An automated assembly device

Abstract

This invention relates to the field of component assembly and discloses an automated assembly device, including a placement platform for placing bearings, a gripping mechanism for gripping a code disk, a vision system for aligning the bearing and the code disk, and an adjustment mechanism for adjusting the position of the bearing on the placement platform and / or adjusting the position of the code disk; it also includes a controller connected to the vision system and the adjustment mechanism; the vision system includes a lens and a light source, and the placement platform is located directly below the lens or can be moved to directly below the lens by the adjustment mechanism; the gripping mechanism grips and assembles the code disk onto the bearing on the placement platform; the vision system collects the center coordinates of the assembled code disk and the bearing center coordinates respectively, and transmits the collected data to the controller; the controller adjusts the position of the placement platform and / or the gripping mechanism through the adjustment mechanism to make the center coordinates of the code disk and the bearing coincide. This assembly mechanism has the advantages of high automation and high assembly accuracy.

Description

Technical Field

[0001] This invention relates to the field of component assembly, and more particularly to an automated assembly device. Background Technology

[0002] Chinese patent CN202010151017.2 provides an encoder configuration where data acquisition is achieved through a moving grating, a light source (6), and a circuit board. The moving grating is connected to and rotates synchronously with the shaft, and the encoder acquires data based on the rotation of the code disk. To ensure accuracy, this structure requires a very high degree of coaxiality between the code disk and its mounting shaft or mounting base. In the prior art, the code disk is typically installed manually with the aid of a magnifying glass or microscope. The installation accuracy depends on manual estimation and the worker's skill level. This assembly method is inefficient and cannot guarantee accuracy. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automated assembly device.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] An automated assembly apparatus includes a placement table for placing bearings, a gripping mechanism for gripping a code disk, a vision system for aligning the bearings and the code disk, and an adjustment mechanism for adjusting the position of the bearings on the placement table and / or adjusting the position of the code disk; it also includes a controller connected to the vision system and the adjustment mechanism.

[0006] The vision system includes a lens and a light source. The placement stage is located directly below the lens or can be moved to the position directly below the lens by an adjustment mechanism. The gripping mechanism can grip and assemble the code disk onto the bearing on the placement stage. The vision system collects the center coordinates of the assembled code disk and the center coordinates of the bearing, and transmits the collected data to the controller. The controller adjusts the position of the placement stage and / or the position of the gripping mechanism through the adjustment mechanism to make the center coordinates of the code disk and the center coordinates of the bearing coincide.

[0007] Preferably, it also includes a horizontal X-axis sliding mechanism and a vertical Y-axis sliding mechanism. The placement platform is installed on the X-axis sliding mechanism and can be driven to move horizontally by the X-axis sliding mechanism. The gripping mechanism is installed on the Y-axis sliding mechanism and can be driven to move vertically by the Y-axis sliding mechanism.

[0008] Alternatively, a placement platform can be installed on a Y-axis sliding mechanism, which drives the platform to slide longitudinally, while a gripping mechanism can be installed on an X-axis sliding mechanism, which drives the gripping mechanism to move laterally.

[0009] The X-axis sliding mechanism and the Y-axis sliding mechanism are connected to the controller. The controller adjusts the X-coordinate of the workpiece on the X-axis sliding mechanism through the X-axis sliding mechanism, and adjusts the Y-coordinate of the workpiece on the Y-axis sliding mechanism through the Y-axis sliding mechanism.

[0010] Preferably, the device also includes a switching device and a curing component. The light source and the curing component are mounted on the switching device, which can drive the light source and the curing component to move. In the working state, at least one of the light source and the curing component can fall directly below the lens.

[0011] Preferably, in the initial state, the curing component and the light source are located directly below and around the light source; the height of the curing component and the light source is between the height of the assembly table and the height of the lens.

[0012] The switching device includes a lateral moving mechanism, on which a light source and a curing component are mounted. The lateral moving mechanism can move to at least two points. At point one, the light source is moved to below the lens, and the curing component is moved to one side of the lens's longitudinal direction. At point two, the curing component is moved to the same longitudinal direction as the lens, and the light source is moved away from directly below the lens. The device also includes an extension mechanism on which the curing component is mounted. The extension mechanism can drive the curing component to move longitudinally so that the curing component falls directly below the lens.

[0013] Preferably, in the initial state, the curing component and the light source are located directly below the light source; the height of the curing component and the light source is between the height of the assembly table and the height of the lens; the switching device includes a first moving mechanism that moves the light source to below the lens, and a second moving mechanism that moves the curing component to below the lens.

[0014] Preferably, the adjustment mechanism is a cross slide module, and the placement platform or gripping mechanism is installed on the cross slide module. The cross slide module is connected to the controller, and the controller can control the X-axis and Y-axis coordinates of the placement platform or gripping mechanism installed on the cross slide module by controlling the cross slide module.

[0015] Preferably, the gripping mechanism includes a vacuum suction cup, which includes a plate body. The lower end of the plate body is provided with a contact surface for attaching to the code disk. The lower side of the plate body is provided with an adsorption hole. Vacuum pressure can adsorb the code disk onto the contact surface through the adsorption hole. An image acquisition hole is provided in the middle of the plate body. When the code disk is adsorbed, at least the code disk marking circle is located within the range of the projection of the image acquisition hole.

[0016] Preferably, the disk body is provided with an air channel for external vacuum, which is connected to the adsorption hole. The plane where the adsorption hole opening is located is flush with the contact surface or the adsorption hole is located on the upper side of the contact surface.

[0017] Preferably, it also includes a vacuum tank, with the end faces on both sides of the opening of the vacuum tank serving as contact surfaces, and the adsorption holes being opened inside the vacuum tank; when the code disk is in contact with the opening of the vacuum tank, the vacuum tank is a sealed space.

[0018] Preferably, the vacuum chamber is an annular chamber, and the image acquisition hole is located inside the vacuum chamber.

[0019] Preferably, the vacuum tank is an annular tank and the image acquisition hole is a circular hole, with the vacuum tank and the image acquisition hole arranged on the same axis.

[0020] Preferably, the gripping mechanism further includes a vertical motion mechanism, which is mounted on the adjustment mechanism and driven by the adjustment mechanism to move along the X-axis and / or Y-axis; a vacuum suction cup is mounted on the vertical motion mechanism and driven by the vertical motion mechanism to move.

[0021] Preferably, it also includes a control unit for controlling the pressure of the up-and-down movement mechanism, and a feeding platform with a feeding groove for limiting the encoder. The side profile of the feeding groove is adapted to the outer circle profile of the encoder. The up-and-down movement mechanism is a cylinder, and the control unit is a pressure valve.

[0022] Alternatively, one of the vertical movement mechanisms may be an electric cylinder, and the control unit may control the pressure of the vertical movement mechanism by controlling the rotation of the electric cylinder motor.

[0023] Because the present invention adopts the above technical solution, it has the following significant technical effects:

[0024] The assembly device designed in this technical solution can achieve machine vision positioning and centering, and realize automatic curing and bonding. It has the advantages of process controllability, high precision and automation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the device.

[0026] Figure 2 This is a schematic diagram of the overall structure of the device.

[0027] Figure 3 It is a structural diagram of the switching device, vision system, and curing components.

[0028] Figure 4 This is an enlarged view of the placement platform.

[0029] Figure 5 This is a schematic diagram of the gripping mechanism.

[0030] Figure 6 This is a schematic diagram of the structure of a vacuum suction cup.

[0031] Figure 7This is a schematic diagram of the structure of a vacuum suction cup.

[0032] The technical names of the reference numerals in the figure are as follows: 1—Placement platform 1, 2—Gripping mechanism, 3—Vision system, 4—Adjustment mechanism, 5—Lens, 6—Light source, 7—Controller, 8—X-axis sliding mechanism, 9—Y-axis sliding mechanism, 10—Switching device, 11—Curing component, 12—Horizontal movement mechanism, 13—Extension mechanism, 14—Vacuum suction cup, 15—Disc body, 16—Contact surface, 17—Image acquisition hole, 18—Air passage, 19—Vacuum tank, 20—Up and down movement mechanism 1, 21—Control unit 1, 22—Feeding platform, 23—Feeding trough, 24—Positioning port, 25—Positioning mechanism. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0034] Example 1

[0035] An automated assembly device includes a placement table 1 for placing bearings, a gripping mechanism 2 for gripping a code disk, a vision system 3 for aligning the bearings and the code disk, and an adjustment mechanism 4 for adjusting the position of the bearings on the placement table 1 and / or adjusting the position of the code disk; it also includes a controller 7, which is connected to the vision system 3 and the adjustment mechanism 4.

[0036] The vision system 3 includes a lens 5 and a light source 6. The placement stage 1 is located directly below the lens 5 or can be moved to the position directly below the lens 5 by the adjustment mechanism 4. The gripping mechanism 2 grips the code disk and assembles it onto the bearing on the placement stage 1. The vision system 3 collects the center coordinates of the assembled code disk and the bearing center coordinates, and transmits the collected data to the controller 7. The controller 7 adjusts the position of the placement stage 1 and / or the gripping mechanism 2 via the adjustment mechanism 4 to make the center coordinates of the code disk and the bearing coincide. This automated assembly device uses the machine vision system 3 to collect the coordinates of the bearing and the code disk, and then the adjustment mechanism 4 adjusts the coordinates of one or both to achieve the coincidence of the bearing and code disk centers, thereby ensuring the assembly accuracy of the bearing and code disk. Clearly, the bearing has a mounting surface for the code disk, and the adjusted bearing and / or code disk can undergo secondary coordinate collection and readjustment until the requirements are met. In this embodiment, a separate adjustment method is used for centering, that is, the bearing and code disk are only adjusted along the X-axis or Y-axis. This adjustment method reduces the number of adjustments, reduces vibration, is more stable and reliable, and saves space.

[0037] The adjustment mechanism 4 includes a horizontal X-axis sliding mechanism 8 and a vertical Y-axis sliding mechanism 9. The placement platform 1 is installed on the X-axis sliding mechanism 8, and the placement platform 1 can be moved horizontally by the X-axis sliding mechanism 8. The gripping mechanism 2 is installed on the Y-axis sliding mechanism 9, and the Y-axis sliding mechanism 9 can drive the gripping mechanism 2 to move vertically.

[0038] The X-axis sliding mechanism 8 and the Y-axis sliding mechanism 9 are connected to the controller 7. The controller 7 adjusts the X-coordinate of the workpiece on the X-axis sliding mechanism 8 through the X-axis sliding mechanism 8, and adjusts the Y-coordinate of the workpiece on the Y-axis sliding mechanism 9 through the Y-axis sliding mechanism 9. Both the X-axis sliding mechanism 8 and the Y-axis sliding mechanism 9 are linear slides driven by servo motors. The servo motor-driven slides can precisely control the travel distance of the sliding mechanism and facilitate signal command interaction with the controller 7. The placement platform 1 is equipped with a positioning port 24 and a positioning mechanism 25 for limiting and positioning the bearing. The positioning mechanism 25 is a rotary positioning cylinder.

[0039] The system also includes a switching device 10 and a curing component 11. The light source 6 and the curing component 11 are mounted on the switching device 10. The switching device 10 can drive the light source 6 and the curing component 11 to move, ensuring that at least one of the light source 6 and the curing component 11 falls directly below the lens 5 during operation. The purpose of the curing device is to fix the code disk to the bearing after alignment using the curing component 11. The curing component 11 includes a UV lamp for curing. The bearing surface is coated with UV adhesive. The code disk is placed against the UV adhesive surface for position adjustment. After adjustment, the UV lamp is powered on to cure the UV adhesive, and then the gripping mechanism 2 is removed. The code disk does not move during the curing process, resulting in high assembly accuracy.

[0040] In this embodiment, initially, the curing component 11 and the light source 6 are located directly below and around the light source 6; the height of the curing component 11 and the light source 6 is between the height of the assembly table and the height of the lens 5; their distribution on the bearing is to provide space for the initial assembly of the code disk, since the gripping mechanism 2 assembles the code disk onto the bearing from above. Therefore, sufficient space is required below the lens 5, and the switching device 10 can move the light source 6 away. This design makes the overall mechanism more compact.

[0041] The main purpose of the switching device 10 is to move the light source 6 above the code disk during positioning, and to acquire the center coordinates of the code disk and bearing through machine vision. During curing, the switching device 10 moves the light source 6 to make room and moves the curing component 11 above the code disk to fix it in place. Therefore, the specific structure of the switching device 10 is not required to be too demanding.

[0042] For ease of understanding, this solution provides a specific structure of a switching device 10. The switching device 10 includes a lateral moving mechanism 12, on which a light source 6 and a curing component 11 are mounted. The lateral moving mechanism 12 can move to at least two positions. At position one, the light source 6 is moved to below the lens 5, and the curing component 11 is moved to one side of the longitudinal direction of the lens 5. At position two, the curing component 11 is moved to the same longitudinal direction as the lens 5, and the light source 6 is moved away from directly below the lens 5. It also includes an extension mechanism 13, on which the curing component 11 is mounted. The extension mechanism 13 can drive the curing component 11 to move longitudinally, causing the curing component 11 to fall directly below the lens 5. Both the lateral mechanism and the extension mechanism 13 are pneumatic slides or electric linear slides. In this embodiment, both the lateral moving mechanism 12 and the extension mechanism 13 are cylinders. When the extension mechanism 13 is not extended, it is located inside the lens 5. This structural design does not affect the loading of the encoder.

[0043] Because the code disk is transparent, the vision system 3 needs to grasp the coordinates of both the bearing and the code disk when grasping the coordinates. Therefore, the traditional grasping mechanism 2 and the adsorption mechanism cannot complete the above task. In this solution, the grasping mechanism 2 includes a vacuum suction cup 14, which includes a disk body 15. The lower end of the disk body 15 is provided with a contact surface 16 for attaching with the code disk. The lower side of the disk body 15 is provided with an adsorption hole 30. Vacuum pressure can adsorb the code disk onto the contact surface 16 through the adsorption hole 30. An image acquisition hole 17 is provided in the middle of the disk body 15. When the code disk is adsorbed, at least the code disk marking circle is located within the projection range of the image acquisition hole 17. In this embodiment, the code disk marking circle is a preset standard circle of the code disk. This circle is a ring mechanism, located at the position closest to the center of the disk body 15 and with the largest width for easy identification. In this solution, the marking circle is defined as the inner circle of this ring.

[0044] In this embodiment, the disk body 15 is provided with an air passage 18 for external vacuum connection. The air passage 18 is connected to the adsorption hole 30. The plane where the opening of the adsorption hole 30 is located is flush with the contact surface 16 or the adsorption hole 30 is located on the upper side of the contact surface 16.

[0045] This suction cup also includes a vacuum groove 19, with the end faces on both sides of the groove opening of the vacuum groove 19 serving as contact surfaces 16, and suction holes 30 formed within the vacuum groove 19; when the code disk abuts against the groove opening of the vacuum groove 19, the vacuum groove 19 becomes a sealed space. The vacuum groove 19 increases the force-bearing area of ​​the code disk, ensuring balanced force distribution.

[0046] Specifically, the vacuum tank 19 is an annular tank, and the image acquisition hole 17 is located inside the vacuum tank 19. The adsorption hole 30 is designed on the bottom surface of the vacuum tank 19.

[0047] The vacuum groove 19 is an annular groove, and the image acquisition hole 17 is a circular hole. The vacuum groove 19 and the image acquisition hole 17 are arranged coaxially. The purpose of this adsorption groove structure design is to ensure that the force is basically the same at all points when the code disk is adsorbed, thereby preventing the code disk from tilting or slipping during the adsorption process, and ensuring that all parts of the code disk are picked up simultaneously during adsorption. The gripping mechanism 2 also includes a vertical movement mechanism 20, which is mounted on the adjustment mechanism 4 and driven by the adjustment mechanism 4 to move along the X-axis and / or Y-axis; in this embodiment, the vertical movement mechanism 20 is mounted on the Y-axis transverse movement mechanism 9. The vacuum suction cup 14 is mounted on the vertical movement mechanism 20 and is driven by the vertical movement mechanism 20 to move. It also includes a control unit 21 for controlling the downward pressure of the up-and-down movement mechanism 20, and a feeding platform 22, on which a feeding groove 23 for limiting the code disk is provided. The side profile of the feeding groove 23 is adapted to the outer circle profile of the code disk. The up-and-down movement mechanism 20 is a cylinder, and the control unit 21 is a pressure valve.

[0048] The working process of this solution is as follows:

[0049] The bearing is mounted on the placement platform 1. The gripping mechanism 2 lifts the code disk using the vacuum suction cup 14. Then, the Y-axis sliding mechanism 9 transports the code disk to a position directly above the bearing and below the lens. Next, the up-and-down movement mechanism 20 adheres the code disk to the bearing. The bonding surface on the bearing is pre-coated with UV adhesive. The up-and-down movement mechanism 20 adheres the code disk to the bearing using pressure control, and the pressure on the bonding surface is negligible, so the bonding surface will not cause wear to the code disk during the adjustment process. Then, the light source is moved below the lens, and the vision system takes pictures of the bearing and the code disk's marking circles. Both the bearing marking circles and the code disk marking circles are located at the image acquisition hole 17. Within the corresponding orthographic projection, the suction cup does not affect image acquisition. Then, the processor marks the center coordinates of the acquired marking circle. Based on the positions of the bearing marking circle and the code disk marking circle, the placement stage 1 is moved laterally and the gripping mechanism 2 is moved longitudinally. The specific adjustment dimensions are determined according to the coordinate difference between the two, thereby achieving centering. After centering, secondary acquisition and detection and secondary fine-tuning can be performed. During the above process, the vacuum suction cup continuously adsorbs the code disk. After the adjustment is completed, the lens is moved away, and then the curing component is moved above the code disk. The UV lamp is powered on to cure the UV adhesive between the code disk and the bearing bonding surface, completing the bonding. Then, the vacuum is turned off and the gripping mechanism is withdrawn to complete one assembly.

[0050] Example 2

[0051] The difference from Embodiment 1 is that: the placement platform 1 is installed on the Y-axis sliding mechanism 9 and is driven by the Y-axis sliding mechanism 9 to slide longitudinally, and the gripping mechanism 2 is installed on the X-axis sliding mechanism 8 and is driven by the X-axis sliding mechanism 8 to move laterally.

[0052] Example 3

[0053] The difference from the embodiment is that, in the initial state, the curing component 11 and the light source 6 are both located directly below and around the light source 6; the height of the curing component 11 and the light source 6 is between the height of the assembly table and the height of the lens 5; the switching device 10 includes a first moving mechanism for moving the light source 6 to below the lens 5, and a second moving mechanism for moving the curing component 11 to below the lens 5. The extension mechanism 13 is omitted; the curing component 11 and the light source 6 are respectively located on both sides, and when either the light source 6 or the curing component 11 is needed, only the corresponding moving mechanism needs to be activated.

[0054] Example 4

[0055] The difference from the embodiment is that the curing component 11 and the extension mechanism 13 are not set on the lateral movement mechanism 12, the extension mechanism 13 is fixedly installed on the frame, and the curing component 11 and the longitudinal plane where the lens 5 is located are on the same plane. This is because the curing component 11 does not need to move laterally during the whole process. However, this design needs to consider the interference problem between the lateral movement mechanism and the curing component 11. Those skilled in the art can solve this problem through dimensional design.

[0056] Example 5

[0057] The difference from Embodiment 1 is that the adjustment mechanism 4 is a cross slide module. The placement platform 1 or the gripping mechanism 2 is installed on the cross slide module. The cross slide module is connected to the controller 7. The controller 7 can control the X-axis and Y-axis coordinates of the placement platform 1 or the gripping mechanism 2 installed on the cross slide module. Therefore, the X-axis and Y-axis coordinates of the bearing or the encoder can be realized through the cross slide module, and only one assembly needs to be adjusted. In this embodiment, the bearing is fixedly positioned, and the cross module adjusts the coordinates of the encoder by adjusting the position of the gripping mechanism 2.

[0058] Example 6

[0059] The difference from Example 1 is that the vacuum tank 19 is a non-annular tank, and the vacuum tank 19 is composed of one or more tank-shaped structures. The tank-shaped structure can be an arc-shaped tank or a straight tank. Vacuum is introduced into the vacuum tank 19 through the direct adsorption hole 30 or indirectly through the adsorption hole 30.

[0060] Example 7

[0061] The difference from Example 1 is that: no vacuum groove 19 is provided, and the adsorption hole 30 is provided on the contact surface 16, with the opening of the adsorption hole 30 being flush with the contact surface 16.

[0062] Example 8

[0063] The difference between this embodiment and Embodiment 1 is that the adsorption hole 30 is disposed on the side of the vacuum tank 19.

[0064] Example 9

[0065] The difference from the embodiment is that the adsorption hole 30 is connected to the vacuum tank 19 through the gas passage.

[0066] Example 10

[0067] The up-and-down movement mechanism 20 is an electric cylinder. The control unit 2121 controls the downward pressure of the up-and-down movement mechanism 20 by controlling the rotation of the electric cylinder motor.

Claims

1. An automated assembly device, characterized in that: It includes a placement platform (1) for placing bearings, a gripping mechanism (2) for gripping the code disk, a vision system (3) for aligning the bearings and the code disk, and an adjustment mechanism (4) for adjusting the position of the bearings on the placement platform (1) and / or adjusting the position of the code disk; it also includes a controller (7) connected to the vision system (3) and the adjustment mechanism (4); The vision system (3) includes a lens (5) and a light source (6). The placement platform (1) is located directly below the lens (5) or can be moved to the direct below the lens (5) by the adjustment mechanism (4). The gripping mechanism (2) can grip and assemble the code disk onto the bearing on the placement platform (1). The vision system (3) collects the center coordinates of the assembled code disk and the center coordinates of the bearing, and transmits the collected data to the controller (7). The controller (7) adjusts the position of the placement platform (1) and / or the position of the gripping mechanism (2) through the adjustment mechanism (4) so ​​that the center coordinates of the code disk and the center coordinates of the bearing coincide. The gripping mechanism (2) includes a vacuum suction cup (14), which includes a disk body (15). The lower end of the disk body (15) is provided with a contact surface (16) for attaching with the code disk. The lower side of the disk body (15) is provided with an adsorption hole (30). The vacuum pressure can adsorb the code disk onto the contact surface (16) through the adsorption hole (30). The plane where the opening of the adsorption hole (30) is located is flush with the contact surface (16) or the adsorption hole (30) is located on the upper side of the contact surface (16). An image acquisition hole (17) is provided in the middle of the disk body (15). When the code disk is adsorbed, at least the code disk marking circle is located within the range of the projection of the image acquisition hole (17). The vacuum suction cup (14) also includes a vacuum groove (19), the end faces on both sides of the groove opening of the vacuum groove (19) are contact surfaces (16), and the adsorption holes (30) are opened in the vacuum groove (19); when the code disk is in contact with the groove opening of the vacuum groove (19), the vacuum groove (19) is a sealed space. The vacuum tank (19) is an annular groove, and the image acquisition hole (17) is a circular hole. The image acquisition hole (17) is located inside the vacuum tank (19). The vacuum tank (19) and the image acquisition hole (17) are arranged on the same axis. The device also includes a switching device (10) and a curing component (11). The light source (6) and the curing component (11) are mounted on the switching device (10). The switching device (10) can drive the light source (6) and the curing component (11) to move. In the working state, at least one of the light source (6) and the curing component (11) can fall directly below the lens (5). The gripping mechanism (2) also includes a vertical motion mechanism (20), which is mounted on the adjustment mechanism (4) and driven by the adjustment mechanism (4) to move along the X-axis and / or Y-axis; the vacuum suction cup (14) is mounted on the vertical motion mechanism (20) and driven by the vertical motion mechanism (20) to move; In the initial state, the curing component (11) and the light source (6) are located around the lens (5) directly below it; the height of the curing component (11) and the light source (6) is between the height of the placement platform (1) and the height of the lens (5).

2. The automated assembly device according to claim 1, characterized in that: It also includes a horizontal X-axis sliding mechanism (8) and a vertical Y-axis sliding mechanism (9). The placement platform (1) is installed on the X-axis sliding mechanism (8). The placement platform (1) can be driven to move horizontally by the X-axis sliding mechanism (8). The gripping mechanism (2) is installed on the Y-axis sliding mechanism (9). The Y-axis sliding mechanism (9) can drive the gripping mechanism (2) to move vertically. Alternatively, the placement platform (1) is installed on the Y-axis sliding mechanism (9) and is driven to slide longitudinally by the Y-axis sliding mechanism (9); the gripping mechanism (2) is installed on the X-axis sliding mechanism (8) and is driven to move laterally by the X-axis sliding mechanism (8). The X-axis sliding mechanism (8) and the Y-axis sliding mechanism (9) are connected to the controller (7). The controller (7) adjusts the X coordinate of the workpiece on the X-axis sliding mechanism (8) through the X-axis sliding mechanism (8) and adjusts the Y coordinate of the workpiece on the Y-axis sliding mechanism (9) through the Y-axis sliding mechanism (9).

3. The automated assembly device according to claim 1, characterized in that: The switching device (10) includes a lateral moving mechanism (12), a light source (6) and a curing component (11) mounted on the lateral moving mechanism (12). The lateral moving mechanism (12) can move to at least two points. At point one, the light source (6) is moved to the lower part of the lens (5), and the curing component (11) is moved to the side of the longitudinal direction of the lens (5). At point two, the curing component (11) is moved to the same longitudinal direction as the lens (5), and the light source (6) is moved away from the lower part of the lens (5). The device also includes an extension mechanism (13), on which the curing component (11) is mounted. The extension mechanism (13) can drive the curing component (11) to move longitudinally so that the curing component (11) falls directly below the lens (5).

4. The automated assembly device according to claim 1, characterized in that: The adjustment mechanism (4) is a cross slide module. The placement platform (1) or the gripping mechanism (2) is installed on the cross slide module. The cross slide module is connected to the controller (7). The controller (7) can control the X-axis coordinate and Y-axis coordinate of the placement platform (1) or the gripping mechanism (2) installed on the cross slide module by controlling the cross slide module.

5. An automated assembly device according to claim 1, characterized in that: The disk body (15) is provided with an air channel (18) for external vacuum, and the air channel (18) is connected to the adsorption hole (30).

6. The automated assembly device according to claim 1, characterized in that: It also includes a control unit (21) for controlling the downward pressure of the up-and-down movement mechanism (20), and a loading platform (22). The loading platform (22) is provided with a loading groove (23) for limiting the code disk. The side profile of the loading groove (23) is adapted to the outer circle profile of the code disk. The up-and-down movement mechanism (20) is a cylinder, and the control unit (21) is a pressure valve. Alternatively, the up-and-down movement mechanism 1 (20) can be an electric cylinder, and the control unit 1 (21) can control the downward pressure of the up-and-down movement mechanism 1 (20) by controlling the rotation of the electric cylinder motor.

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