the feeding mechanism 22 comprises a first feeding assembly 222, a second feeding assembly 223 and a jacking assembly 224. The first feeding assembly 222 is connected to one side of the tray 221, the second feeding assembly 223 is connected to the other side of the tray 221, and the jacking assembly 224 is located below the tray 221 and used to jack up the tray 221. The first feeding assembly 222 comprises a first mounting plate 2221, a first air cylinder 2222 and a second air cylinder 2224. The first air cylinder 2222 and the second air cylinder 2224 are both mounted on the first mounting plate 2221. The first air cylinder 2222 is connected with a first support block 2223 at the extending end, and the second air cylinder 2224 is connected with a second support block 2225 at the extending end. The first support block 2223 and the second support block 2225 are used to support one side of the tray 221. The second feeding assembly 223 comprises a second mounting plate 2231, a third air cylinder 2232 and a fourth air cylinder 2234. The third air cylinder 2232 and the fourth air cylinder 2234 are both mounted on the second mounting plate 2231. The third air cylinder 2232 is connected with a third support block 2233 at the extending end, and the fourth air cylinder 2234 is connected with a fourth support block 2235 at the extending end. The third support block 2233 and the fourth support block 2235 are used to support the other side of the tray 221. It should be noted that two first limiting columns 2226 are arranged at the two ends of the first mounting plate 2221, and two second limiting columns 2236 are arranged at the two ends of the second mounting plate 2231. The first air cylinder 2222 and the second air cylinder 2224 are located between the two first limiting columns 2226, and the third air cylinder 2232 and the fourth air cylinder 2234 are located between the two second limiting columns 2236.

[0100] The feeding mechanism 22 further comprises a first photoelectric detector 225, which can send a signal to the control interface to remind the staff to replenish when the tray 221 on the feeding mechanism 22 is taken out.

[0101] Specifically, the jacking assembly 224 comprises a jacking mounting plate 2240, a jacking driving module 2241, a jacking guide module 2242 and a jacking plate 2243, the jacking driving module 2241 and the jacking guide module 2242 are both mounted on the jacking mounting plate 2240, the jacking driving module 2241 is connected with the jacking guide module 2242, and the jacking plate 2243 is fixedly connected with the top of the jacking guide module 2242.

[0102] For example, the jacking driving module 2241 comprises a jacking driving piece 22411, a jacking transmission piece 22412, a jacking lead screw module 22413 and a jacking driving plate 22414, the jacking driving piece 22411 is connected with the jacking mounting plate 2240 through a first driving connecting plate 22415, the lower end of the jacking lead screw module 22413 is connected with the output end of the jacking driving piece 22411 through the jacking transmission piece 22412, and the lower end of the jacking lead screw module 22413 is also connected with the jacking mounting plate 2240 through a second driving connecting plate 22416 to form a support, the jacking driving plate 22414 is sleeved on the jacking lead screw module 22413, when the jacking driving piece 22411 is started, the nut on the jacking lead screw module 22413 moves up and down through the jacking transmission piece 22412 to drive the jacking driving plate 22414 to move up and down.

[0103] For example, the jacking guide module 2242 comprises a first bracket 22421, a second bracket 22422, a first sliding block 22423, a second sliding block 22424, a first sliding rail 22425, a second sliding rail 22426, a first guide plate 22427 and a second guide plate 22428, the first sliding block 22423 and the second sliding block 22424 are respectively mounted on the first bracket 22421 and the second bracket 22422, the first sliding rail 22425 and the second sliding rail 22426 are respectively mounted on the first guide plate 22427 and the second guide plate 22428, the first sliding block 22423 is slidably connected with the first sliding rail 22425, the second sliding block 22424 is slidably connected with the second sliding rail 22426, the first guide plate 22427 and the second guide plate 22428 are respectively fixedly connected with the two ends of the jacking driving plate 22414, and the first guide plate 22427 and the second guide plate 22428 are both connected with the jacking plate 2243.

[0104] For example, one side of the first guide plate 22427 is provided with a first photoelectric baffle 22429, one side of the first support 22421 is provided with a first photoelectric switch 22420, and the first photoelectric switch 22420 is located at a position close to the bottom of the first support 22421. When the first guide plate 22427 moves downward and the first photoelectric baffle 22429 is located in the first photoelectric switch 22420, a signal can be triggered to the control interface, so as to control the jacking driving piece 22411 to stop. For example, the jacking plate 2243 is also provided with a vacuum nozzle. When the tray 221 falls onto the jacking plate 2243, the vacuum nozzle can suck the tray 221 to improve stability.

[0105] It should be noted that the assembly piece feeding and discharging device 2 further comprises a support platform 28, and the grabbing mechanism 21, the feeding mechanism 22, the transfer mechanism 23 and the picking mechanism 24 are all installed on the support platform 28. The support platform 28 is provided with a first vertical plate 281 and a second vertical plate 282, and the support platform 28 is provided with a first operation through hole 283 and a second operation through hole 284. The jacking assembly 224 is located in the second operation through hole 284, and the jacking mounting plate 2240 is fixedly connected with the support platform 28. The first operation through hole 283 is used for the working use of the discharging mechanism 25. The first vertical plate 281 and the second vertical plate 282 are respectively located on both sides of the first operation through hole 283. The first mounting plate 2221 is installed at the top end of the first vertical plate 281, and the second mounting plate 2231 is installed at the top end of the second vertical plate 282. The heights of the first vertical plate 281 and the second vertical plate 282 are flush.

[0106] Specifically, the transfer mechanism 23 comprises a transfer plate 231, a first lifting assembly 232, a second lifting assembly 233 and a transfer driving assembly 234. The first lifting assembly 232 is located at one side of the transfer plate 231, the second lifting assembly 233 is located at the other side of the transfer plate 231, and the transfer driving assembly 234 is connected with the transfer plate 231 and used to drive the transfer plate 231 to move. The first lifting assembly 232 comprises a first lifting cylinder 2321, a first lifting plate 2322, a fifth cylinder 2323 and a sixth cylinder 2324. The first lifting plate 2322 is connected with the extending end of the first lifting cylinder 2321. The fifth cylinder 2323 and the sixth cylinder 2324 are respectively installed at two ends of the first lifting plate 2322. The extending end of the fifth cylinder 2323 is connected with a fifth supporting block 2325, and the extending end of the sixth cylinder 2324 is connected with a sixth supporting block 2326. The second lifting assembly 233 comprises a second lifting cylinder 2331, a second lifting plate 2332, a seventh cylinder 2333 and an eighth cylinder 2334. The second lifting plate 2332 is connected with the extending end of the second lifting cylinder 2331. The seventh cylinder 2333 and the eighth cylinder 2334 are respectively installed at two ends of the second lifting plate 2332. The extending end of the seventh cylinder 2333 is connected with a seventh supporting block 2335, and the extending end of the eighth cylinder 2334 is connected with an eighth supporting block 2336.

[0107] For example, the first lifting cylinder 2321 is installed outside the first vertical plate 281. When the extending end of the first lifting cylinder 2321 extends, the first lifting plate 2322 can be lifted upward. When the extending end of the first lifting cylinder 2321 retracts, the first lifting plate 2322 can be lowered. The second lifting cylinder 2331 is installed outside the second vertical plate 282. When the extending end of the second lifting cylinder 2331 extends, the second lifting plate 2332 can be lifted upward. When the extending end of the second lifting cylinder 2331 retracts, the second lifting plate 2332 can be lowered. The fifth cylinder 2323, the sixth cylinder 2324, the seventh cylinder 2333 and the eighth cylinder 2334 can respectively drive the fifth supporting block 2325, the sixth supporting block 2326, the seventh supporting block 2335 and the eighth supporting block 2336 to extend or retract. When the fifth supporting block 2325, the sixth supporting block 2326, the seventh supporting block 2335 and the eighth supporting block 2336 extend at the same time, the tray 221 can be lifted up.

[0108] Specifically, the transfer driving assembly 234 comprises a linear driving module 2341, a linear guide rail 2342, a first connecting plate 2343, a second connecting plate 2344 and a positioning detection module 2345. The first connecting plate 2343 is connected with the linear driving module 2341, the second connecting plate 2344 is connected with the linear guide rail 2342, the first connecting plate 2343 and the second connecting plate 2344 are respectively connected with two ends of the transfer plate 231, and the positioning detection module 2345 is installed on the linear driving module 2341. For example, the linear driving module 2341 is installed on the inner side of the second vertical plate 282, the linear guide rail 2342 is installed on the inner side of the first vertical plate 281, the positioning detection module 2345 comprises a second photoelectric switch 23451 and a second photoelectric baffle 23452, the second photoelectric switch 23451 is installed on the stator of the linear driving module 2341, the second photoelectric baffle 23452 is installed on the rotor of the linear driving module 2341, the linear driving module 2341 and the linear guide rail 2342 respectively extend to below the second feeding assembly 223 and the first feeding assembly 222, and the second photoelectric switch 23451 is located on the stator of the linear driving module 2341 and close to the third cylinder 2232. When the linear driving module 2341 is started, the transfer plate 231 can be driven to move back and forth in the horizontal direction through the first connecting plate 2343 and the second connecting plate 2344, and when the second photoelectric baffle 23452 is located in the second photoelectric switch 23451, the linear driving module 2341 stops, at this time, the transfer plate 231 is located directly above the jacking assembly 224. The middle part of the transfer plate 231 is provided with a third operation through hole 2311 for the up-down movement of the jacking plate 2243.

[0109] The working process of the transfer is that a plurality of trays 221 are placed on the feeding mechanism 22, at this time, the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235 support the bottommost tray 221. The linear drive module 2341 drives the transfer plate 231 to move to the position directly below the bottommost tray 221. At this time, the jacking driving part 22411 drives the jacking driving plate 22414 to move upward (through the third working through hole 2311) and contact the bottommost tray 221. The first cylinder 2222, the second cylinder 2224, the third cylinder 2232 and the fourth cylinder 2234 are started to drive the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235 to be separated from the bottommost tray 221. At this time, the jacking driving part 22411 drives the jacking driving plate 22414 to move downward by a distance, so that the height of the second-to-bottom tray 221 is basically flush with the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235. At this time, the first cylinder 2222, the second cylinder 2224, the third cylinder 2232 and the fourth cylinder 2234 are started again to drive the first supporting block 2223, the second supporting block 2225, the third supporting block 2233 and the fourth supporting block 2235 to extend and support the second-to-bottom tray 221. At this time, the bottommost tray 221 and the second-to-bottom tray 221 are separated, and then the jacking driving part 22411 is started to drive the bottommost tray 221 to move downward. When the bottommost tray 221 moves downward to a certain distance, the tray 221 will fall on the transfer plate 231, at this time, the jacking plate 2243 continues to move downward to the initial position. Then, the linear drive module 2341 drives the transfer plate 231 to move to the designated position.

[0110] Specifically, the discharging mechanism 25 comprises a receiving driving part 251, a receiving support 252 and a discharging assembly 253. The receiving support 252 is connected with the receiving driving part 251, and the receiving driving part 251 can drive the receiving support 252 to move along the z direction. The receiving support 252 is used for collecting empty trays 221, and the discharging assembly 253 is used for conveying the empty trays 221 on the receiving support 252 to the outside of the device. The discharging assembly 253 comprises a bottom plate 2531, a discharging driving module 2532, a first discharging support module 2533, a second discharging support module 2534 and a pull rod 2535. The discharging driving module 2532 is installed on the bottom plate 2531. The first discharging support module 2533 is installed on the discharging driving module 2532 and is used for supporting one end of the tray 221. The second discharging support module 2534 is installed on the discharging driving module 2532 and is used for supporting the other end of the tray 221. One end of the pull rod 2535 is connected with the first discharging support module 2533, and the other end of the pull rod 2535 is connected with the second discharging support module 2534.

[0111] For example, the material receiving support 252 comprises a support connecting plate 2521 connected with the mover of the material receiving driving member 251, a support flat plate 2522 connected with one end of the support connecting plate 2521, and a support reinforcing rib 2523 for improving the flatness of the support flat plate 2522. For example, two tray limiting blocks 2524 are arranged at two ends of the support flat plate 2522 respectively, and the distance between the two tray limiting blocks 2524 matches the width of the tray 221. The mover of the material receiving driving member 251 is provided with a third photoelectric baffle 2511, and the stator of the material receiving driving member 251 is provided with three third photoelectric switches 2512 arranged at the upper, middle and lower parts of the material receiving driving member 251 respectively.

[0112] For example, the first material discharging support module 2533 comprises a first support plate 25331 installed on the material discharging driving module 2532, a first multi-layer slide rail 25332 installed on the first support plate 25331, and a first placing plate 25333 installed on the first multi-layer slide rail 25332. The second material discharging support module 2534 comprises a second support plate 25341 installed on the material discharging driving module 2532, a second multi-layer slide rail 25342 installed on the second support plate 25341, and a second placing plate 25343 installed on the second multi-layer slide rail 25342.

[0113] The discharge driving module 2532 comprises a discharge driving piece 25321, a first discharge guide piece 25322, a second discharge guide piece 25323, a first guide flat plate 25324, a second guide flat plate 25325 and a discharge driving connecting plate 25326, the discharge driving piece 25321, the first discharge guide piece 25322 and the second discharge guide piece 25323 are all installed on the bottom plate 2531, the first discharge guide piece 25322 and the second discharge guide piece 25323 are located on the two sides of the discharge driving piece 25321 respectively, the first guide flat plate 25324 is connected with the first discharge guide piece 25322, the second guide flat plate 25325 is connected with the second discharge guide piece 25323, the first supporting plate 25331 is installed on the first guide flat plate 25324 through supporting blocks, the second supporting plate 25341 is installed on the second guide flat plate 25325 through supporting blocks, the two ends of the discharge driving connecting plate 25326 are connected with the first guide flat plate 25324 and the second guide flat plate 25325 respectively, and the middle part of the discharge driving connecting plate 25326 is connected with the discharge driving piece 25321. When the discharge driving piece 25321 starts, the first guide flat plate 25324 and the second guide flat plate 25325 can be driven to move back and forth through the discharge driving connecting plate 25326, so as to drive the first discharge supporting module 2533 and the second discharge supporting module 2534 to move back and forth. The two ends of the tray 221 are placed on the first placing plate 25333 and the second placing plate 25343, and a plurality of baffle plates 2530 are further arranged on the outer sides of the first placing plate 25333 and the second placing plate 25343 to protect the tray 221 from falling during the moving process. First detection mounting plates 25311 and second detection mounting plates 25312 are further arranged on the two sides of the bottom plate 2531, and the sides of the first detection mounting plates 25311 and the second detection mounting plates 25312 facing the tray 221 are provided with second photoelectric detectors 2539. When the receiving support 252 places the empty tray 221 on the first placing plate 25333 and the second placing plate 25343, the second photoelectric detector 2539 can generate a signal to the control interface, so as to start the discharge driving piece 25321.

[0114] The working process of the blanking mechanism 25 is as follows: first, the material collecting support 252 is moved to the position of the third photoelectric baffle 2511 in the upper part, i.e., below the transfer mechanism 23, by the material collecting driving member 251; when the assembly parts on the tray 221 on the transfer mechanism 23 are taken, the fifth cylinder 2323, the sixth cylinder 2324, the seventh cylinder 2333 and the eighth cylinder 2334 drive the fifth supporting block 2325, the sixth supporting block 2326, the seventh supporting block 2335 and the eighth supporting block 2336 to extend to support the tray 221 respectively, and then the linear driving module 2341 drives the transfer plate 231 to move close to the feeding mechanism 22. At this time, the fifth cylinder 2323, the sixth cylinder 2324, the seventh cylinder 2333 and the eighth cylinder 2334 drive the fifth supporting block 2325, the sixth supporting block 2326, the seventh supporting block 2335 and the eighth supporting block 2336 to retract to disengage the tray 221, and the empty tray 221 can fall onto the support flat plate 2522. The empty trays 221 can be stacked on the support flat plate 2522 in sequence. During the stacking process, the height of the empty tray 221 increases, and the material collecting driving member 251 drives the material collecting support 252 to slowly move downward. When the material collecting support 252 moves downward to the position of the third photoelectric baffle 2511 in the middle part, the material collecting support 252 stops collecting. At this time, there are a plurality of empty trays 221 on the material collecting support 252. At this time, the material collecting driving member 251 drives the material collecting support 252 to move downward to the position of the third photoelectric baffle 2511 in the lower part, and at this time, the two ends of the empty tray 221 on the material collecting support 252 can contact the first placing plate 25333 and the second placing plate 25343. At this time, the discharging driving member 25321 is started to drive the empty tray 221 to move to the other side (i.e., the direction close to the door plate). At this time, the worker can pull the pull rod 2535 to pull the empty tray 221 out of the assembly part feeding and discharging device 2 through the sliding characteristics of the first multi-layer slide rail 25332 and the second multi-layer slide rail 25342, and recycle the empty tray 221.

[0115] The assembly part feeding and discharging device 2 also comprises a mechanical hand assembly 26, and the grabbing mechanism 21 and the picking mechanism 24 are both installed on the mechanical hand assembly 26. For example, the mechanical hand assembly 26 comprises a U-shaped mounting plate 261, and the grabbing mechanism 21 and the picking mechanism 24 are respectively installed on the two sides of the U-shaped mounting plate 261. The opening of the U-shaped mounting plate 261 faces downward.

[0116] The picking mechanism 24 comprises a picking mounting plate 241 connected with the mechanical arm assembly 26 (for example, fixedly connected with one side of the U-shaped mounting plate 261), a picking connecting module 242 mounted on one end of the picking mounting plate 241, and a picking module 243 mounted on the other end of the picking connecting module 242, and the picking module 243 can pick the assembly from the tray 221. The bottom of the picking module 243 is provided with a suction nozzle, which can provide stability for suction, and the shape of the bottom of the picking module 243 matches the shape of the assembly, so as to avoid damaging the assembly during picking. For example, the picking connecting module 242 comprises a sliding piece 2421, a fixed block 2422, a connecting block 2423 and an elastic piece 2424, the sliding piece 2421 and the fixed block 2422 are both mounted on the picking mounting plate 241, one side of the connecting block 2423 is connected with the sliding piece 2421, the top of the connecting block 2423 is connected with the fixed block 2422 through the elastic piece 2424, and the bottom of the connecting block 2423 is connected with the picking module 243. One side of the fixed block 2422 is provided with a fourth photoelectric switch 244, and one side of the connecting block 2423 is provided with a fourth photoelectric baffle 245. The mechanical arm assembly 26 can drive the picking mechanism 24 to move above the transfer mechanism 23, and then drive the picking mechanism 24 to move downward to pick the assembly. When the picking module 243 contacts the assembly, the picking mechanism 24 continues to move downward, which will cause the elastic piece 2424 to be extruded, and the connecting block 2423 has a tendency to move upward. When the fourth photoelectric baffle 245 blocks the light of the fourth photoelectric switch 244, the mechanical arm assembly 26 stops moving downward and starts moving upward. At this time, the assembly has been picked up by the picking module 243.

[0117] The grabbing mechanism 21 comprises a grabbing cylinder 211, an adapter plate 212, a clamping cylinder 213, a first clamping jaw 214, a second clamping jaw 215, a pressing plate 216, a buffer spring 217, a fifth photoelectric switch 218 and a fifth photoelectric baffle 219. The grabbing cylinder 211 is connected with the other side of the U-shaped mounting plate 261. The adapter plate 212 is connected with the extending end of the grabbing cylinder 211. The clamping cylinder 213 is connected with the adapter plate 212. The first clamping jaw 214 and the second clamping jaw 215 are both connected with the clamping cylinder 213. The pressing plate 216 is located between the first clamping jaw 214 and the second clamping jaw 215. The two ends of the pressing plate 216 are connected with the clamping cylinder 213 through the buffer spring 217. The fifth photoelectric switch 218 is arranged on the clamping cylinder 213. The fifth photoelectric baffle 219 is arranged on the pressing plate 216. The clamping cylinder 213 can drive the first clamping jaw 214 and the second clamping jaw 215 to move close to or away from each other. When the mechanical hand assembly 26 drives the grabbing mechanism 21 to move to the position directly above the workpiece, the grabbing cylinder 211 can be started to drive the clamping cylinder 213 to move downward. When the pressing plate 216 contacts with the assembly, the buffer spring 217 is extruded, and the pressing plate 216 has a tendency to move upward. When the fifth photoelectric baffle 219 blocks the light of the fifth photoelectric switch 218, the clamping cylinder 213 is started, and the assembly is clamped and taken out by the first clamping jaw 214 and the second clamping jaw 215.

[0118] It should be noted that the side of the U-shaped mounting plate 261 is also provided with a visual positioning mechanism 29 for positioning the position of the workpiece and the assembly. For example, the workpiece is a lens barrel, and the assembly is a lens.

[0119] The assembly piece feeding and discharging device 2 further comprises an identification mechanism 27, which is used to identify the position and size of the glue dispensing groove on the workpiece (i.e. the lens barrel). The identification mechanism 27 comprises an identification camera 271 and an identification background plate 272, both of which are mounted on the support platform 28 through a support, and the identification background plate 272 is arranged opposite to the identification camera 271. After the grabbing mechanism 21 grabs the workpiece, the workpiece is first moved to the side of the identification background plate 272 close to the identification camera 271, and then the identification camera 271 is started to sequentially take photos of multiple surfaces of the workpiece. The images can be sent to the control interface for processing to identify the coordinate position and size of the glue dispensing groove on the lens barrel. The assembly piece feeding and discharging device 2 further comprises a detection mechanism 20 mounted on the mechanical hand assembly 26, which is used to detect the mounting and gluing quality of the workpiece and the assembly piece. The detection mechanism 20 comprises a mounting frame 201, a detection camera 202 and an optical lens 203, the mounting frame 201 is fixed on one side of the mechanical hand assembly 26, the detection camera 202 and the optical lens 203 are both mounted on the mounting frame 201, and the optical lens 203 is coaxially arranged with the detection camera 202. For example, the detection camera 202 is horizontally arranged, and when the mechanical hand assembly 26 drives the workpiece to the detection mechanism 20, the detection mechanism 20 can take photos of the workpiece for detection. If the mounting and gluing quality of the workpiece after the previous process is unqualified, the unqualified workpiece is placed in the recycling box, and only the qualified workpiece is grabbed to the workpiece clamping jig 36 of the next process.

[0120] As Figures 30 to 51 , the assembly and gluing equipment 3 comprises a workpiece conveying device 35, a glue dispensing process module 33, an assembly module 31 and a glue dispensing module 32. The workpiece conveying device 35 conveys the workpiece and the assembly piece; the glue dispensing process module 33 is located on one side of the workpiece conveying device 35, and can take photos and calibrate the assembly piece; the assembly module 31 can take photos and calibrate the workpiece, and is movable between the glue dispensing process module 33 and the workpiece conveying device 35. The assembly module 31 picks up and adjusts the angle of the assembly piece and then assembles it on the workpiece; and the glue dispensing module 32 is used to dispense glue at the connection between the assembly piece and the workpiece.

[0121] The workpiece and the assembly piece are conveyed by the workpiece conveying device 35, and the workpiece is fixed at the same time. The assembly module 31 grabs the assembly piece, which is matched with the assembly position on the workpiece after being guided by vision and is assembled. Then the glue dispensing module 32 dispenses glue from the side. The whole assembly and gluing process is automated, the position is matched before the assembly piece is mounted, and the mounting precision is improved.

[0122] By Figure 31It can be known that the assembling module 31 and the dispensing module 32 are mounted on the gantry driving mechanism 34, the assembling module 31 and the dispensing module 32 are sequentially and spacedly arranged along the conveying direction of the workpiece conveying device 35, the gantry driving mechanism 34 drives the assembling module 31 and the dispensing module 32 to move in the horizontal direction, the assembling module 31 is used for driving the assembly to move up and down and rotate on the horizontal plane, and the activity range of the dispensing module 32 is less than or equal to 180°.

[0123] As shown in Figures 33 to 34 The dispensing module 32 comprises a z-axis linear module 320, a mounting frame 321, a dispensing assembly 322 and a glue cylinder assembly 323, the mounting frame 321 is mounted on the output end of the z-axis linear module 320, the dispensing assembly 322 is mounted on the mounting frame 321, the dispensing assembly 322 is provided with a dispensing valve 3224, the activity range of the dispensing valve 3224 is less than or equal to 180°, the glue cylinder assembly 323 is mounted on the mounting frame 321, the glue cylinder assembly 323 is located above the dispensing assembly 322, the glue cylinder assembly 323 is provided with a glue cylinder 3235, and the glue cylinder 3235 is communicated with the dispensing valve 3224.

[0124] In other words, the z-axis linear module 320 drives the entire dispensing module to move downwards to approach the workpiece and the assembly, the dispensing assembly 322 is located below the glue cylinder assembly 323, the glue cylinder assembly 323 does not rotate with the dispensing assembly 322, and the load of the dispensing assembly 322 can be reduced.

[0125] Therefore, the present application drives the entire dispensing module to move along the z-axis through the z-axis linear module 320, and drives the dispensing valve 3224 to rotate in a range less than or equal to 180° through the dispensing assembly 322, so that the activity range of the dispensing valve 3224 can cover the left and right sides of the assembly, so that the dispensing valve 3224 can dispense from the left and right sides, and the adaptability of the dispensing module is more extensive.

[0126] According to an embodiment of the present application, the dispensing assembly 322 comprises a motor mounting block 3221, a motor 3222 and a dispensing valve mounting plate 3223, the motor mounting block 3221 is mounted on the lower end of the mounting frame 321, the motor 3222 is mounted on the motor mounting block 3221, and the dispensing valve mounting plate 3223 is connected with the output shaft of the motor 3222, and the dispensing valve 3224 is mounted on the dispensing valve mounting plate 3223. Further, annular scales are engraved around the output shaft of the motor 3222 on the motor mounting block 3221, the annular scales can facilitate alignment and installation when the dispensing valve 3224 is installed, and the rotation angle of the dispensing valve 3224 during dispensing can be directly observed. Furthermore, the output shaft of the motor 3222 is rotatably connected with the motor mounting block 3221. In this way, the stability of the output shaft of the motor 3222 during rotation is ensured.

[0127] Preferably, the mounting frame 321 is provided with a first photoelectric sensor 3225, and the valve mounting plate 3223 is provided with a first baffle 3226 for triggering the first photoelectric sensor 3225. In this embodiment, when the valve 3224 is in the vertical state, the first baffle 3226 triggers the first photoelectric sensor 3225, so that whether the valve 3224 is in the vertical original position can be identified.

[0128] According to one embodiment of the present application, the glue cylinder assembly 323 comprises a locking ring 3231, a pressing device 3232 and a glue outlet 3234. The locking ring 3231 is mounted on the mounting frame 321 and is used to hold the glue cylinder 3235. The pressing device 3232 is mounted on the mounting frame 321 and is located above the locking ring 3231. The output end of the pressing device 3232 is provided with a sealing block 3233 which seals the upper end of the glue cylinder 3235. The glue outlet 3234 is mounted on the mounting frame 321 and is located below the locking ring 3231. The glue outlet 3234 seals the lower end of the glue cylinder 3235. Further, the side surface of the sealing block 3233 is connected with a pressure boosting device which applies pressure to the glue cylinder 3235 to squeeze out glue. The glue outlet 3234 is connected with the valve 3224 through a pipeline.

[0129] In other words, the locking ring 3231 is used to fix the glue cylinder 3235, and the pressing device 3232 can be a cylinder, a presser or the like which seals the upper part of the glue cylinder 3235 and is connected with a pressure boosting device such as a gas pump to apply pressure to the glue cylinder 3235, so as to facilitate the squeezing out of glue. The glue outlet 3234 is mainly used to seal the lower part of the glue cylinder 3235 and to input glue into the valve 3224.

[0130] On this basis, the side surface of the mounting frame 321 is further provided with a vision assembly 324 which comprises a camera, a lens and a light source arranged in sequence from top to bottom. The vision assembly 324 can perform visual positioning on the workpiece and the assembly, thereby improving the dispensing precision.

[0131] In this embodiment, the output shaft of the motor 3222 is parallel to the y-axis, and the dispensing direction of the valve 3224 is x or -x direction during operation. That is, during operation, the valve 3224 is rotated clockwise by 90° from the vertical position to become horizontal, and then is rotated counterclockwise by 180° to be horizontal again for dispensing. The dispensing directions of the two dispensing operations are opposite, so that dispensing can be performed from the left and right sides of the assembly.

[0132] As Figures 35-41As shown, the side of the mounting frame 321 is provided with a speed reducer 3227, the output end of the speed reducer 3227 extends to the other side of the mounting frame 321; the glue dispensing assembly 322 is installed on the output end of the speed reducer 3227; the motor 3222 is connected with the speed reducer 3227, and the motor 3222 drives the glue dispensing assembly 322 to rotate to a predetermined position and then performs glue dispensing.

[0133] Therefore, the glue dispensing assembly 322 is decelerated by arranging the speed reducer 3227 between the motor 3222 and the glue dispensing assembly 322, so that the glue dispensing assembly 322 is prevented from rotating too fast, the rotational inertia of the glue dispensing assembly 322 is reduced, and the rotational precision of the glue dispensing assembly 322 is higher.

[0134] Preferably, the motor 3222 is a holding brake motor. The holding brake motor can lock the position when the motor stops, so that the motor is prevented from moving due to external force. In this way, the glue dispensing valve can be kept stationary when reaching the glue dispensing position, so that the glue dispensing effect is ensured.

[0135] According to an embodiment of the present application, the glue dispensing assembly 322 comprises a glue dispensing valve mounting plate 3223, a glue dispensing valve 3224 and a mounting limiting block 3228, the glue dispensing valve 3224 is installed on the side of the glue dispensing valve mounting plate 3223 away from the mounting frame 321; the mounting limiting block 3228 is installed on the side of the glue dispensing valve mounting plate 3223 facing the mounting frame 321, and the mounting limiting block 3228 is connected with the output end of the speed reducer 3227.

[0136] That is, the glue dispensing valve mounting plate 3223 is used for mounting the glue dispensing valve 3224, and the mounting limiting block 3228 is used for fixing the glue dispensing valve mounting plate 3223 with the output end of the speed reducer 3227.

[0137] Further, the side of the mounting frame 321 facing the mounting limiting block 3228 is provided with a limiting block 3229, and the mounting limiting block 3228 has a protrusion 32281 matched with the limiting block 3229.

[0138] Still further, the limiting block 3229 has an upper limiting surface and a lower limiting surface, when the glue dispensing valve 3224 is located at the first glue dispensing position, one side of the protrusion 32281 abuts against the upper limiting surface, and when the glue dispensing valve 3224 is located at the second glue dispensing position, the other side of the protrusion 32281 abuts against the lower limiting surface.

[0139] The limiting block 3229 has a C-shaped structure, and the protrusion 32281 is arranged on the side of the mounting limiting block 3228 facing the mounting frame 321. Figure 3 As shown in FIG. 6, when the glue dispensing valve 3224 performs glue dispensing from the left side, one side of the protrusion 32281 abuts against the upper limiting surface. Figure 4 As shown in FIG. 7, when the glue dispensing valve 3224 performs glue dispensing from the right side, the other side of the protrusion 32281 abuts against the lower limiting surface.

[0140] In this embodiment, the output end of the reducer 3227 is connected to the mounting bracket 321 via a bearing. This ensures the stability of the output end of the reducer 3227 during rotation.

[0141] According to one embodiment of the present invention, a first photoelectric sensor 3225 is mounted on the mounting bracket 321, and a first baffle 3226 is mounted on the mounting limit block 3228. The first baffle 3226 is used to trigger the first photoelectric sensor 3225. Further, the first photoelectric sensor 3225 is located above the mounting limit block 3228.

[0142] In other words, when the dispensing valve 3224 rotates, the first baffle 3226 rotates accordingly, and the first photoelectric sensor 3225 determines whether the dispensing valve 3224 has reached the origin position.

[0143] The dispensing direction of the dispensing valve 3224 when it is in the first dispensing position and the dispensing direction of the dispensing valve 3224 when it is in the second dispensing position are both horizontal; the dispensing direction of the dispensing valve 3224 when it is in the first dispensing position and the dispensing direction of the dispensing valve 3224 when it is in the second dispensing position are opposite.

[0144] In other words, the dispensing valve 3224 rotates 180° from the first dispensing position to the second dispensing position. When the dispensing valve 3224 is in the vertical position, the protrusion 32281 is located on the central axis between the upper limit surface and the lower limit surface.

[0145] In summary, by setting up a speed reducer 3227, the present invention reduces rotational inertia, and through the combined action of the brake motor, the limit block 3229 and the protrusion 32281, it ensures that the dispensing valve 3224 is in a stable state during dispensing, thereby improving dispensing accuracy and dispensing effect.

[0146] like Figures 42 to 44 As shown, the assembly module 31 includes: a mounting plate 310, a z-axis linear module 311, a rotating mechanism 312, and a suction mechanism 313. The z-axis linear module 311 is mounted on the mounting plate 310; the rotating mechanism 312 is mounted on the z-axis linear module 311, and the z-axis linear module 311 drives the rotating mechanism 312 to move along the z-axis; the suction mechanism 313 is slidably mounted on the rotating mechanism 312, and the rotating mechanism 312 drives the suction mechanism 313 to rotate, and the suction mechanism 313 is used to pick up the assembly parts; a constant force spring 3134 is provided between the suction mechanism 313 and the rotating mechanism 312, and the constant force spring 3134 is used to apply an upward supporting force to the suction mechanism 313.

[0147] In other words, the linear module 311 in the z direction is used to drive the rotating mechanism 312 and the suction mechanism 313 to move up and down in the z direction, and the rotating mechanism 312 drives the suction mechanism 313 to rotate around the z axis in the embodiment, so that the assembly part matches the assembly position, and the direction of the supporting force of the constant force spring 3134 is the z direction.

[0148] Therefore, the assembly position accuracy of the assembly part is improved by rotating the assembly part through the rotating mechanism 312, the suction mechanism 313 is slidably installed on the rotating mechanism 312, and the upward supporting force of the constant force spring 3134 is applied to the suction mechanism 313, so that the gravity of the suction mechanism 313 itself is offset, thereby avoiding that the assembly part is affected by the gravity of the assembly module itself, the assembly pressure of the assembly part is accurately controllable, and the assembly effect is improved.

[0149] According to an embodiment of the present application, the rotating mechanism 312 comprises a rotating motor 3121, a clamping block 3122 and a rotating plate 3123, the rotating motor 3121 is installed on the linear module 311 in the z direction through a fixing seat 3127, the clamping block 3122 is arranged on the output end of the rotating motor 3121, and the rotating plate 3123 is installed on one side of the clamping block 3122, and the suction mechanism 313 is slidably installed on the rotating plate 3123.

[0150] Further, the fixing seat 3127 is provided with a second photoelectric sensor 3126, and the rotating plate 3123 is provided with a second baffle 3128 for triggering the second photoelectric sensor 3126. When the rotating plate 3123 rotates, the second baffle 3128 can trigger the second photoelectric sensor 3126, so as to identify whether the rotating plate 3123 reaches the original point.

[0151] According to an embodiment of the present application, the suction mechanism 313 comprises an installation block 3131 and a suction head 3132, the installation block 3131 and the rotating plate 3123 are connected through a guide rail sliding block mechanism, the sliding direction of the guide rail sliding block mechanism is parallel to the z direction, and the suction head 3132 is installed below the installation block 3131 and sucks the assembly part through negative pressure.

[0152] In the embodiment, the number of guide rail sliding block mechanisms is two, and the stability of the two guide rail sliding block mechanisms is higher.

[0153] The lower end of the constant force spring 3134 is connected with the rotating plate 3123, the upper end of the constant force spring 3134 is connected with the installation block 3131, and the axis of the constant force spring 3134 is parallel to the z direction. That is to say, the supporting force of the constant force spring 3134 is applied in parallel to the sliding direction of the guide rail sliding block mechanism, so as to ensure the stable sliding of the suction mechanism 313 in the z direction.

[0154] Preferably, a pressure sensor 3124 is installed below the holding block 3122, and a pressure measuring protrusion 3133 is installed above the mounting block 3131, and the pressure measuring protrusion 3133 is used to trigger the pressure sensor 3124 during assembly to monitor the assembly pressure. The suction mechanism 313 triggers the pressure sensor 3124 when it slides upward, and the pressure sensor 3124 monitors the assembly pressure in real time to ensure that the assembly pressure does not exceed the requirement, thereby achieving precise control of the assembly pressure.

[0155] More preferably, the pressure measuring protrusion 3133, the pressure sensor 3124 and the suction head 3132 are on the same z-axis. In this way, it can be ensured that the assembly pressure detected by the pressure sensor 3124 is consistent with the pressure on the assembly part received by the suction head 3132.

[0156] According to an embodiment of the present application, the suction head 3132 is detachably connected to the mounting block 3131, the suction head 3132 is connected to a vacuum generator, and the contour of the lower surface of the suction head 3132 matches the contour of the assembly part. Different suction heads 3132 can be replaced for different assembly parts, and the adaptability is more extensive.

[0157] According to an embodiment of the present application, a height measuring instrument 3125 is also installed on the rotating plate 3123. The height measuring instrument 3125 can measure the assembly height. On this basis, a vision device 314 is also installed on the mounting plate 310, and the vision device 314 includes a camera 3141, a lens 3142 and a light source 3143, which are coaxially arranged from top to bottom. The height measuring instrument 3125 can cooperate with the vision device 314 to accurately identify the vision, ensure that the assembly part can be assembled in place, and improve the assembly effect.

[0158] As shown in Figures 45 to 46 The glue dispensing process module 33 includes a mounting base plate 336, an assembly part magazine 330, a calibration module 331 and an assembly part vision device 333. The assembly part magazine 330 is installed on the mounting base plate 336 and is used to place defective assembly parts. The calibration module 331 is installed on the mounting base plate 336 and is used for calibration and adjustment of the glue dispensing head. The assembly part vision device 333 is installed on the mounting base plate 336 and is used to take pictures of the assembly part to adjust the assembly angle.

[0159] Therefore, the assembly part vision device 333 is used to calibrate the position of the grabbed assembly part, so that the assembly part matches the assembly position, thereby improving the assembly precision. The calibration module 331 is used to calibrate and adjust the glue dispensing head, so as to ensure the glue dispensing precision and improve the assembly and glue dispensing effect. The assembly part magazine 330 is used to accommodate defective assembly parts, so as to facilitate the unified collection of defective assembly parts and avoid mixing with good assembly parts.

[0160] In the embodiment, the assembly visual device 333 comprises a camera 3331, a lens 3332 and a light source 3333, which are sequentially arranged from bottom to top.

[0161] In other words, after the assembly head picks up the assembly, it moves above the light source 3333, and the camera 3331 takes a picture of the assembly from an angle, matches the assembly with the assembly position, and adjusts the angle of the assembly head accurately, thereby ensuring assembly accuracy.

[0162] Preferably, the mounting base 336 is also provided with a glue wiping module 332 for removing residual glue on the glue dispensing head. In the embodiment, the glue wiping module 332 is a high-density brush.

[0163] Preferably, the mounting base 336 is also provided with a button box 335, which is wired or wirelessly connected with the glue dispensing head controller. The button box 335 has a manual glue dispensing quick button and a glue valve heating button, and the operator directly controls the glue valve through the button box 335 to test the rapid glue dispensing.

[0164] Preferably, the mounting base 336 is also provided with a weighing module 334 for weighing the glue dispensing amount of the glue dispensing head. The weighing module 334 can weigh and detect the glue dispensing amount of the glue valve to ensure that the glue dispensing amount is consistent each time.

[0165] As shown in Figure 32 The workpiece conveying device 35 comprises a conveying track 37 and a workpiece clamping jig 36, the workpiece clamping jig 36 is arranged on the conveying track 37, and the conveying track 37 drives the workpiece clamping jig 36 to move linearly and reciprocally.

[0166] As shown in Figures 47 to 51 The workpiece needs to be attached with assembly parts of different angles, such as the first assembly part 91, the second assembly part 92, the third assembly part 93, the fourth assembly part 94 and the fifth assembly part 95. The second assembly part 92, the third assembly part 93 and the fourth assembly part 94 are attached to the second attachment surface 921, the third attachment surface 931 and the fourth attachment surface 941 respectively, and the first assembly part 91 and the fifth assembly part 95 need to be placed in the workpiece and dispensed glue through the first attachment groove 911 and the second attachment groove 951 respectively.

[0167] The workpiece clamping jig 36 comprises a base a1 arranged on the conveying track, the base a1 is fixedly connected with an angle adjusting mechanism a2, the movable end of the angle adjusting mechanism a2 is connected with a bearing seat, the bearing seat is provided with a workpiece placing groove a31 and an assembly part placing groove a32 for placing the workpiece and the assembly part respectively. The bearing seat is also provided with a clamping mechanism for clamping the workpiece and the assembly part.

[0168] The bearing seat comprises a bottom plate a33, a second working plate a34 and a first working plate a35, the bottom plate a33 is fixedly connected with the movable end of the angle adjusting mechanism a2, the second working plate a34 and the first working plate a35 are both fixedly connected on the bottom plate a33, and the first working plate a35 and the second working plate a34 form a workpiece placing groove a31.

[0169] The angle adjusting mechanism a2 adopts an angle measuring manual displacement table. The angle of the bottom plate a33 can be manually adjusted along a first direction and a second direction, the manually adjusted angle can be kept all the time, and the first direction and the second direction are arranged perpendicularly. In the embodiment, the first direction is parallel to the x axis, and the second direction is parallel to the y axis.

[0170] The clamping mechanism comprises a workpiece clamping assembly and an assembly clamping assembly a43, the workpiece clamping assembly and the assembly clamping assembly a43 are both arranged on the bottom plate a33 and are respectively used for clamping a workpiece and an assembly. The workpiece clamping assembly comprises a first clamping piece a41 and a second clamping piece a42, the first clamping piece a41 comprises a workpiece telescopic piece a411 and a first clamping plate a412, the workpiece telescopic piece a411 is fixedly connected with the first working plate a35 along a third direction, and the first clamping plate a412 is fixedly connected with the movable end of the workpiece telescopic piece a411, and the first clamping plate a412 is arranged oppositely with the first working plate a35 along the third direction, so as to be convenient for clamping the workpiece.

[0171] The bottom plate a33 is also fixedly connected with a support seat a331, the second clamping piece a42 comprises an assembly telescopic piece a421 and a second clamping plate a422, the assembly telescopic piece a421 is fixedly connected with the support seat a331 along the length direction of the bottom plate a33, the second clamping plate a422 is fixedly connected with the output end of the assembly telescopic piece a421, and the second clamping plate a422 is arranged oppositely with the second working plate a34 along a fourth direction, so as to be convenient for clamping the workpiece. After the workpiece is placed in the workpiece placing groove a31, the workpiece telescopic piece a411 and the assembly telescopic piece a421 are started in sequence, and drive the first clamping plate a412 and the second clamping plate a422 to move, so as to clamp the workpiece in cooperation with the second working plate a34 and the first working plate a35. The workpiece telescopic piece a411 and the assembly telescopic piece a421 can both adopt telescopic air cylinders.

[0172] The first workboard a35 is provided with a second photoelectric sensor a352, and the sensing area of the second photoelectric sensor a352 is arranged towards the workpiece placing groove a31. When the workpiece is placed in the workpiece placing groove a31, the second photoelectric sensor a352 is triggered. The sidewall of the first workboard a35 is provided with a negative pressure port a351, and the negative pressure port a351 is communicated with an air tightness detection assembly. When the workpiece is placed, the sidewall of the workpiece is attached to the first workboard a35, so that the position corresponding to the negative pressure port a351 of the workpiece is the machined surface, thereby ensuring the accuracy of the air tightness detection. The air tightness detection assembly comprises a negative pressure suction pipe and a pressure gauge. The negative pressure suction pipe is communicated with the negative pressure port a351, and the pressure gauge is arranged on the negative pressure suction pipe to detect the pressure at the negative pressure port a351. During the air tightness detection, the negative pressure suction pipe is connected to a negative pressure source to generate negative pressure, and the pressure gauge detects the pressure at the negative pressure port a351. If the detection result is negative pressure, it indicates that the workpiece clamping is reliable. If the detection result is positive pressure, it indicates that the workpiece clamping is unreliable or the machining surface precision is insufficient.

[0173] The supporting seat a331 is fixedly connected with an assembly base a332, and the assembly placing groove a32 is arranged on the assembly base a332. The assembly clamping assembly a43 comprises an assembly telescopic piece a431 and an assembly clamping plate a432. The assembly telescopic piece a431 is fixedly connected to the assembly base a332 along the fourth direction, and the assembly clamping plate a432 is fixedly connected to the output end of the assembly telescopic piece a431. The top of the assembly placing groove a32 is higher than the bottom surface of the assembly clamping plate a432, and one end of the assembly placing groove a32 is throughly arranged towards the assembly clamping plate a432, so that the assembly clamping plate a432 can abut against the assembly, and the assembly clamping plate a432 and the groove wall of the assembly placing groove a32 cooperate to clamp the assembly.

[0174] The bottom of the assembly placing groove a32 is provided with a sensing groove a333, and a first photoelectric sensor a334 is installed in the sensing groove a333. The sensing area of the first photoelectric sensor a334 is arranged towards the assembly placing groove a32, so as to sense whether the assembly is in place. The base a1 is also provided with curing assemblies a5. The curing assemblies a5 are provided in two groups and are respectively located on both sides of the workpiece placing groove a31 along the third direction, so as to guarantee the curing effect. The curing assembly a5 comprises a curing telescopic driving member a51 and a curing member a52 fixedly connected with the extending end of the curing telescopic driving member a51. The curing telescopic driving member a51 is fixedly connected with the base a1 along the vertical direction. In operation, the extending end of the curing telescopic driving member a51 extends, driving the curing member a52 to move upwards until the curing area of the curing member a52 covers the glue dispensing position, so as to help the glue dispensing position to cure quickly. When curing assistance is not needed, the extending end of the curing telescopic driving member a51 is in the retracted state, so as to reduce the possibility of interference with the mechanical hand. The extending end of the curing telescopic driving member a51 in the figure is in the extended state, i.e. in the curing state. The curing member a52 can be a curing lamp of model R10S6XF30X10 produced by Xiamen Shilei Technology Co., Ltd.

[0175] Working principle: in operation, the workpiece is placed in the workpiece placing groove a31, and then the workpiece telescopic member a411 is started first, driving the first clamping plate a412 to move towards the first workboard a35, pushing the workpiece to move towards the first workboard a35, and clamping the workpiece together with the first workboard a35. Then the assembly telescopic member a421 is started, driving the second clamping plate a422 to move towards the second workboard a34, pushing the workpiece to move towards the second workboard a34, and clamping the workpiece together with the second workboard a34.

[0176] Then air tightness detection is performed. The negative pressure suction pipe is connected to the negative pressure source to generate negative pressure, and the pressure gauge detects the pressure at the negative pressure port a351. If the detection result is negative pressure, it indicates that the workpiece clamping is reliable. If the detection result is positive pressure, it indicates that the workpiece clamping is unreliable or the machining surface precision is not enough.

[0177] After the air tightness detection is correct, the assembly is placed in the assembly placing groove a32, and then the output end of the assembly telescopic member a431 extends, driving the assembly clamping plate a432 to move, and clamping the assembly together with the assembly placing groove a32.

[0178] Then the jig as a whole is moved to the glue dispensing station, the assembly clamping plate a432 is loosened, the glue dispensing equipment places the assembly on the mounting surface of the workpiece, then glue dispensing is performed, and after the glue dispensing is completed, the output end of the curing telescopic driving member a51 extends, driving the curing member a52 to move upwards until it is flush with the glue dispensing position, so as to help the glue dispensing position to cure quickly.

[0179] The application also discloses an assembling method, comprising the following steps: step one: a workpiece feeding device (1) continuously feeds workpieces to the rear of an assembling production line; step two: an assembling part feeding and discharging device (2) continuously feeds assembling parts to the rear of the assembling production line, and an identification mechanism (27) identifies the glue dispensing position information on the workpiece; step three: an assembling glue dispensing device (3) receives the workpiece and the assembling part, the assembling glue dispensing device (3) completes the assembling after matching the contour of the assembling part with the assembling position information of the workpiece, then dispenses glue at the connecting position of the assembling part and the workpiece according to the glue dispensing position information and performs curing treatment; step four: the workpiece on which the assembling part is installed is adjusted at a certain angle, so that another assembling position of the workpiece is exposed, and the workpiece is continuously conveyed to the rear of the assembling production line; step five: a subsequent assembling part feeding and discharging device (2) feeds another assembling part; step six: a subsequent assembling glue dispensing device (3) repeats step three, so as to install another assembling part at another assembling position of the workpiece; and step seven: steps four to six are repeated until all the assembling positions of the workpiece are installed with corresponding assembling parts.

[0180] Step one comprises: moving the drag component 121 to a specified position along the z direction through the z-direction motion component 122, taking out the workpiece tray component 114 from the frame 111 by the drag component 121, and moving the drag component 121 to a workpiece grabbing position along the z direction through the z-direction motion component 122; sequentially taking out the workpieces from the workpiece tray component 114 by the conveying mechanism 13 and moving the workpieces to the top of the turnover transfer mechanism 14; and moving the workpieces to the assembling part feeding and discharging device 2 after the turnover transfer mechanism 14 first moves upwards along the z direction to receive the workpieces, then moves downwards along the z direction to the bottom.

[0181] Step two comprises: S1, placing n trays 221 on the feeding mechanism 22; S2, conveying the bottommost tray 221 from the feeding mechanism 22 to the working range through the transfer mechanism 23; S3, picking up the assembling parts from the tray 221 through the picking mechanism 24 and grabbing the workpieces from the turnover transfer mechanism 14 through the grabbing mechanism 21; and moving the workpieces and the assembling parts to the workpiece clamping jig 36; S4, repeating step S3 until the assembling parts on the tray 221 are taken out; S5, taking out the empty tray 221 from the transfer mechanism 23 through the discharging mechanism 25; and S6, repeating steps S2-S5 until n empty trays 221 are collected by the discharging mechanism 25.

[0182] In step three, the workpiece conveying device 35 conveys the workpiece and the assembly part on the workpiece clamping jig 36; the vision device 314 on the assembly module 31 visually calibrates the assembly position on the workpiece, the camera 3141 photographs the profile of the assembly position on the workpiece, the assembly module 31 grabs the assembly part above the assembly part vision device 333 of the glue dispensing process module 33, the camera 3331 visually photographs the profile of the assembly part, the assembly module 31 adjusts the profile of the assembly part to match the assembly position, and then assembles the assembly part in the workpiece; the assembly pressure is monitored by the pressure sensor 3124 during assembly to ensure that the assembly pressure does not exceed 1N; the glue dispensing position is calibrated before glue dispensing, and the calibrated glue dispensing position is compared with the standard glue dispensing position in position, and the calibrated glue dispensing position is adjusted according to the position difference; the glue dispensing valve 3224 on the glue dispensing module 32 first dispenses glue from the horizontal direction to the connection between the assembly part and the workpiece on one side, and then rotates 180° to dispense glue on the other side, wherein the workpiece side is provided with a mounting groove, and the side of the assembly part is exposed at the bottom of the mounting groove; the glue dispensing module 32 dispenses glue into the mounting groove from the side along the horizontal direction, and fixes the assembly part and the mounting groove through the glue; the two curing parts a52 move upwards and perform UV curing treatment on the two glue dispensing positions respectively.

[0183] Between step three and step four, the glue dispensing quality of the glue dispensing position needs to be detected by the detection mechanism 20.

[0184] In summary, the assembly method of the present application realizes the automation of the assembly and glue dispensing process, at the same time, the workpiece and the assembly part are assembled by visual guidance to improve the assembly precision, the assembly pressure is monitored to avoid deformation of the assembly part under stress and improve the assembly and glue dispensing quality.

[0185] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the present application, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0186] Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. An assembly line, characterized in that, The utility model relates to an assembly point gluing equipment and a workpiece feeding device, and belongs to the field of equipment manufacturing. It comprises: Workpiece feeding device (1) for feeding workpiece; Assembly part feeding and discharging device (2) is located at one side of workpiece feeding device (1), and is used for feeding assembly part assembled on workpiece, and has identification mechanism (27) on assembly part feeding and discharging device (2), and identification mechanism (27) is used for identifying point gluing position information on workpiece; Assembly point gluing equipment (3) is located at one side of assembly part feeding and discharging device (2), and receives workpiece and assembly part, and assembly point gluing equipment (3) can identify assembly position information of workpiece, and after the contour of assembly part is matched with assembly position information, assembly part is installed on workpiece, then point gluing is fixed to the joint of assembly part and workpiece according to point gluing position information; The assembly point gluing equipment (3) comprises: Workpiece conveying device (35) is conveyed with workpiece and assembly part, and workpiece conveying device (35) comprises conveying track (37) and workpiece clamping jig (36), workpiece clamping jig (36) is arranged on conveying track (37), conveying track (37) drives workpiece clamping jig (36) to carry out linear reciprocating motion, and workpiece clamping jig (36) is used to place workpiece and assembly part; Dispensing process module (33) is located at one side of workpiece conveying device (35), and dispensing process module (33) can shoot and calibrate assembly part; Assembly module (31) is movable between dispensing process module (33) and workpiece conveying device (35), assembly module (31) can shoot and calibrate workpiece, and assembly module (31) is picked up and adjusted angle after assembly part and is assembled on workpiece; 2. Assembly line according to claim 1, characterized in that, Dispensing module (32) is used for dispensing to the joint between assembly part and workpiece, and dispensing module (32) comprises z-axis linear module (320), mounting bracket (321), dispensing assembly (322) and glue cylinder assembly (323), dispensing assembly (322) comprises motor mounting block (3221), motor (3222) and dispensing valve mounting plate (3223), glue cylinder assembly (323) comprises locking ring (3231), pressing device (3232) and glue outlet (3234). The workpiece feeding device (1) comprises: Incoming mechanism (11) is used for conveying workpiece tray assembly (114), and a plurality of workpieces are placed on workpiece tray assembly (114); Movement mechanism (12) can take out workpiece tray assembly (114) from incoming mechanism (11) and drive workpiece tray assembly (114) to move to workpiece grabbing position; Carrying mechanism (13) is used for grabbing workpiece from workpiece tray assembly (114); The turnover transfer mechanism (14) can receive the workpiece from the carrying mechanism (13), and can drive the workpiece to move to the next operation process and also can turn over the workpiece to the required angle of the next process.

3. Assembly line according to claim 2, characterized in that The movement mechanism (12) comprises: A drag component (121) can extract the workpiece tray component (114) from the incoming mechanism (11); A z-direction movement component (122) is connected with the drag component (121), and the z-direction movement component (122) can drive the drag component (121) to move along the z-direction.

4. Assembly line according to claim 2, characterized in that The carrying mechanism (13) comprises: A y-direction movement component (131), and An x-direction movement component (132) is installed on the y-direction movement component (131), and the y-direction movement component (131) can drive the x-direction movement component (132) to move along the y-direction; A z-direction movement component (133) is installed on the x-direction movement component (132), and the x-direction movement component (132) can drive the z-direction movement component (133) to move along the x-direction; A clamping component (134) is installed on the z-direction movement component (133), and the z-direction movement component (133) can drive the clamping component (134) to move along the z-direction.

5. The assembly line of claim 2, wherein The turnover transfer mechanism (14) comprises: A lifting component (141), and A mounting plate (142) is connected with the lifting component (141), and the lifting component (141) can drive the mounting plate (142) to move along the z-direction; A driving component (143) is installed on the mounting plate (142); A turnover component (144) is installed on the driving component (143), and the driving component (143) can drive the turnover component (144) to move along the y-direction, and the turnover component (144) can receive the workpiece grabbed by the carrying mechanism (13) and turn over the workpiece.

6. The assembly line of claim 1, wherein, The assembly feeding and discharging device (2) comprises: A grabbing mechanism (21) is used for grabbing the workpiece conveyed by the workpiece feeding device (1) and grabbing to the assembly dispensing equipment (3); A feeding mechanism (22) is used for conveying the tray (221) on which the assembly is placed; A transfer mechanism (23) is used for receiving the tray (221) from the feeding mechanism (22) and conveying to the material taking position; A picking mechanism (24) is used for picking the assembly from the tray (221) on the transfer mechanism (23) and picking to the assembly dispensing equipment (3); A discharging mechanism (25) is located below the feeding mechanism (22). After the assembly in the tray (221) is picked up by the picking mechanism (24), the empty tray (221) is transferred to the discharging mechanism (25) by the transfer mechanism (23), and the discharging mechanism (25) is used to collect and transfer the empty tray (221).

7. Assembly line according to claim 6, characterized in that The feeding mechanism (22) comprises: A first feeding assembly (222) is located on one side of the tray (221); A second feeding assembly (223) is located on the other side of the tray (221), and the second feeding assembly (223) and the first feeding assembly (222) can approach each other to support the tray (221); A jacking assembly (224) is located below the tray (221) and is used to jack up the tray (221).

8. Assembly line according to claim 6, characterized in that The transfer mechanism (23) comprises: A transfer plate (231), and A first lifting assembly (232) is located on one side of the transfer plate (231); A second lifting assembly (233) is located on the other side of the transfer plate (231); A transfer driving assembly (234) is connected with the transfer plate (231) and is used to drive the transfer plate (231) to move.

9. The assembly line of claim 6, wherein The discharging mechanism (25) comprises: A receiving driving member (251), and A receiving support (252) connected with the receiving driving member (251), the receiving driving member (251) can drive the receiving support (252) to move in the z direction, and the receiving support (252) is used to collect the empty tray (221); A discharging assembly (253) is used to transport the empty tray (221) on the receiving support (252) to the outside of the device.

10. The assembly line of claim 6, wherein, The assembly feeding and discharging device (2) further comprises a manipulator assembly (26) and a detection mechanism (20), the grabbing mechanism (21), the picking mechanism (24) and the detection mechanism (20) are all installed on the manipulator assembly (26), and the detection mechanism (20) is used to detect the mounting quality of the workpiece after the previous process operation. The picking mechanism (24) comprises: A picking mounting plate (241) connected with the manipulator assembly (26); A picking connecting module (242) having one end installed on the picking mounting plate (241); A picking module (243) installed on the other end of the picking connecting module (242), and the picking module (243) can pick up the assembly from the tray (221).

11. The assembly line of claim 1, wherein, The assembly module (31) comprises: A mounting plate (310); A z-direction linear module (311) installed on the mounting plate (310); A rotating mechanism (312) is installed on the z-direction linear module (311), and the z-direction linear module (311) drives the rotating mechanism (312) to move in the z-direction; A suction mechanism (313) is slidingly installed on the rotating mechanism (312), and the rotating mechanism (312) drives the suction mechanism (313) to rotate, and the suction mechanism (313) is used for sucking the assembly parts; A constant force spring (3134) is arranged between the suction mechanism (313) and the rotating mechanism (312), and the constant force spring (3134) is used for applying an upward supporting force to the suction mechanism (313).

12. The assembly line of claim 1, wherein, The point glue process module (33) comprises: A bottom plate (336); An assembly part magazine (330) is installed on the bottom plate (336), and the assembly part magazine (330) is used for placing the defective assembly parts; A calibration module (331) is installed on the bottom plate (336), and the calibration module (331) is used for calibrating the point glue head; An assembly part visual device (333) is installed on the bottom plate (336), and the assembly part visual device (333) is used for shooting the assembly parts to adjust the assembly angle.

13. A method of assembly, characterized by The assembly method comprises the following steps: Step one: the workpiece feeding device (1) continuously supplies the workpieces to the rear of the assembly production line; Step two: the assembly part feeding and discharging device (2) continuously supplies the assembly parts to the rear of the assembly production line, and the recognition mechanism (27) recognizes the point glue position information on the workpiece; Step three: the assembly point glue equipment (3) receives the workpiece and the assembly part, the assembly point glue equipment (3) matches the contour of the assembly part with the assembly position information of the workpiece to complete the assembly, and then performs point glue fixing and curing treatment on the connection between the assembly part and the workpiece according to the point glue position information.

14. The method of assembling according to claim 13, wherein, Further comprising, Step four: adjust the workpiece with the installed assembly part to a certain angle to expose another assembly position on the workpiece, and continue to convey the workpiece to the rear of the assembly production line; Step five: the subsequent assembly part feeding and discharging device (2) supplies another assembly part; Step six: the subsequent assembly point glue equipment (3) repeats step three, so as to install another assembly part at another assembly position of the workpiece; Step seven: repeat steps four to six until all assembly positions on the workpiece are installed with corresponding assembly parts.

15. The method of assembling of claim 13, wherein, In step three, the assembly point glue equipment (3) first recognizes the assembly position information of the workpiece, then recognizes and adjusts the angle and position of the assembly part, so that the contour of the assembly part matches the assembly position information of the workpiece, the assembly part is installed on the workpiece, and the installation pressure is ensured to be less than 1N during installation, the point glue position is calibrated before point glue, the calibrated point glue position is compared with the standard point glue position, and the calibrated point glue position is adjusted according to the position difference.

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