Assembly apparatus, method, device, terminal device, and medium

Abstract

The present disclosure relates to a kind of accessory assembly equipment, method, device, terminal and medium, accessory assembly equipment includes limiting part, for limiting the movement of first accessory;Adjusting mechanism, adjusting mechanism is used to drive second accessory relative to first accessory along the movement of preset direction, so that second accessory is stacked in first accessory;Detection part, detection part is used to detect the relative attitude between first accessory and second accessory;Adjusting mechanism is set to adjust the attitude of second accessory based on relative attitude, so that second accessory is connected with first accessory, and the amount of gap between first accessory and second accessory is in preset interval.The detection part in the present disclosure monitors the relative attitude between first accessory and second accessory, determines the gap between first accessory and second accessory, and adjusting mechanism adjusts second accessory based on relative attitude, so that the gap between first accessory and second accessory remains stable and uniform, and improves the assembly precision between first accessory and second accessory.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of electronic product repair, and particularly relates to a spare part assembling device, method, apparatus, terminal device and medium. BACKGROUND

[0002] With the development of the times, electronic products such as mobile phones have become one of the electronic products that people cannot do without. Users communicate, pay for daily consumption or watch videos through electronic products such as mobile phones.

[0003] Electronic products such as mobile phones are assembled from multiple spare parts, such as middle frames, display screens, casings, etc. When assembling a middle frame and a display screen, or assembling a middle frame and a casing, the traditional alignment process is difficult to align and lacks sufficient alignment accuracy, and cannot achieve precise adjustment. SUMMARY

[0004] To overcome the problems in the related art, the present disclosure provides a spare part assembling device, method, apparatus, terminal device and medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a spare part assembling device is provided, comprising:

[0006] a limiting part configured to limit the movement of a first spare part;

[0007] an adjusting mechanism configured to drive a second spare part to move along a preset direction relative to the first spare part, so that the second spare part is stacked on the first spare part;

[0008] a detection part configured to detect the relative attitude between the first spare part and the second spare part;

[0009] wherein the adjusting mechanism is configured to adjust the attitude of the second spare part based on the relative attitude, so that the second spare part is connected to the first spare part in alignment, and the gap between the first spare part and the second spare part is within a preset interval.

[0010] Optionally, the relative attitude comprises at least one of:

[0011] the relative position between the first spare part and the second spare part, and the relative angle between the first spare part and the second spare part.

[0012] Optionally, the adjusting mechanism comprises a first driving bracket and a vertical driving part connected to the first driving bracket, and the second spare part is mounted on the first driving bracket.

[0013] the adjusting mechanism comprises a second driving bracket and a horizontal driving part connected to the second driving bracket.

[0014] The horizontal driving part is configured to drive the second accessory to move along the horizontal direction by the second driving support, so as to adjust the relative attitude of the second accessory and the first accessory in the horizontal direction.

[0015] Optionally, the adjusting mechanism comprises a third driving support and a rotating driving part mounted on the third driving support, and the second accessory is mounted on the third driving support through the rotating driving part.

[0016] The rotating driving part is configured to drive the second accessory to rotate horizontally relative to the first accessory, so as to adjust the relative attitude of the first accessory and the second accessory.

[0017] Optionally, the accessory assembling device further comprises a suction part fixedly connected with the rotating driving part, and the suction part is used to suck the second accessory.

[0018] Optionally, the detecting part comprises a first visual component, and the first visual component is used to collect the range of the first accessory, the range of the second accessory, and the range of the orthographic projection of the second accessory on the first accessory.

[0019] Optionally, the detecting part further comprises a first driving part, the first visual component is mounted on the first driving part, and the first driving part is configured to drive the first visual component to move relative to the first accessory.

[0020] Optionally, the detecting part comprises a second visual component, and the second visual component is used to collect the gap between the second accessory and the first accessory.

[0021] Optionally, a buffer part is arranged between the first accessory and the second accessory, and the second accessory is connected with the first accessory through the buffer part.

[0022] When the second accessory is stacked on the first accessory, the buffer part is deformed.

[0023] Optionally, the buffer part is a thermosetting adhesive, and the accessory assembling device further comprises a heating part arranged on the adjusting mechanism, and the heating part is configured to heat the second accessory, conduct heat to the buffer part, and fix the first accessory and the second accessory through the buffer part.

[0024] Optionally, the first accessory is a middle frame, and the second accessory is a shell or a display screen.

[0025] According to a second aspect of the embodiments of the present disclosure, an accessory assembling method is provided, and the accessory assembling method comprises:

[0026] identify a current position of the first accessory on the limiting part;

[0027] based on the current position, control the adjusting mechanism to drive the second accessory to move relative to the first accessory along a preset direction, so that the second accessory is stacked on the first accessory;

[0028] obtain a relative pose between the first accessory and the second accessory;

[0029] based on the relative pose, adjust a pose of the second accessory, so that the second accessory is connected to the first accessory in alignment, and a gap amount between the first accessory and the second accessory is within a preset range.

[0030] Optionally, the obtaining the relative pose between the first accessory and the second accessory includes:

[0031] obtaining a range of the first accessory and a range of the second accessory collected by a first vision component;

[0032] determining a center point of the first accessory according to the range of the first accessory, and determining a center point of the second accessory according to the range of the second accessory;

[0033] determining the relative pose between the first accessory and the second accessory according to the center point of the first accessory and the center point of the second accessory.

[0034] Optionally, the obtaining the relative pose between the first accessory and the second accessory includes:

[0035] obtaining a range of a front projection of the second accessory on the first accessory collected by a first vision component;

[0036] respectively calculating distances between boundaries of the range of the front projection and adjacent boundaries of the first accessory, to determine the relative pose between the first accessory and the second accessory.

[0037] Optionally, the obtaining the relative pose between the first accessory and the second accessory includes:

[0038] obtaining a gap between the first accessory and the second accessory collected by a plurality of second vision components;

[0039] determining the relative pose between the first accessory and the second accessory according to the gap.

[0040] According to a third aspect of the embodiments of the present disclosure, a kind of accessory assembly device is provided, and the accessory assembly device includes:

[0041] acquire a range of the first accessory and a range of the second accessory collected by the first visual component;

[0042] determine a center point of the first accessory according to the range of the first accessory, and determine a center point of the second accessory according to the range of the second accessory;

[0043] determine a relative pose between the first accessory and the second accessory according to the center point of the first accessory and the center point of the second accessory.

[0044] According to a fourth aspect of the embodiments of the present disclosure, a terminal device is provided, comprising:

[0045] a processor configured to store executable instructions of the processor;

[0046] The processor is configured to perform the accessory assembly method as described above.

[0047] According to a fifth aspect of the embodiments of the present disclosure, a non-transitory computer readable storage medium is provided, when the instructions in the storage medium are executed by the processor of the terminal device, the terminal device can perform the accessory assembly method as described above.

[0048] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects: the detection unit in the present disclosure monitors the relative pose between the first accessory and the second accessory in real time, determines the gap between the first accessory and the second accessory, and adjusts the second accessory based on the relative pose through the adjusting mechanism, so that the gap between the first accessory and the second accessory is kept stable and uniform, and the assembly precision between the first accessory and the second accessory is improved.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0051] Figure 1 is a structural schematic diagram of an accessory assembly device according to an exemplary embodiment.

[0052] Figure 2 is a structural schematic diagram of a limiting part according to an exemplary embodiment.

[0053] Figure 3 is a structural schematic diagram of an adjusting mechanism according to an exemplary embodiment.

[0054] Figure 4 is a structural schematic diagram of an adjusting mechanism according to an example embodiment.

[0055] Figure 5 is a structural schematic diagram of a first visual component according to an example embodiment.

[0056] Figure 6 is an assembly schematic diagram of a first accessory and a second accessory according to an example embodiment.

[0057] Figure 7 is a flowchart of an accessory assembly method according to an example embodiment.

[0058] Figure 8 is a flowchart of an accessory assembly method according to an example embodiment.

[0059] Figure 9 is a flowchart of an accessory assembly method according to an example embodiment.

[0060] Figure 10 is a flowchart of an accessory assembly method according to an example embodiment.

[0061] Figure 11 is a block diagram of an accessory assembly device according to an example embodiment.

[0062] Figure 12 is a block diagram of a terminal device according to an example embodiment. DETAILED DESCRIPTION

[0063] The example embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals represent like elements or similar elements, unless otherwise indicated. The following description of example embodiments is not representative of all embodiments consistent with the present application. Rather, it is merely an example of apparatus and methods consistent with some aspects of the present application as detailed in the appended claims.

[0064] In the related art, a CCD (charge coupled device) device is used to assemble accessories of electronic products. The accessories are grabbed by the CCD device and are centered aligned along the horizontal direction features. The accessories are difficult to be accurately aligned, and the gap between the accessories cannot be adjusted at any time, so that the gap between the accessories is not uniform.

[0065] When the accessories are aligned and assembled, only the gap between the accessories caused by the assembly tolerance can be strictly controlled. However, the above-mentioned control is difficult and not easy to operate, which increases the assembly cost and labor cost of the electronic device, and delivery is difficult. Alternatively,

[0066] After assembling the accessories, the unevenness in a certain range of the gap between the accessories leads to the decrease of the fineness of the gap between the accessories in the appearance of the electronic product, affecting the appearance, and even causing complaints.

[0067] The present disclosure provides an accessory assembling device, which comprises a limiting part for limiting the movement of a first accessory; an adjusting mechanism for driving a second accessory to move relative to the first accessory along a preset direction so that the second accessory is stacked on the first accessory; and a detection part for detecting the relative attitude between the first accessory and the second accessory; wherein the adjusting mechanism is configured to adjust the attitude of the second accessory based on the relative attitude so that the second accessory is connected to the first accessory in alignment, and the gap between the first accessory and the second accessory is within a preset range. The detection part in the present disclosure monitors the relative attitude between the first accessory and the second accessory in real time, determines the gap between the first accessory and the second accessory, and the adjusting mechanism adjusts the second accessory based on the relative attitude so that the gap between the first accessory and the second accessory remains stable and uniform, improving the assembling precision between the first accessory and the second accessory.

[0068] In one example embodiment, as shown in Figure 1 , Figure 2 An accessory assembling device is used to assemble partial accessories of an electronic product, such as a mobile phone, a tablet computer, a portable computer, etc., and the partial accessories include a first accessory 1 and a second accessory 2.

[0069] The first accessory 1 is a middle frame, and the second accessory 2 is a shell or a display screen. The first accessory 1 and the second accessory 2 are connected to complete the assembly of the partial accessories of the electronic product.

[0070] The first accessory 1 and the second accessory 2 are provided with a buffer part 7. When the second accessory 2 is stacked on the first accessory 1, the buffer part 7 deforms. The buffer part 7 is, for example, a heat-reactive glue or a heat-reactive plastic setting adhesive tape. Under the condition of heating, the buffer part 7 can react chemically and solidify to fix the shape of the buffer part 7 when heated, realizing the connection between the first accessory 1 and the second accessory 2.

[0071] The accessory assembling device comprises a limiting part 3, an adjusting mechanism 4, and a detection part 5. The limiting part 3 is used to limit the movement of the first accessory 1. The limiting part 3 is, for example, a limiting jig provided with a limiting platform 31. The upper surface of the limiting platform 31 is provided with a limiting groove 311, and the first accessory 1 is placed in the limiting groove 311.

[0072] In one example, the limiting groove 311 is along a first horizontal direction (refer to Y-axis in Figure 1 and a second horizontal direction (refer to X-axis in Figure 1When the first accessory 1 is placed in the limiting groove 311, the circumferential groove sidewall of the limiting groove 311 abuts against the circumferential outer sidewall of the first accessory 1, ensuring that the first accessory 1 does not move.

[0073] In another example, the limiting groove 311 has a size along the first horizontal direction and a size along the second horizontal direction that are greater than the size of the first accessory 1, so as to be suitable for first accessories 1 of different sizes. In this case, the limiting groove 311 is provided with a limiting clamping jaw (not shown in the figure) in sliding connection with the limiting groove 311. When the first accessory 1 is placed in the limiting groove 311, the limiting clamping jaw abuts against the circumferential outer sidewall of the first accessory 1, preventing movement of the first accessory 1.

[0074] In this embodiment, as shown in Figure 1 The accessory assembly device further includes a rack portion 6, and the limiting portion 3 is installed on the rack portion 6. The rack portion 6 includes a rack body 61 and a first rack track 62, and the limiting portion 3 is in sliding connection with the first rack track 62, facilitating the conveying of the limiting portion 3 to a target work station, realizing flow line processing, and forming mass production.

[0075] In this embodiment, as shown in Figure 1 The accessory assembly device further includes a control portion (not shown in the figure), which is provided in a terminal device to form a control system. The control portion is in communication connection with the limiting portion 3 through the first rack track 62, controls the sliding of the limiting portion 3, realizes automatic control, reduces manual intervention, reduces manual labor, improves the precision of assembly, and improves the efficiency of assembly.

[0076] In this embodiment, as shown in Figure 1 The adjusting mechanism 4 is used to drive the second accessory 2 to move relative to the first accessory 1 along a preset direction, so that the second accessory 2 is stacked on the first accessory 1. In this case, the movement along the preset direction includes at least one of the following: movement along the first horizontal direction, movement along the second horizontal direction, movement along the vertical direction, and rotation along the horizontal direction, realizing multi-directional rotation of the second accessory 2.

[0077] In this embodiment, as shown in Figure 1 The detection portion 5 is installed on the rack portion 6 and is in communication connection with the control portion, so that the control portion can receive or acquire the information collected by the detection portion 5.

[0078] The detection portion 5 is used to detect the relative attitude between the first accessory 1 and the second accessory 2. The relative attitude includes at least one of the following: the relative position between the first accessory 1 and the second accessory 2, and the relative angle between the first accessory 1 and the second accessory 2.

[0079] The relative position between the first accessory 1 and the second accessory 2 is, for example, a basis for judging whether misalignment occurs between the first accessory 1 and the second accessory 2, and ensures that the projection range of the second accessory 2 falls within the range of the first accessory 1.

[0080] The relative angle between the first accessory 1 and the second accessory 2 is, for example, a basis for judging whether the second accessory 2 is tilted, and ensures the parallel state between the first accessory 1 and the second accessory 2, avoiding the occurrence of high and low positions of the second accessory 2, which affects the precision of the gap between the second accessory 2 and the first accessory 1 when assembling.

[0081] The adjusting mechanism 4 is arranged to adjust the attitude of the second accessory 2 based on the relative position and attitude, so that the second accessory 2 is connected in position with the first accessory 1, and the gap between the first accessory 1 and the second accessory 2 is within the preset interval, ensuring the precision when assembling the first accessory 1 and the second accessory 2.

[0082] In an example embodiment, as shown in Figure 3 , Figure 4 , Figure 6 , Figure 1 The adjusting mechanism 4 is installed on the rack part 6, wherein the adjusting mechanism 4 is in communication connection with the control part, so that the control part controls the operation of the adjusting mechanism 4, and then drives the second accessory 2 to move.

[0083] In this embodiment, as shown in Figure 3 , Figure 4 , Figure 6 , Figure 3 The adjusting mechanism 4 includes a first driving bracket 41 and a vertical driving part 42 connected with the first driving bracket 41, and the second accessory 2 is installed on the first driving bracket 41.

[0084] The vertical driving part 42, for example, includes a vertical driving motor 421 and a vertical sliding rail 422, and the vertical sliding rail 422 extends in the vertical direction (referring to the Z axis shown in Figure 4 or referring to the Z axis shown in Figure 1 The first driving bracket 41 is in sliding connection with the vertical sliding rail 422, and the driving shaft of the vertical driving motor 421 is connected with the first driving bracket 41, so as to apply driving force to the first driving bracket 41, drive the first driving bracket 41 to move in the vertical direction, and drive the second accessory 2 to move synchronously, so that the second accessory 2 is connected with the first accessory 1 through the buffer part 7. The vertical driving motor 421 is installed on the rack part 6, and the rack part 6 further includes a connecting plate body 63, and the vertical driving motor 421 is installed on the rack body 61 through the connecting plate body 63.

[0085] When the second accessory 2 is stacked on the first accessory 1, the second accessory 2 extrudes the buffer part 7, and the buffer part 7 is deformed, and the gap between the first accessory 1 and the second accessory 2 is reduced.

[0086] The vertical driving part 42 drives the first driving support 41, and the movement distance of the first driving support 41 is controlled by the control part, which further limits the gap between the second accessory 2 and the first accessory 1, and controls the gap within a preset range, thereby improving the accuracy of the gap.

[0087] When the second accessory 2 extrudes the buffer part 7, the first driving support 41 moves linearly under the influence of the vertical driving part 42, and the movement path of the second accessory 2 is linear, so that the second accessory 2 will not tilt due to the resistance of the buffer part 7. When the second accessory 2 is stacked on the first accessory 1, the uniformity of the gap between the two can be ensured, and the assembly effect of the first accessory 1 and the second accessory 2 can be improved.

[0088] In this embodiment, as shown in Figure 3 、 Figure 4 、 Figure 6 、 Figure 3 The adjusting mechanism 4 includes a second driving support 43 and a horizontal driving part 44 connected with the second driving support 43, and the horizontal driving part 44 is installed on the rack part 6. The horizontal driving part 44 is connected with the control part, and the control part issues a command to control the operation of the horizontal driving part 44 to adjust the relative attitude of the second accessory 2 and the first accessory 1 in the horizontal direction.

[0089] In one example, the horizontal driving part 44 includes a first horizontal driving motor 441 and a first horizontal sliding rail 442, and the first horizontal driving motor 441 is installed on the connecting plate body 63. The first horizontal sliding rail 442 extends along the first horizontal direction (refer to the Y axis shown in Figure 4 or the Y axis shown in Figure 3 ), and the second driving support 43 is slidingly connected with the first horizontal sliding rail 442.

[0090] The driving shaft of the first horizontal driving motor 441 is connected with the second driving support 43, so as to apply a driving force to the second driving support 43 to drive the second driving support 43 to move in the first horizontal direction. The second driving support 43 is connected with the vertical driving part 42, and the second driving support 43 can drive the vertical driving part 42 to move in the first horizontal direction, adjust the position of the second accessory 2 in the first horizontal direction, adjust the relative attitude of the second accessory 2 and the first accessory 1 in the first horizontal direction, and ensure that the orthographic projection range of the second accessory 2 in the first horizontal direction is centrally arranged in the first accessory 1.

[0091] In another example, the horizontal driving part 44 includes a second horizontal driving motor 443 and a second horizontal sliding rail 444, the second horizontal sliding rail 444 extends along a second horizontal direction (refer to the X axis shown in Figure 4 , Figure 1 .

[0092] The second horizontal driving motor 443 is installed on the second horizontal sliding rail 444, the connecting plate body 63 is slidingly connected with the second horizontal sliding rail 444, the driving shaft of the second horizontal driving motor 443 is connected with the connecting plate body 63, and the connecting plate body 63 is used to push the vertical driving part 42 and the second driving support 43 to move synchronously.

[0093] The vertical driving part 42 and the second driving support 43 are both installed on the connecting plate body 63, and the driving shaft of the second horizontal driving motor 443 is connected with the connecting plate body 63, so as to apply a driving force to the connecting plate body 63 to drive the connecting plate body 63 to move along the second horizontal direction, to adjust the position of the second accessory 2 in the second horizontal direction, to adjust the relative attitude of the second accessory 2 and the first accessory 1 in the second horizontal direction, and to ensure that the orthographic projection range of the second accessory 2 is arranged in the center of the first accessory 1.

[0094] Of course, it can be understood that the horizontal driving part 44 can simultaneously include the first horizontal driving motor 441 and the second horizontal driving motor 443, so that the horizontal driving part 44 has the adjustment in the first horizontal direction and the second horizontal direction, and simultaneously adjusts the relative attitude of the second accessory 2 and the first accessory 1, and ensures that the orthographic projection range of the second accessory 2 is arranged in the center of the first accessory 1. Among them, the first horizontal direction and the second horizontal direction are perpendicular.

[0095] In this embodiment, as shown in Figure 3 , Figure 4 , Figure 6 , Figure 1 The adjustment mechanism 4 includes a third driving support 45 and a rotating driving part 46 installed on the third driving support 45, and the second accessory 2 is installed on the third driving support 45 through the rotating driving part 46. The third driving support 45 is fixedly connected with the first driving support 41, and is installed on the rack part 6 through the first driving support 41.

[0096] The rotating driving part 46 includes a rotating driving motor 461 and a rotating shaft 462, the output shaft of the rotating driving motor 461 is rotatably connected with the rotating shaft 462 through the third driving support 45, and the second accessory 2 is installed on the rotating shaft 462.

[0097] The rotating driving motor 461 outputs driving force to the rotating shaft 462, and drives the rotating shaft 462 to rotate along a first direction or a second direction, which are opposite to each other. The rotating shaft 462 drives the second accessory 2 to rotate horizontally relative to the first accessory 1, so as to adjust the relative posture of the first accessory 1 and the second accessory 2.

[0098] The posture of the second accessory 2 is adjusted based on the vertical driving part 42, the horizontal driving part 44 and the rotating driving part 46 in the adjusting mechanism 4, so that the orthographic projection range of the second accessory 2 is centered in the first accessory 1, and the gap of the joint seam between the first accessory 1 and the second accessory 2 is kept in a preset interval.

[0099] The first accessory 1 has a first side extending along a first horizontal direction, and a second side extending along a second horizontal direction. The second accessory 2 has a third side extending along the first horizontal direction, and a fourth side extending along the second horizontal direction. The first side of the first accessory 1 corresponds to the third side of the second accessory 2, and the second side of the first accessory 1 corresponds to the fourth side of the second accessory 2.

[0100] In the connected state of the first accessory 1 and the second accessory 2, the distance values between the second side and the corresponding fourth side on both sides of the second accessory 2 are measured along the first horizontal direction. If the absolute value of the difference between the distance values on both sides is greater than a preset value, it indicates that the second accessory 2 deviates. Then, the first horizontal driving motor 441 of the horizontal driving part 44 drives the second accessory 2 to move, so as to correct the distance between the second side and the fourth side.

[0101] In the connected state of the first accessory 1 and the second accessory 2, the distance values between the first side and the corresponding third side on both sides of the second accessory 2 are measured along the second horizontal direction. If the absolute value of the difference between the distance values on both sides is greater than a preset value, it indicates that the second accessory 2 deviates. Then, the second horizontal driving motor 443 of the horizontal driving part 44 drives the second accessory 2 to move, so as to correct the distance between the first side and the third side.

[0102] In the connected state of the first accessory 1 and the second accessory 2, the distance values between the second side and the corresponding fourth side are measured at several positions along the first horizontal direction. If the distance values at the several positions are different and show a trend of increasing or decreasing in turn, it indicates that the second accessory 2 deviates. Then, the rotating driving part 46 drives the second accessory 2 to rotate, so as to correct the angle of the second accessory 2 relative to the first accessory 1.

[0103] The gap of the joint seam between the first accessory 1 and the second accessory 2 is measured. If the gap is greater than a preset interval, the vertical driving part 42 drives the second accessory 2 to move close to the first accessory 1, so as to reduce the gap between the first accessory 1 and the second accessory 2.

[0104] In the embodiment, as shown in Figure 3 , Figure 4 , Figure 6 , Figure 1 The accessory assembling device further comprises a suction part 8 fixedly connected with the rotating driving part 46. The suction part 8 is used to suck the second accessory 2. The suction part 8 is in the shape of a suction cup, for example, and is in contact with the second accessory 2 until a negative air pressure is generated in the suction part 8, so that the suction part 8 and the second accessory 2 are in negative pressure connection, and the second accessory 2 is firmly sucked by the suction part 8. Alternatively, the suction part 8 can be a gripper, for example, which grips the second accessory 2.

[0105] In the embodiment, as shown in Figure 3 , Figure 4 , Figure 6 , Figure 1 The accessory assembling device further comprises a heating part (not shown in the figure) arranged on the adjusting mechanism 4. The heating part is arranged to heat the buffer part 7, so that the first accessory 1 and the second accessory 2 are fixedly connected through the buffer part 7. The heating part is in communication connection with the control part, so that the control part controls the working of the heating part. After the relative posture of the first accessory 1 and the second accessory 2 is adjusted, the heating part works, so that the buffer part 7 is chemically reacted and solidified, the shape of the buffer part 7 when heated is fixed, and the connection between the first accessory 1 and the second accessory 2 is realized. The heating part can be arranged on the suction part 8, for example, to facilitate heating.

[0106] After heating for a period of time, the shape of the buffer part 7 between the second accessory 2 and the first accessory 1 is determined and remains stable, so that the gap between the two sides of the second accessory 2 and the first accessory 1 is ultimately uniform and stable.

[0107] In one exemplary embodiment, as shown in Figure 4 , Figure 5 , Figure 6 , Figure 1 The detection part 5 comprises a first vision assembly 51, which is used to collect the range of the first accessory 1, the range of the second accessory 2, and the orthographic projection range of the second accessory 2 on the first accessory 1.

[0108] The first vision assembly 51 comprises a support body 511 and at least two groups of first camera units 512, for example. The first camera units 512 are mounted on the support body 511 and are in communication connection with the control part. In the detection state, the two groups of first camera units 512 are arranged on the two sides of the second accessory 2, i.e. on the two sides of the rotating driving part 46 of the adjusting mechanism 4, so as to collect the range of the first accessory 1 and the range of the second accessory.

[0109] When the second accessory 2 is not connected with the first accessory 1, the first camera unit 512 respectively collects the range of the first accessory 1 and the range of the second accessory 2, and the control unit can obtain the range of the first accessory 1 and the range of the second accessory 2. According to the range of the first accessory 1 and the range of the second accessory 2, the control unit calculates the center point of the range of the first accessory 1 and the center point of the range of the second accessory 2. The control unit controls the horizontal driving unit 44 to adjust the posture of the second accessory 2, so that the center point of the second accessory 2 and the center point of the first accessory 1 are aligned and coincided.

[0110] Here, taking the center point of the second accessory 2 as an example, the first camera unit 512 collects two first side edges of the second accessory 2 extending along the first horizontal direction and two second side edges extending along the second direction, and the first side edges and the second side edges are alternately connected in sequence. Four connection intersection points are obtained through the first side edges and the second side edges, and two diagonal lines are fitted according to the four connection intersection points. The intersection point of the diagonal lines is taken as the center point of the second accessory 2. The confirmation method of the center point of the first accessory 1 is the same as that of the center point of the second accessory 2, which will not be repeated here.

[0111] When the second accessory 2 is not connected with the first accessory 1, the first camera unit 512 collects the range of the second accessory 2 on the first accessory 1 and the range of the first accessory 1.

[0112] In one example, the control unit measures the distance value between the first side edge of the second accessory 2 and the third side edge of the first accessory 1 along the second horizontal direction based on the image collected by the first camera unit 512, compares the distance values between two positions, and calculates the angle difference between the second accessory 2 and the first accessory 1 based on the two distance values if the two distance values are different. The control unit controls the rotating driving unit 46 to drive the second accessory 2 to rotate, so as to correct the posture of the second accessory 2, so that the distance values of the two positions are the same.

[0113] In another example, the control unit takes one of the diagonal lines of the first accessory 1 as a reference line, determines the corresponding diagonal line of the second accessory 2 through the image collected by the first camera unit 512, measures the angle between the projection line of the diagonal line in the first accessory 1 and the reference line, and if the projection line and the reference line do not coincide, it indicates that the second accessory 2 deviates. The control unit controls the rotating driving unit 46 to drive the second accessory 2 to rotate, so as to correct the posture of the second accessory 2, so that the projection line and the reference line coincide, and the accurate alignment is realized.

[0114] Here, it should be noted that the positions or positional relationships indicated by the center and the like in the present disclosure are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the accessories referred to must have specific positions and locations. The above description does not limit the present disclosure.

[0115] In the embodiment, as shown in Figure 5 , Figure 1 , the first camera unit 512 includes a first camera 5121 and a connecting bracket 5122, and the first camera 5121 is hung on the support body 511 through the connecting bracket 5122. The rack part 6 includes a second rack rail 64, and the support body 511 is in sliding connection with the second rack rail 64.

[0116] The detection part 5 further includes a first driving part 52, and the first vision assembly 51 is installed on the first driving part 52. The first driving part 52 is, for example, a driving motor, which is installed on the second rack rail 64 and connected with the support body 511 of the first vision assembly 51. The first driving part 52 is configured to drive the first vision assembly 51 to move relative to the first accessory 1. In the detection state, the first vision assembly 51 is moved to the two sides of the second accessory 2, and in the non-detection state, the first vision assembly 51 is moved out of the two sides of the second accessory 2, so as to avoid interference with the movement of the second accessory 2.

[0117] In the embodiment, as shown in Figure 2 , Figure 6 , Figure 7 , the detection part 5 includes a second vision assembly 53, which is arranged on the two sides of the first accessory 1 and fixedly connected with the limiting bench 31 of the limiting part 3, and is configured to collect the gap between the second accessory 2 and the first accessory 1.

[0118] The second vision assembly 53 includes at least two groups of second camera units 531. Each group of second camera units 531 includes a support seat 5311 and a second camera 5312, and the second camera 5312 is installed on the support seat 5311. The support seat 5311 is fixedly connected with the limiting bench 31.

[0119] It should be noted that the first vision assembly 51 and the second vision assembly 53 are not limited to acquiring the range of the first accessory 1, the range of the second accessory 2, and the gap between the first accessory 1 and the second accessory 2 in a shooting manner. The first vision assembly 51 and the second vision assembly 53 can also acquire the range of the first accessory 1, the range of the second accessory 2, and the gap between the first accessory 1 and the second accessory 2 in a 3D scanning manner.

[0120] The accessory assembling device provided by the present disclosure avoids strict control of the tolerance of the second accessory in the vertical direction, which leads to low material yield and delivery difficulty. The accessory assembling device solves the problem that the relative gap between the two sides is not uniform or consistent in the process of assembling the second accessory with the first accessory in the related art, realizes the effect that the gap between the two sides is uniform and controllable in the process of assembling the second accessory with the first accessory, and is beneficial to the assembly yield of the assembled electronic product and improves the assembly efficiency.

[0121] The present disclosure is applicable to the assembly of various fittings, and the consistency of the joint gap and the size of the absolute value of the joint gap required during assembly can be designed as needed.

[0122] The buffer part can be compressed to deform before it reacts to heat. During the assembly of the first fitting and the second fitting, the cooperation of the adjusting mechanism and the detection part relies on the compression amount of the buffer part to absorb the material tolerance of the second fitting, ensuring the uniformity of the joint gap between the first fitting and the second fitting. After the buffer part reacts to heat, its shape is fixed and cannot be compressed, ensuring the reliability of the bonding and the permanent uniformity of the joint gap.

[0123] Wherein, when the detection part continuously confirms that the joint gap thereof is kept within the preset interval, the buffer part is reheated, avoiding the situation that disassembly is caused due to unqualified joint gap after assembly is completed.

[0124] The present disclosure also provides a fitting assembly method, comprising identifying the current position of the first fitting on the limiting part; based on the current position, controlling the adjusting mechanism to drive the second fitting to move relative to the first fitting along a preset direction, so that the second fitting is stacked on the first fitting; obtaining the relative attitude between the first fitting and the second fitting; based on the relative attitude, adjusting the attitude of the second fitting, so that the second fitting is connected in alignment with the first fitting, and the joint gap amount between the first fitting and the second fitting is within the preset interval, so that the joint gap between the first fitting and the second fitting remains stable and uniform, improving the assembly precision between the first fitting and the second fitting.

[0125] In one exemplary embodiment, a fitting assembly method is applied to a fitting assembly device for assembling a first fitting and a second fitting to complete the assembly of a local fitting of an electronic product. The fitting assembly device comprises a control part capable of controlling the fitting assembly device.

[0126] As shown in Figure 1 , the fitting assembly method in the present embodiment comprises:

[0127] S110, identifying the current position of the first fitting on the limiting part.

[0128] In this step, as shown in Figure 1 , the control part identifies the limiting part 3 through the detection part 5, determines the position of the limiting part 3, and further determines the current position of the first fitting 1.

[0129] S120, based on the current position, controlling the adjusting mechanism to drive the second fitting to move relative to the first fitting along a preset direction, so that the second fitting is stacked on the first fitting.

[0130] In this step, as shown in Figure 1As shown, based on the current position of the first accessory 1, the control part controls the adjusting mechanism 4 to drive the second accessory 2 to move along the preset direction relative to the first accessory 1, so that the second accessory 2 is stacked on the first accessory 1.

[0131] The movement in the preset direction includes at least one of the following: movement in the first horizontal direction, movement in the second horizontal direction, movement in the vertical direction, and rotation in the horizontal direction, to realize multi-directional rotation of the second accessory 2.

[0132] S130, obtain the relative attitude between the first accessory and the second accessory.

[0133] In this step, as shown in Figure 1 , the control part obtains the relative attitude between the first accessory 1 and the second accessory 2 collected by the detection part 5.

[0134] Judge the relative attitude between the first accessory and the second accessory.

[0135] S140, judge the relative attitude to determine whether the attitude of the second accessory meets the requirements.

[0136] In this step, as shown in Figure 1 , the control part judges the relative attitude to determine whether the attitude of the second accessory meets the requirements.

[0137] If yes, step 160 is executed; if no, the position and angle of the second accessory 2 deviate, and step S150 is executed.

[0138] S150, adjust the attitude of the second accessory.

[0139] In this step, as shown in Figure 5 , Figure 1 , the control part determines the adjustment parameter according to the relative attitude, controls the adjusting mechanism 4 to operate based on the adjustment parameter, and drives the second accessory 2 to move by the adjusting mechanism 4 to adjust the attitude of the second accessory 2.

[0140] After the adjustment is completed, step S140 can be executed again until the second accessory 2 is adjusted in place.

[0141] S160, the second accessory is connected in position with the first accessory.

[0142] In this step, as shown in Figure 5 , Figure 8 , when the second accessory 2 is adjusted in place, the control part controls the adjusting mechanism 4 to operate, and drives the second accessory 2 to move by the vertical driving part 42 of the adjusting mechanism 4, so that it is connected in position with the first accessory 1. The gap between the first accessory 1 and the second accessory 2 is within the preset interval.

[0143] The method in the embodiment determines whether the second accessory deviates by judging the relative posture, adjusts the second accessory, ensures that the second accessory and the first accessory can be connected in position, and improves the assembly effect between the first accessory and the second accessory.

[0144] In one example embodiment, a method for assembling accessories is applied to an accessory assembling device for assembling a first accessory and a second accessory to complete the assembly of partial accessories of an electronic product. The accessory assembling device comprises a control unit capable of controlling the accessory assembling device.

[0145] As shown in Figure 1 , the accessory assembling method in the embodiment comprises:

[0146] S210, identifying the current position of the first accessory on the limiting part.

[0147] S220, based on the current position, controlling the adjusting mechanism to drive the second accessory to move relative to the first accessory along a preset direction, so that the second accessory is stacked on the first accessory.

[0148] The accessory assembling method involved in steps S210-S220 is completely the same as the accessory assembling method involved in steps S110-S120, and thus will not be repeated here.

[0149] S230, acquiring the range of the first accessory and the range of the second accessory collected by the first vision assembly.

[0150] In this step, as shown in Figure 1 , when the second accessory 2 is not connected with the first accessory 1, the first vision assembly 51 of the detection unit 5 collects the range of the first accessory 1 and the range of the second accessory 2, and the control unit can acquire the range of the first accessory 1 and the range of the second accessory 2.

[0151] S240, determining the center point of the first accessory according to the range of the first accessory, and determining the center point of the second accessory according to the range of the second accessory.

[0152] In this step, as shown in Figure 1 , the control unit calculates the center point of the range of the first accessory 1 and the center point of the range of the second accessory 2 according to the range of the first accessory 1 and the range of the second accessory 2.

[0153] The following is described with the center point of the second accessory 2 as an example. The two first sides extending along the first horizontal direction and the two second sides extending along the second direction of the second accessory 2 are acquired by the detection part 5, and the first sides and the second sides are alternately connected in sequence. Four connecting intersection points are obtained through the first sides and the second sides, and two diagonal lines are fitted according to the four connecting intersection points, and the intersection point of the diagonal lines is taken as the center point of the second accessory 2. The method for confirming the center point of the first accessory 1 is the same as the method for confirming the center point of the second accessory 2, and here, it will not be repeated.

[0154] S250, according to the center point of the first accessory and the center point of the second accessory, the relative attitude between the first accessory and the second accessory is determined.

[0155] In this step, as shown in Figure 1 , the control part determines the relative attitude between the first accessory 1 and the second accessory 2 according to the center point of the first accessory 1 and the center point of the second accessory 2.

[0156] S260, the relative attitude is judged to determine whether the attitude of the second accessory meets the requirements.

[0157] In this step, as shown in Figure 1 , the control part judges the relative attitude to determine whether the center point of the first accessory 1 and the center point of the second accessory 2 are coincident in the vertical direction.

[0158] If the coincident, the attitude of the second accessory meets the requirements, then step S280 is executed;

[0159] If not coincident, the attitude of the second accessory does not meet the requirements, then step S270 is executed.

[0160] S270, the attitude of the second accessory is adjusted.

[0161] In this step, as shown in Figure 5 , Figure 9 , the control part controls the horizontal driving part 44 of the adjusting mechanism 4 to run, and adjusts the attitude of the second accessory 2 by the horizontal driving part 44, so that the center point of the second accessory 2 and the center point of the first accessory 1 are coincident.

[0162] S280, the second accessory is connected with the first accessory.

[0163] The method in the embodiment determines whether the center point of the first accessory and the center point of the second accessory are coincident by detecting the relative attitude between the first accessory and the second accessory, and adjusts in time if not coincident, to ensure that the first accessory and the second accessory are connected in position.

[0164] In one example embodiment, a component assembling method is applied to a component assembling device for assembling a first component and a second component to complete the assembly of a partial component of an electronic product. The component assembling device comprises a control unit capable of controlling the component assembling device.

[0165] As shown in Figure 1 , the component assembling method in this embodiment comprises:

[0166] S310, identifying the current position of the first component on the limiting part.

[0167] S320, based on the current position, controlling the adjusting mechanism to drive the second component to move relative to the first component along a preset direction, so that the second component is stacked on the first component.

[0168] The component assembling method involved in steps S310-S320 is exactly the same as the component assembling method involved in steps S110-S120, which will not be repeated here.

[0169] S330, obtaining the orthographic projection range of the second component on the first component collected by the first vision assembly.

[0170] In this step, as shown in Figure 1 , the first vision assembly 51 of the detection unit 5 collects the orthographic projection range of the second component 2 on the first component 1, and the control unit obtains the orthographic projection range of the second component 2 on the first component 1.

[0171] S340, calculating the distance between the boundary of the orthographic projection range and the boundary of the adjacent first component to determine the relative pose between the first component and the second component.

[0172] In this step, as shown in Figure 1 , the control unit calculates the distance between the boundary of the orthographic projection range and the boundary of the adjacent first component 1 to determine the relative pose between the first component 1 and the second component 2.

[0173] In one example, the first component 1 has a first side edge extending along a first horizontal direction and a second side edge extending along a second horizontal direction, and the first side edge and the second side edge are alternately connected in sequence to form the boundary of the first component 1.

[0174] The second component 2 has a third side edge extending along the first horizontal direction and a fourth side edge extending along the second horizontal direction, and the third side edge and the fourth side edge are alternately connected in sequence to form the boundary of the second component 2. Among them, the first side edge in the first component 1 corresponds to the third side edge in the second component 2, and the second side edge in the first component 1 corresponds to the fourth side edge in the second component 2.

[0175] In the connected state of the first accessory 1 and the second accessory 2, along the first horizontal direction, the distance value between the second side edge on one side of the second accessory 2 and the corresponding fourth side edge is measured based on the image information collected by the first vision assembly 51, and along the second horizontal direction, the distance value between the first side edge on one side of the second accessory 2 and the corresponding third side edge is measured, so as to determine the relative pose between the first accessory 1 and the second accessory 2.

[0176] S350, judging the relative pose to determine whether the pose of the second accessory meets the requirement.

[0177] In this step, the control unit judges the relative pose to determine whether the absolute value of the difference between the distance values on both sides is greater than a preset value.

[0178] If not, the pose of the second accessory meets the requirement, and step S370 is performed;

[0179] If yes, the pose of the second accessory does not meet the requirement, and step S360 is performed.

[0180] S360, adjusting the pose of the second accessory.

[0181] In this step, as shown in Figure 5 , Figure 10 , the control unit controls the horizontal driving part 44 of the adjusting mechanism 4 to operate, and adjusts the pose of the second accessory 2 by the horizontal driving part 44, so as to centrally arrange the second accessory 2 on the first accessory 1.

[0182] S370, aligning and connecting the second accessory with the first accessory.

[0183] The method in the embodiment determines the relative pose between the first accessory 1 and the second accessory 2 by calculating the distance between the boundary of the orthographic projection range and the boundary of the adjacent first accessory 1, so as to ensure the alignment and connection of the first accessory and the second accessory.

[0184] In one example embodiment, a method for assembling accessories is applied to an accessory assembling device for assembling a first accessory and a second accessory to complete the assembly of partial accessories of an electronic product. The accessory assembling device comprises a control unit capable of controlling the accessory assembling device.

[0185] As shown in Figure 1 , the accessory assembling method in the embodiment comprises:

[0186] S410, identifying the current position of the first accessory on the limiting part.

[0187] S420, based on the current position, controlling the adjusting mechanism to drive the second accessory to move relative to the first accessory along a preset direction, so as to stack the second accessory on the first accessory.

[0188] The assembling method of the accessory involved in steps S410-S420 is the same as the assembling method of the accessory involved in steps S110-S120, and thus will not be repeated here.

[0189] S430, acquiring the gap between the second accessory and the first accessory captured by the plurality of second vision components.

[0190] In this step, as shown in Figure 2 、 Figure 6 、 Figure 1 , the second vision component 53 of the detection part 5 captures the gap between the second accessory 2 and the first accessory 1, and the control part acquires the gap.

[0191] S440, determining the relative pose between the first accessory and the second accessory according to the gap.

[0192] In this step, as shown in Figure 1 , the control part determines the specific value of the gap based on the image information captured by the second vision component 53, and determines the relative pose between the first accessory 1 and the second accessory 2 according to the specific value.

[0193] S450, judging the relative pose to determine whether the pose of the second accessory meets the requirements.

[0194] In this step, the control part measures the image information to obtain the current amount of the gap, and judges whether the amount of the gap is within the preset range.

[0195] If not, the pose of the second accessory does not meet the requirements, and step S460 is performed;

[0196] If not, the pose of the second accessory meets the requirements, and step S470 is performed.

[0197] S460, adjusting the pose of the second accessory.

[0198] In this step, as shown in Figure 5 、 Figure 11 , the control part compares the current amount of the gap with the preset range to determine the absolute value of the difference between the current amount and the preset range, and controls the vertical driving part 42 to move vertically downward to press the buffer part 8 and reduce the gap between the second accessory 2 and the first accessory 1, so as to avoid that the gap is too large and affects the appearance.

[0199] S470, aligning and connecting the second accessory with the first accessory.

[0200] The method in the embodiment controls the position of the second accessory according to the current size of the gap between the first accessory and the second accessory, so as to ensure the accuracy of the gap, and avoid the gap being too large and affecting the appearance of the electronic product.

[0201] In one example embodiment, an assembly device is applied to the assembly method of the accessory in any of the above embodiments, and is used to assemble the first accessory and the second accessory, and complete the assembly of the partial accessory of the electronic product.

[0202] In one example embodiment, as shown in Figures 7-10 The assembly device in the embodiment includes an acquisition module 110, a first determination module 120 and a second determination module 130. The assembly device in the embodiment is used to implement the method as shown in Figure 12 In the implementation process, the acquisition module 110 is used to acquire the range of the first accessory collected by the first visual component, and the range of the first accessory. The first determination module 120 is used to determine the center point of the first accessory according to the range of the first accessory, and determine the center point of the second accessory according to the range of the second accessory. The second determination module 130 is used to determine the relative position between the first accessory and the second accessory according to the center point of the first accessory and the center point of the second accessory.

[0203] As shown in Figures 7-10 is a block diagram of a terminal device, and the disclosure further provides a terminal device, a memory for storing executable instructions of a processor, and the processor is configured to execute the accessory assembly method as shown in Figures 7-10 .

[0204] The terminal device 800 can include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0205] The processing component 802 generally controls the overall operation of the terminal device 800, such as operations associated with displaying, making phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. In addition, the processing component 802 can include one or more modules to facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0206] The memory 804 is configured to store various types of data to support the operation of the terminal device 800. Examples of these data include instructions for any application or method operating on the terminal device 800, contact data, phonebook data, messages, pictures, videos, and the like. The memory 804 can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0207] The power component 806 provides power to the various components of the terminal device 800. The power component 806 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the device 800.

[0208] The multimedia component 808 includes a screen providing an output interface between the terminal device 800 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes the touch panel, the screen can be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense a touch, a slide, and a gesture on the touch panel. The touch sensor can not only sense a boundary of a touching or a sliding action, but also detect duration and pressure related to the touching or sliding action. In some embodiments, the multimedia component 808 includes a front camera and / or a back camera. The front and / or back camera can receive external multimedia data when the terminal device 800 is in an operation mode such as a photographing mode or a video mode. Each of the front and back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0209] The audio component 810 is configured to output and / or input an audio signal. For example, the audio component 810 includes a microphone (MIC) configured to receive an external audio signal when the terminal device 800 is in an operation mode such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting an audio signal.

[0210] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules such as a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0211] The sensor component 814 includes one or more sensors to provide status assessments of various aspects of the terminal device 800. For example, the sensor component 814 can detect an open / closed status of the terminal device 800, relative positioning of components, such as a display and keypad of the terminal device 800, a change in position of the terminal device 800 or a component of the terminal device 800, the presence or absence of user contact with the terminal device 800, the terminal device 800 orientation or acceleration / deceleration, and temperature changes of the terminal device 800. The sensor component 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0212] The communication component 816 is configured to facilitate wired or wireless communication between the terminal device 800 and other devices. The terminal device 800 can access a wireless network based on a communication standard, such as WiFi, 2G, 3G, 4G, or 5G, or a combination thereof.

[0213] In an example embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast managing system via a broadcast channel. In an example embodiment, the communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra-WideBand (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0214] In an example embodiment, the terminal device 800 can be implemented with one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements to perform the above-described methods.

[0215] A non-transitory computer-readable storage medium, such as the memory 804 including instructions, is provided in an example embodiment of the present disclosure, which can be executed by the processor 820 of the terminal device 800 to complete the above-described methods. For example, the computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disc, and an optical data storage device, etc. When the instructions in the storage medium are executed by the processor of the terminal device, the terminal device is enabled to perform the above-described methods. ​ ​

[0216] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0217] It is to be understood that the application is not limited to the precise construction herein described and as shown in the attached drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A fitting assembly apparatus, characterized by, The accessory assembling device comprises: a limiting part for limiting movement of the first accessory; an adjusting mechanism for driving the second accessory to move relative to the first accessory along a preset direction so that the second accessory is stacked on the first accessory; a detecting part for detecting a relative posture between the first accessory and the second accessory; wherein the adjusting mechanism is configured to adjust the posture of the second accessory based on the relative posture so that the second accessory is connected to the first accessory in alignment and a gap between the first accessory and the second accessory is within a preset range; a buffer part is arranged between the first accessory and the second accessory, and the second accessory is connected to the first accessory through the buffer part; wherein the buffer part is deformed when the second accessory is stacked on the first accessory; the accessory assembling device further comprises a heating part arranged on the adjusting mechanism, and the heating part heats the buffer part when the detecting part determines that the gap between the first accessory and the second accessory is within the preset range.

2. The assembly apparatus of claim 1, wherein The relative posture comprises at least one of: a relative position between the first accessory and the second accessory, and a relative angle between the first accessory and the second accessory.

3. The fitment assembly apparatus of claim 1, wherein, The adjusting mechanism comprises a first driving support and a vertical driving part connected to the first driving support, and the second accessory is mounted on the first driving support; The adjusting mechanism comprises a second driving support and a horizontal driving part connected to the second driving support; The horizontal driving part is configured to drive the second accessory to move along a horizontal direction through the second driving support so as to adjust the relative posture of the second accessory and the first accessory in the horizontal direction.

4. The fitment assembly apparatus of claim 1, wherein, The adjusting mechanism comprises a third driving support and a rotating driving part mounted on the third driving support, and the second accessory is mounted on the third driving support through the rotating driving part; The rotating driving part is configured to drive the second accessory to rotate horizontally relative to the first accessory so as to adjust the relative posture of the first accessory and the second accessory.

5. The fitment assembly apparatus of claim 4, wherein, The accessory assembling device further comprises an adsorbing part fixedly connected to the rotating driving part; wherein the adsorbing part is used to adsorb the second accessory.

6. The fitment assembly apparatus of claim 1, wherein, The detecting part comprises a first visual component for collecting a range of the first accessory, a range of the second accessory, and a range of a normal projection of the second accessory on the first accessory.

7. The fitment assembly apparatus of claim 1, wherein, The detecting part comprises a second visual component for collecting a gap between the second accessory and the first accessory.

8. The fitment assembly apparatus of claim 1, wherein, The buffer part is a thermosetting adhesive, and the heating part is configured to heat the second accessory, conduct heat to the buffer part, and fix the first accessory to the second accessory through the buffer part.

9. The fitment assembly apparatus of claim 1, wherein, The first accessory is a middle frame, and the second accessory is a shell or a display screen.

10. A method of assembling a fitting, characterized by, The accessory assembling method comprises: identifying a current position of the first accessory on the limiting part; Based on the current position, a second accessory is moved along a preset direction relative to the first accessory by a control adjustment mechanism, so that the second accessory is stacked on the first accessory; An attitude between the first accessory and the second accessory is obtained; Based on the attitude, the attitude of the second accessory is adjusted, so that the second accessory is connected to the first accessory in alignment, and a gap between the first accessory and the second accessory is within a preset range; A buffer is arranged between the first accessory and the second accessory, and the second accessory is connected to the first accessory through the buffer; when the second accessory is stacked on the first accessory, the buffer is deformed; When the gap between the first accessory and the second accessory is within the preset range, a heating part heats the buffer.

11. The method of assembling a fitment according to claim 10, wherein, The attitude between the first accessory and the second accessory is obtained by: Obtaining a range of the first accessory and a range of the second accessory collected by a first visual component; Determining a center point of the first accessory according to the range of the first accessory, and determining a center point of the second accessory according to the range of the second accessory; Determining the attitude between the first accessory and the second accessory according to the center point of the first accessory and the center point of the second accessory.

12. The method of assembling a fitment assembly of claim 10, wherein, The attitude between the first accessory and the second accessory is obtained by: Obtaining a range of the second accessory on the first accessory collected by a first visual component; Respectively calculating distances between boundaries of the range and adjacent boundaries of the first accessory to determine the attitude between the first accessory and the second accessory.

13. The method of assembling a fitment assembly of claim 10, wherein, The attitude between the first accessory and the second accessory is obtained by: Obtaining a gap between the first accessory and the second accessory collected by a second visual component; Determining the attitude between the first accessory and the second accessory according to the gap.

14. An assembly apparatus for a fitting, characterized by The accessory assembling device comprises: An obtaining module is configured to obtain a range of a first accessory and a range of a second accessory collected by a first visual component; A first determining module is configured to determine a center point of the first accessory according to the range of the first accessory, and determine a center point of the second accessory according to the range of the second accessory; A second determining module is configured to determine the attitude between the first accessory and the second accessory according to the center point of the first accessory and the center point of the second accessory; A buffer is arranged between the first accessory and the second accessory, and the second accessory is connected to the first accessory through the buffer; when the second accessory is stacked on the first accessory, the buffer is deformed; When the gap between the first accessory and the second accessory is within the preset range, a heating part heats the buffer.

15. A terminal device, comprising: Comprise: A processor is configured to store executable instructions of the processor in a memory; The processor is configured to execute the accessory assembling method in any one of claims 10-13.

16. A non-transitory computer-readable storage medium, comprising: When the instructions in the storage medium are executed by the processor of the terminal device, the terminal device is enabled to perform the accessory assembling method as claimed in any one of claims 10-13.

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