Assembly equipment and assembly method

Abstract

The present invention discloses an assembly equipment and an assembly method, wherein the assembly equipment includes a machine base, a loading device, a position measuring device, a positioning mechanism, a picking mechanism and a control device, the loading device includes a material storage part, the position measuring device is used to measure the posture of multiple materials on the material storage part; the positioning mechanism is used to adjust the posture of the material at the positioning station; the picking mechanism includes a picking part for picking up the material; the control device is electrically connected to the position measuring device and the picking mechanism, and uses the position measuring device to measure the posture of multiple materials on the material storage part and determine the material that meets the preset posture. The control device controls the picking part to pick up the material that meets the posture requirements according to the position measuring device, and transports the material to the positioning mechanism for posture adjustment to achieve the posture required for assembly. The picking part assembles the material onto the product at the assembly station, so as to provide an assembly equipment with a high degree of automation that can efficiently and accurately assemble torsion springs with products.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic product assembly, and in particular to assembly equipment and an assembly method. Background Art

[0002] In the production of torsion springs, commonly used in electronic products, springs need to be sorted from bulk material in preparation for subsequent assembly. This assembly requires distinguishing the front and back sides and accurately assembling them into the product holder. Currently, the industry's solution to this problem often relies on manual labor. First, the torsion springs are sorted from bulk material, their pin orientation is determined, and then they are assembled into the product holder. This process is inefficient, prone to reverse assembly, and can cause manual fatigue from the long hours of manual effort required to distinguish and assemble the springs. Summary of the Invention

[0003] The main purpose of the present invention is to propose an assembly device and an assembly method, aiming to provide an assembly device with a high degree of automation that can efficiently and accurately assemble a torsion spring and a product bracket.

[0004] To achieve the above objectives, the present invention provides an assembly device, wherein the assembly device comprises:

[0005] A machine base, on which a plurality of workstations are provided, including a loading station, a positioning station and an assembly station;

[0006] A loading device, comprising a material storage portion provided corresponding to the loading station, the material storage portion being used to carry a plurality of materials;

[0007] a position measuring device for measuring the posture of the plurality of materials on the material storage portion;

[0008] A positioning mechanism for adjusting the posture of the material at the positioning station;

[0009] A picking mechanism, comprising a picking portion for picking up materials, the picking portion being movably arranged to reach the plurality of stations during its movable range, the picking portion being used to transport the materials from the loading station to the positioning station, and to assemble the materials, after being adjusted in position by the positioning mechanism, with the products at the assembly station; and

[0010] A control device is electrically connected to the position measuring device and the picking mechanism, and is used to control the picking mechanism to work according to the position measuring device.

[0011] Optionally, the material storage portion includes a vibration platform for carrying a plurality of materials, and the vibration platform can be vibrated.

[0012] Optionally, the position determination device includes an image acquisition unit, and the image acquisition unit is used to acquire images of multiple materials on the material storage unit.

[0013] Optionally, the positioning mechanism includes:

[0014] The positioning plate is extended in the horizontal direction;

[0015] A positioning pin is provided on the top of the positioning plate, the positioning pin extending in the vertical direction and used for the through hole for the material to pass through; and

[0016] The push plate is located on one side of the positioning pin and is movably arranged in the lateral direction close to and away from the positioning pin. When the push plate is close to the positioning pin, the inner wall of the through hole of the material is pressed against the positioning pin.

[0017] Optionally, a plurality of positioning pins are provided, and the plurality of positioning pins are arranged at intervals along the longitudinal direction;

[0018] The push plate extends in the longitudinal direction and is spaced apart from the plurality of positioning pins in the transverse direction. The push plate is movably arranged in the transverse direction.

[0019] Optionally, a limiting groove is recessed on the side of the push plate close to the positioning pin, and the limiting groove is arranged corresponding to the positioning pin, and the limiting groove is used to adapt to the material.

[0020] Optionally, the picking mechanism includes a four-axis mechanism, which has an output shaft extending in the up and down directions, and the output shaft is fixedly connected to the picking part. The four-axis mechanism has freedom in the horizontal, vertical, and up and down directions to drive the picking part to move in the horizontal, vertical, and up and down directions.

[0021] The present invention also provides an assembly method, which comprises the following steps:

[0022] The position measuring device measures the posture of multiple materials on the material storage part and determines the materials to be picked up;

[0023] Control the picking part to pick up the material to be picked up, and transport the picked up material to the positioning mechanism for posture adjustment;

[0024] The picking part is controlled to pick up the material after the posture is adjusted, and the picked material is assembled with the product at the assembly station.

[0025] Optionally, the step of controlling the picking unit to pick up the material to be picked up and transporting the picked up material to the positioning mechanism for posture adjustment includes:

[0026] The through hole of the picked material is penetrated into the positioning pin;

[0027] The push plate is controlled to be close to the positioning pin so that the inner wall of the through hole of the material abuts against the positioning pin.

[0028] Optionally, before the step of measuring the postures of the plurality of materials on the material storage portion by a position measuring device and determining the material to be picked up, the step includes:

[0029] The vibration platform is controlled to vibrate so as to adjust the postures of the multiple materials carried on the vibration platform.

[0030] In the technical solution provided by the present invention, the material is placed on the storage part, the position measuring device is used to measure the postures of multiple materials on the storage part, and the materials that meet the preset posture are determined. The control device controls the picking part to pick up the materials that meet the posture requirements according to the position measuring device, and transports them to the positioning mechanism for posture adjustment, and achieves a posture that meets the assembly requirements. The picking part picks up the material again and assembles the material onto the product at the assembly station, so as to provide a highly automated assembly equipment that can efficiently and accurately assemble torsion springs and product brackets. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0032] Figure 1 A three-dimensional schematic diagram of an embodiment of an assembly device provided by the present invention;

[0033] Figure 2 for Figure 1 A three-dimensional schematic diagram of the feeding device and the position measuring device in FIG.

[0034] Figure 3 for Figure 1 A three-dimensional schematic diagram of the picking mechanism in FIG.

[0035] Figure 4 for Figure 3 A three-dimensional schematic diagram of the pickup portion;

[0036] Figure 5 for Figure 1 A three-dimensional schematic diagram of the positioning mechanism.

[0037] Description of Figure Numbers:

[0038]

[0039]

[0040] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] In the production of torsion springs, commonly used in electronic products, springs need to be sorted from bulk material in preparation for subsequent assembly. This assembly requires distinguishing the front and back sides and accurately assembling them into the product holder. Currently, the industry's solution to this problem often relies on manual labor. First, the torsion springs are sorted from bulk material, their pin orientation is determined, and then they are assembled into the product holder. This process is inefficient, prone to reverse assembly, and can cause manual fatigue from the long hours of manual effort required to distinguish and assemble the springs.

[0045] In order to solve the above problems, the present invention provides an assembly device. Figure 1 A three-dimensional schematic diagram of an embodiment of an assembly device provided by the present invention; Figure 2 for Figure 1 A three-dimensional schematic diagram of the feeding device and the position measuring device in FIG. Figure 3 for Figure 1A three-dimensional schematic diagram of the picking mechanism in FIG. Figure 4 for Figure 3 A three-dimensional schematic diagram of the pickup portion; Figure 5 for Figure 1 A three-dimensional schematic diagram of the positioning mechanism.

[0046] The assembly device 100 can be used for some special-shaped materials that need to be adjusted to a suitable posture, especially for torsion springs. For the convenience of subsequent description, the following description uses torsion springs as an example.

[0047] See also Figure 1 The assembly equipment 100 includes a machine base 1, a loading device 2, a position measuring device 5, a positioning mechanism 3, a picking mechanism 4 and a control device. The machine base 1 is provided with multiple workstations, including a loading station, a positioning station and an assembly station; the loading device 2 includes a storage portion arranged corresponding to the loading station, and the storage portion is used to carry multiple materials; the position measuring device 5 is used to measure the posture of multiple materials on the storage portion; the positioning mechanism 3 is used to adjust the posture of the material at the positioning station; the picking mechanism 4 includes a picking portion 41 for picking up materials, and the picking portion 41 is movably arranged and can reach the multiple workstations in its movable range. The picking portion 41 is used to transport the material from the loading station to the positioning station, and assemble the material after the posture is adjusted by the positioning mechanism 3 with the product at the assembly station; the control device is electrically connected to the position measuring device 5 and the picking mechanism 4, and is used to control the operation of the picking mechanism 4 according to the position measuring device 5.

[0048] In the technical solution provided by the present invention, the material is placed on the storage part, and the position measurement device 5 is used to measure the postures of multiple materials on the storage part, and the materials that meet the preset posture are determined. The control device controls the picking part 41 to pick up the materials that meet the posture requirements according to the position measurement device 5, and transports them to the positioning mechanism 3 for posture adjustment, and achieves a posture that meets the assembly requirements. The picking part 41 picks up the material again and assembles the material to the product at the assembly station, so as to provide an assembly device 100 with a high degree of automation that can efficiently and accurately assemble torsion springs and product brackets.

[0049] Specifically, in this embodiment, the material storage section can be configured as a feeding vibration plate, comprising a vibration platform 21 for carrying multiple materials, and the vibration platform 21 is configured to vibrate. Due to the relatively small mass of torsion springs, incoming materials tend to accumulate and form different positions. Thus, the vibration platform 21 gradually breaks up the gathered torsion springs and spreads them out, allowing the position determination device 5 to subsequently accurately identify and determine the position, angle, and direction of each torsion spring. The flexible vibration platform 21 reduces material jamming, increases the grasping speed, and improves the equipment yield.

[0050] It should be noted that after each vibration, the picking portion 41 can vibrate the vibration platform 21 again after selecting the torsion springs with suitable angles and positions, and adjust the postures of the multiple torsion springs carried thereon again, thereby screening the torsion springs that meet the requirements again.

[0051] Specifically, see Figure 2 In this embodiment, the position determination device 5 includes an image acquisition unit, which is used to capture images of multiple materials on the storage unit. In this way, the image acquisition unit takes a photo and records the direction and position of the torsion spring, compares it with the pre-stored image of the torsion spring, and finally confirms the selection of the torsion spring that meets the requirements, which can meet the accuracy and direction requirements of the torsion spring assembly process. Of course, the position determination device 5 can also be measured by sensors or other means. In this way, the vibration platform 21 is used to screen materials, visually guide the grasping and identification of available materials, and automatically assemble after secondary positioning. This can meet the needs of disordered grasping and loading, and realize the automation of loading, positioning, and assembly.

[0052] Specifically, since the posture of the torsion spring is adjusted by the vibration of the vibration platform 21, there are certain randomness and errors. The torsion spring picked up by the picking part 41 only meets the preliminary posture. In order to accurately assemble the material with the product, it is necessary to further fine-tune the posture of the torsion spring. Please refer to Figure 5 In this embodiment, the positioning mechanism 3 includes a positioning plate 31, a positioning pin 32 and a push plate 33. The positioning plate 31 is extended horizontally; the positioning pin 32 is provided at the top of the positioning plate 31, and the positioning pin 32 extends up and down. After the picking portion 41 picks up the torsion spring material from the vibration platform 21, the spring coil through-hole of the torsion spring material is passed through the positioning pin 32, so that the torsion spring material is supported on the positioning plate 31. It can be understood that the diameter of the positioning pin 32 needs to be set to be smaller than the inner diameter of the torsion spring coil, so that a clearance fit is formed between the torsion spring and the positioning pin 32, thereby facilitating the subsequent angle adjustment of the torsion spring.

[0053] The push plate 33 is located on one side of the positioning pin 32 and is movable in the lateral direction toward and away from the positioning pin 32. When the push plate 33 approaches the positioning pin 32, it pushes the torsion spring mounted on the positioning pin 32. As the push plate 33 moves horizontally upward, the inner wall of the spring coil through-hole of the torsion spring material eventually abuts against the positioning pin 32. Due to the irregular shape of the torsion spring, fine adjustment of each individual spring would require a more complex position recognition system, adjustment system, and automatic control system. However, this mechanical method allows for easy adjustment without the need for a more complex structure.

[0054] Furthermore, to enhance posture adjustment and assembly efficiency, in this embodiment, multiple positioning pins 32 are provided, spaced apart longitudinally. The push plate 33 extends longitudinally and is spaced apart transversely from the positioning pins 32. The push plate 33 is laterally movable. Thus, a single push of the push plate 33 pushes the torsion springs threaded through the positioning pins 32 until the inner wall of each torsion spring coil abuts against the corresponding side wall of the positioning pin 32. This results in efficient positioning and a simple structure, eliminating the need for multiple push plates 33, simplifying the structure, and reducing costs.

[0055] Furthermore, since a spring coil is provided in the middle of the torsion spring, there is a gap between the spring coil and the positioning pin 32. In order to prevent the torsion spring from swinging left and right when the push plate 33 pushes the torsion spring, thereby affecting its circumferential angle, in this embodiment, a limiting groove 33a is recessed on the side of the push plate 33 near the positioning pin 32. The limiting groove 33a is provided corresponding to the positioning pin 32, and the limiting groove 33a is used to adapt to the material. In this way, when the push plate 33 approaches the torsion spring, the limiting groove 33a limits the circumferential side of the spring coil of the torsion spring, and the pin needle extending from the torsion spring rests on the peripheral edge of the notch of the limiting groove 33a. During the active stroke of the push plate 33, in addition to adjusting the position of the torsion spring in the transverse direction, the torsion spring is prevented from rotating in the longitudinal and circumferential directions.

[0056] Because the side ends of each torsion spring are restrained by the push plate 33, their lateral positions can be precisely fixed. The outer peripheral walls of the spring coils are also restrained by the inner peripheral walls of the retaining grooves 33a, and the torsion spring pins are restrained by the peripheral edges of the notches. This multi-faceted restraint allows the torsion springs to be positioned both laterally and longitudinally. The retaining grooves 33a can be configured as needed, making the assembly device 100 versatile and adaptable to various shapes of torsion springs, thus providing a wide range of applications. The positioning mechanism 3 combines both positioning and orientation functions, significantly reducing the complexity of the device's assembly, improving its efficiency, and ensuring product quality.

[0057] Specifically, see Figure 2In this embodiment, the pickup mechanism 4 includes a four-axis mechanism 42 (i.e., a four-axis robot). The four-axis mechanism 42 has an output shaft extending in the vertical direction. The output shaft is fixedly connected to the pickup portion 41. The four-axis mechanism 42 has horizontal, vertical, and vertical degrees of freedom to drive the pickup portion 41 to move in the horizontal, vertical, and vertical directions. In this way, the four-axis mechanism 42 is provided, so that the pickup portion 41 can have four adjustment dimensions: horizontal, vertical, vertical, and rotational. The four-axis robot design realizes two functions within a limited space, greatly improving the utilization rate of the four-axis robot.

[0058] Of course, the picking mechanism 4 can also include a first drive device, a second drive device, a third drive device and a fourth drive device. The first drive device is installed on the base 1 and has a first drive part that is movably arranged in the horizontal direction; the second drive device is fixedly connected to the first drive part, and the second drive device has a second drive part that is movably arranged in the longitudinal direction; the third drive device is fixedly connected to the second drive part, and the third drive device has a third drive part that is movably arranged in the up and down directions; the fourth drive device is fixedly connected to the third drive part, and the fourth drive device has an output shaft extending in the up and down directions, and the output shaft is fixedly connected to the picking part 41 to drive the picking part 41 to move. It can be understood that the first drive device and the second drive device can be set as linear motors, the third drive device can be set as a cylinder, and the fourth drive device can be set as a motor. Of course, the first drive device, the second drive device, the third drive device and the fourth drive device can also be set as other forms of connecting rod structures that can also achieve linear drive or rotational drive. Drive devices.

[0059] Further, see Figures 3 and 4 In this embodiment, multiple fourth drive devices are provided, each of which is fixedly connected to the third drive unit. Multiple pickup units 41 are provided, each of which is fixed to a corresponding output shaft. This allows for simultaneous material collection and assembly, improving assembly efficiency.

[0060] The present invention further provides an assembly method, which is implemented based on the assembly device 100, and the assembly method includes the following steps:

[0061] Step S10: The position measuring device 5 measures the postures of the multiple materials on the material storage portion to determine the material to be picked up.

[0062] Because the mass of the torsion spring is small and the posture of the incoming material is different, the image acquisition unit takes a photo and records the direction and position of the torsion spring, which is compared with the pre-stored torsion spring pictures. Finally, it is confirmed that the torsion spring that meets the requirements can meet the accuracy and direction requirements in the torsion spring assembly process.

[0063] Step S20 , controlling the picking portion 41 to pick up the material to be picked up, and transporting the picked up material to the positioning mechanism 3 for posture adjustment.

[0064] Since there are certain randomness and errors in the posture of the initially selected material, the torsion spring picked up by the picking portion 41 only conforms to the initial posture. In order to accurately assemble the material with the product, the posture of the torsion spring needs to be further fine-tuned through the positioning mechanism 3.

[0065] Step S30: Control the picking unit 41 to pick up the material after the posture is adjusted, and assemble the picked up material with the product at the assembly station.

[0066] In the technical solution provided by the present invention, the position measuring device 5 can automatically measure and confirm the material to be picked up at the loading station, the control device automatically controls the picking part 41 to pick up the material, and the positioning mechanism 3 automatically adjusts the material posture, and finally controls the picking part 41 to automatically assemble the material on the product. The picking part 41 can realize the clamping function in the material picking state, and can also realize the clamping function in the assembly state after positioning, thereby improving the assembly accuracy and versatility of the equipment.

[0067] Specifically, in another embodiment, step S20: controlling the picking portion 41 to pick up the material to be picked up and transporting the picked up material to the positioning mechanism 3 for posture adjustment includes:

[0068] Step S201 : Punch the through hole of the picked-up material into the positioning pin 32 .

[0069] It can be understood that the diameter of the positioning pin 32 needs to be set smaller than the inner diameter of the torsion spring coil. After the picking part 41 picks up the torsion spring, the torsion spring coil is placed on the positioning pin 32 and the torsion spring is loosened so that the torsion spring material is supported on the positioning plate 31.

[0070] Step S202 : Control the push plate 33 to approach the positioning pin 32 so that the inner wall of the through hole of the material abuts against the positioning pin 32 .

[0071] When the push plate 33 approaches the positioning pin 32, it pushes the torsion spring sleeved on the positioning pin 32. As the push plate 33 moves horizontally upward, the inner wall of the spring coil through-hole of the torsion spring material finally abuts against the positioning pin 32. As the torsion spring is of an irregular shape, fine adjustment of each one would require the setting of a more complex position recognition system, adjustment system and automatic control system. In this way, it can be easily adjusted mechanically without setting a more complex structure.

[0072] Specifically, in another embodiment, step S10: before the step of measuring the postures of the plurality of materials on the material storage portion by the position measuring device 5 and determining the materials to be picked up, the step includes:

[0073] Step S1 : controlling the vibration platform 21 to vibrate so as to adjust the postures of the plurality of materials carried on the vibration platform 21 .

[0074] In the technical solution provided by the present invention, after the materials that meet the posture requirements on the storage part are taken out, the materials that meet the posture requirements become less and less. In order to be able to provide materials with postures that meet the standards in a timely manner, the vibration platform 21 is set. After each vibration, the torsion spring adjusts its posture again with the vibration of the vibration platform 21, so that some of the materials can meet the posture requirements when taking out the materials.

[0075] The assembly process of the assembly equipment 100 is as follows: first, multiple torsion springs are placed on the vibration platform 21, and the vibration platform 21 is controlled to vibrate to adjust the postures of the multiple torsion springs, so that some of the multiple torsion springs can be adjusted to a posture that meets the posture requirements when the picking part 41 picks up the material, and each of the picking parts 41 is controlled to pick up the torsion springs that meet the posture requirements. After the multiple picking parts 41 pick up the material in turn, the multiple torsion springs are sent to the positioning station, and the torsion springs are sleeved on the positioning pin 32. Each torsion spring is supported on the top of the positioning plate 31, and then the push plate 33 is controlled to move horizontally so that the spring coil of the torsion spring is limited in the limiting groove 33a, and finally until the inner wall of the spring coil of the torsion spring abuts against the side wall of the positioning pin 32, thereby accurately limiting the torsion spring, and finally the multiple picking parts 41 pick up the multiple torsion springs sleeved on the side of the positioning pin 32, and install the multiple torsion springs on the product of the assembly station, thereby completing the assembly.

[0076] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. An assembly device, characterized in that: include: A machine base, on which a plurality of workstations are provided, including a loading station, a positioning station and an assembly station; A loading device, comprising a material storage portion provided corresponding to the loading station, the material storage portion being used to carry a plurality of materials; a position measuring device for measuring the posture of the plurality of materials on the material storage portion; A positioning mechanism for adjusting the posture of the material at the positioning station; A picking mechanism, comprising a picking portion for picking up materials, the picking portion being movably arranged to reach the plurality of stations during its movable range, the picking portion being used to transport the materials from the loading station to the positioning station, and to assemble the materials, after being adjusted in position by the positioning mechanism, with the products at the assembly station; and a control device electrically connected to the position measuring device and the picking mechanism, and configured to control the picking mechanism to operate according to the position measuring device; The positioning mechanism comprises: The positioning plate is extended in the horizontal direction; A positioning pin is provided on the top of the positioning plate, the positioning pin extends in an up-down direction and is used for the through hole of the material to pass through, and a clearance fit is formed between the positioning pin and the through hole of the material, and; The push plate is located on one side of the positioning pin and is movably arranged in the lateral direction close to and away from the positioning pin. When the push plate is close to the positioning pin, the inner wall of the through hole of the material is pressed against the positioning pin.

2. The assembly device according to claim 1, wherein: The material storage portion includes a vibration platform for carrying a plurality of materials, and the vibration platform can be vibrated.

3. The assembly equipment according to claim 1, wherein: The position measuring device includes an image acquisition unit, which is used to acquire images of multiple materials on the material storage unit.

4. The assembly equipment according to claim 1, wherein: There are multiple positioning pins, and the multiple positioning pins are arranged at intervals along the longitudinal direction; The push plate extends in the longitudinal direction and is spaced apart from the plurality of positioning pins in the transverse direction. The push plate is movably arranged in the transverse direction.

5. The assembly equipment according to claim 1, wherein: The side of the push plate close to the positioning pin is recessed with a limiting groove, the limiting groove is arranged corresponding to the positioning pin, and the limiting groove is used to adapt to the material.

6. The assembly equipment according to claim 1, wherein: The picking mechanism includes a four-axis mechanism, which has an output shaft extending in the up and down directions. The output shaft is fixedly connected to the picking part. The four-axis mechanism has freedom in the horizontal, vertical, and up and down directions to drive the picking part to move in the horizontal, vertical, and up and down directions.

7. An assembly method, implemented based on the assembly device according to any one of claims 1 to 6, characterized in that: The assembly method comprises the following steps: The position measuring device measures the posture of multiple materials on the material storage part and determines the materials to be picked up; Control the picking part to pick up the material to be picked up, and transport the picked up material to the positioning mechanism for posture adjustment; The picking part is controlled to pick up the material after the posture is adjusted, and the picked material is assembled with the product at the assembly station.

8. The assembly method according to claim 7, implemented based on the assembly equipment according to claim 4, characterized in that: The steps of controlling the picking unit to pick up the material to be picked up and transporting the picked up material to the positioning mechanism for posture adjustment include: The through hole of the picked material is penetrated into the positioning pin; The push plate is controlled to be close to the positioning pin so that the inner wall of the through hole of the material abuts against the positioning pin.

9. The assembly method according to claim 7, implemented based on the assembly equipment according to claim 2, characterized in that: The step of measuring the postures of the plurality of materials on the material storage portion by the position measuring device and determining the materials to be picked up includes: The vibration platform is controlled to vibrate so as to adjust the postures of the multiple materials carried on the vibration platform.

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