Assembling device

Abstract

The application discloses an assembling device, which comprises a bearing mechanism, a grabbing mechanism, a dispensing mechanism, a first shooting assembly and a fixing mechanism; the bearing mechanism is used for bearing and positioning a workpiece; the grabbing mechanism is used for grabbing the workpiece and moving the workpiece; the dispensing mechanism comprises a dispensing assembly and a detection module, the dispensing assembly is used for dispensing treatment on the workpiece, and the detection module is arranged on the dispensing assembly and used for detecting the glue path of the workpiece after the dispensing treatment; the first shooting assembly is arranged on one side of the grabbing mechanism and used for detecting the position offset of the workpiece; the fixing mechanism comprises a fixing assembly and a second shooting assembly, the fixing assembly is used for bearing and positioning a product, and the second shooting assembly is arranged on the fixing assembly and used for detecting the position offset of the mounting position of the product; the grabbing mechanism installs the workpiece on the mounting position according to the position offset of the workpiece and the position offset of the mounting position. The assembling device can improve the efficiency and precision of the installation of the workpiece.

Description

Technical Field

[0001] This application relates to the field of electronic product assembly technology, and more specifically to an assembly apparatus. Background Technology

[0002] Currently, when installing components such as connectors and seals for sound modules and charging modules into mounting holes or other mounting positions on electronic devices, it is usually necessary to manually apply adhesive to the components and then manually install them into the mounting positions on the electronic devices for fixation. However, manual installation is inefficient and has low installation accuracy. Summary of the Invention

[0003] In view of the above, it is necessary to propose an assembly device to improve the efficiency and accuracy of workpiece installation.

[0004] This application provides an assembly device for mounting a workpiece onto a product mounting position. The assembly device includes a carrying mechanism, a gripping mechanism, a dispensing mechanism, a first imaging component, and a fixing mechanism. The carrying mechanism carries and positions the workpiece. The gripping mechanism is located on one side of the carrying mechanism and grips the workpiece from the carrying mechanism, moving the workpiece. The dispensing mechanism includes a dispensing component and a detection module. The dispensing component is located on one side of the gripping mechanism and spaced apart from the carrying mechanism, dispensing adhesive onto the workpiece when the gripping mechanism moves the workpiece to a position corresponding to the dispensing component. The detection module is located on the dispensing component and performs adhesive path detection on the workpiece after dispensing. The first imaging component... A camera component is disposed on one side of the gripping mechanism and spaced apart from the carrying mechanism and the dispensing mechanism. The first camera component is coupled to the gripping mechanism and is used to detect the positional offset of the workpiece when the workpiece, after being moved by the gripping mechanism to a position corresponding to the first camera component, is moved to such a position. The fixing mechanism includes a fixing component and a second camera component. The fixing component is disposed adjacent to the first camera component and is used to carry and position the product. The second camera component is disposed on the fixing component and coupled to the gripping mechanism and is used to detect the positional offset of the mounting position. The gripping mechanism mounts the workpiece onto the mounting position based on the positional offset of the workpiece and the positional offset of the mounting position.

[0005] The aforementioned assembly device employs a gripping mechanism to grasp and move the workpiece, facilitating dispensing and installation operations. The dispensing mechanism and detection module improve the accuracy of dispensing, effectively preventing dispensing defects from affecting installation quality. Furthermore, the device uses a first imaging component to detect workpiece positional offset and a second imaging component to detect the product's mounting position offset, enabling the gripping mechanism to quickly and accurately install the workpiece onto its designated mounting position based on these offsets. Thus, the assembly device of this embodiment automatically installs the workpiece onto the product's mounting position, improving installation efficiency. Moreover, the gripping mechanism's precise installation based on these offsets enhances overall installation accuracy.

[0006] In some embodiments, the bearing mechanism includes a support frame, a bearing plate, and a positioning block; the support frame is disposed on one side of the gripping mechanism; the bearing plate is movably disposed on the support frame, and the bearing plate has a plurality of spaced positioning slots for receiving and positioning the workpiece; the positioning block is disposed on the support frame and abuts against the bearing plate for positioning the bearing plate.

[0007] In some embodiments, the gripping mechanism includes a robotic arm, an assembly frame, a clamping assembly, and a buffer assembly; the robotic arm is disposed between the bearing mechanism, the dispensing mechanism, the first shooting assembly, and the fixing assembly, and both the first shooting assembly and the second shooting assembly are coupled to the robotic arm; the assembly frame is disposed on the robotic arm and moves under the drive of the robotic arm; the clamping assembly is slidably disposed on the assembly frame for clamping the workpiece and for moving the workpiece when the robotic arm drives the assembly frame to move; the buffer assembly is connected to the assembly frame and the clamping assembly for elastically supporting the clamping assembly.

[0008] In some embodiments, the clamping assembly includes a sliding seat, a clamping drive, a plurality of clamping fingers, and a limiting block; the sliding seat is slidably disposed on the assembly frame, and the buffer assembly is connected to the assembly frame and the sliding seat; the clamping drive is disposed on the sliding seat; the plurality of clamping fingers are connected to the clamping drive and are used to clamp the workpiece under the drive of the clamping drive; the limiting block is disposed on the clamping drive, and one end extends between the plurality of clamping fingers, the end of the limiting block extending between the plurality of clamping fingers having a limiting portion, the limiting portion being used to abut against and position the workpiece when the plurality of clamping fingers clamp the workpiece.

[0009] In some embodiments, the buffer assembly includes a guide post and a buffer elastic member; the guide post slides through the sliding seat and is connected to the mounting frame to guide the sliding direction of the sliding seat; the buffer elastic member is sleeved on the guide post, with one end of the buffer elastic member connected to the guide post and the other end of the buffer elastic member abutting against the sliding seat to elastically support the sliding seat.

[0010] In some embodiments, the gripping mechanism further includes a position sensor disposed on the assembly frame and coupled to the robotic arm, for sensing the position of the dispensing assembly relative to the workpiece when the robotic arm moves the assembly frame to a position corresponding to the dispensing assembly, so that the robotic arm determines the initial dispensing position of the workpiece.

[0011] In some embodiments, the dispensing assembly includes a dispensing platform and a dispensing device; the dispensing platform is disposed on one side of the gripping mechanism and spaced apart from the carrying mechanism, and the detection module is disposed on the dispensing platform; the dispensing device includes a mounting base, a glue cylinder, an extrusion drive, an extruder, a mixing tube, an adjusting plate, a stop valve, and a needle; the mounting base is disposed on the dispensing platform and located on one side of the detection module; the glue cylinder is disposed on the mounting base for receiving and fixing glue; the extrusion drive is disposed on the mounting base and located at one end of the glue cylinder; the extruder is slidably inserted into the glue cylinder and connected to the extrusion drive, for... The fixing adhesive is squeezed under the drive of the extrusion drive to discharge it from the other end of the glue cylinder; a mixing tube is located at the other end of the glue cylinder for mixing the fixing adhesive discharged from the glue cylinder; an adjusting plate is slidably disposed on the mounting base and located at the other end of the glue cylinder; a stop valve is disposed on the adjusting plate and connected to the end of the mixing tube away from the glue cylinder; a needle is disposed on the stop valve for discharging the mixed fixing adhesive under the control of the stop valve; the adjusting plate adjusts the position and perpendicularity of the needle by moving the stop valve.

[0012] In some embodiments, the fixing component includes a fixing frame and a plurality of fixing modules. The fixing frame is disposed adjacent to the first shooting component. The plurality of fixing modules are spaced apart from the fixing frame and are used to support and position the product. The second shooting component includes a linear module and a shooting module. The linear module is disposed on the fixing frame and located below the plurality of fixing modules. The shooting module is disposed on the linear module and is used to move under the drive of the linear module to a position directly opposite the plurality of fixing modules, so as to detect the positional offset of the mounting position of the product supported by the plurality of fixing modules.

[0013] In some embodiments, each of the plurality of fixing modules includes a positioning seat, a suction cup, a limiting block, and a heating element; the positioning seat is disposed on the fixing frame; the suction cup is disposed on the positioning seat for adsorbing the product; the limiting block is disposed on the positioning seat and spaced apart from the suction cup for contacting and positioning the product; the heating element is disposed on the side of the positioning seat near the linear module for contacting the mounting position and for heating and curing the fixing adhesive after the workpiece is installed on the mounting position.

[0014] In some embodiments, each of the plurality of fixed modules further includes a clamping unit, the clamping unit including a clamping member and a clamping drive member; the clamping member is rotatably disposed on the side of the positioning seat near the linear module and spaced apart from the heating member; the clamping drive member is disposed on the positioning seat and connected to the clamping member, and is used to drive the clamping member to swing toward or away from the positioning seat, so that when the clamping member swings toward the positioning seat, it presses the product onto the suction cup. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the assembly device provided in the embodiments of this application and its compatibility with applicable products.

[0016] Figure 2 This is an exploded structural diagram of the applicable workpiece and applicable product provided in the embodiments of this application.

[0017] Figure 3 yes Figure 1 A three-dimensional structural diagram of the support mechanism in the assembly device shown.

[0018] Figure 4 yes Figure 1 The diagram shows a three-dimensional structure of the gripping unit in the assembly device and its interaction with the applicable workpiece.

[0019] Figure 5 yes Figure 1 A three-dimensional structural diagram of the dispensing device in the assembly apparatus shown.

[0020] Figure 6 yes Figure 5 The diagram shows a three-dimensional structure of the limiting plate in the dispensing device.

[0021] Figure 7 yes Figure 1 The diagram shows a three-dimensional structure of the fixing mechanism in the assembly device and its compatibility with the applicable product.

[0022] Figure 8 yes Figure 7 A three-dimensional structural diagram of the fixing module in the fixing mechanism shown.

[0023] Explanation of main component symbols

[0024] Assembly device 100

[0025] Bearing mechanism 10

[0026] Support frame 11

[0027] Carrying plate 12

[0028] Positioning slot 121

[0029] Positioning block 13

[0030] 20 crawling mechanisms

[0031] robotic arm 21

[0032] Capture Unit 22

[0033] Assembly rack 221

[0034] Guide rail 2211

[0035] Clamping component 222

[0036] Sliding seat 2221

[0037] Clamping drive 2222

[0038] Pinching fingers 2223

[0039] Limit block 2224

[0040] Limiting part 2224a

[0041] Buffer component 223

[0042] Guide column 2231

[0043] Buffer elastic element 2232

[0044] Position sensor 224

[0045] Dispensing mechanism 30

[0046] Dispensing assembly 31

[0047] Dispensing table 311

[0048] Dispenser 312

[0049] Mounting bracket 3121

[0050] Sliding groove 3121a

[0051] Glue Spool 3122

[0052] Pipe 3122a

[0053] Extrusion drive component 3123

[0054] Extrusion part 3124

[0055] Mixing pipe 3125

[0056] Adjustment plate 3126

[0057] Adjusting long hole 3126a

[0058] Glue stop valve 3127

[0059] Needle 3128

[0060] Limit plate 3129

[0061] First limiting groove 3129a

[0062] Second limiting groove 3129b

[0063] Detection module 32

[0064] First shooting component 40

[0065] Fixed mechanism 50

[0066] Fixed component 51

[0067] Fixture 511

[0068] Fixed Module 512

[0069] Positioning seat 5121

[0070] Suction Cup 5122

[0071] Limit block 5123

[0072] Heating element 5124

[0073] Light source 5125

[0074] Clamping unit 5126

[0075] Clamping drive 5126a

[0076] Clamping part 5126b

[0077] Second shooting component 52

[0078] Linear Module 521

[0079] Shooting Module 522

[0080] Workpiece 600

[0081] Product 700

[0082] Installation position 710 Detailed Implementation

[0083] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0084] In the description of this application, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly and specifically defined.

[0085] In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between components; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0086] Please see Figure 1 This application provides an assembly device 100, including a support mechanism 10, a gripping mechanism 20, a dispensing mechanism 30, a first shooting component 40, and a fixing mechanism 50.

[0087] Please see Figure 1 and Figure 2In this embodiment, the assembly device 100 is used to mount the workpiece 600 onto the mounting position 710 of the product 700. The workpiece 600 can be a connector for a sound module or charging module, a seal, etc., and the product 700 can be a housing for an electronic device such as a mobile phone, tablet computer, or smartwatch. The mounting position 710 of the product 700 can be a mounting protrusion on the housing, a mounting hole on the side wall of the housing, etc. For ease of understanding and explanation, this embodiment uses the workpiece 600 as a connector for a charging module, the product 700 as a housing for a tablet computer, and the mounting position 710 of the product 700 as a mounting hole on the side wall of the housing as an example for illustration. Obviously, this is not a limitation of the embodiment of this application.

[0088] In this embodiment, the supporting mechanism 10 is used to support and position the workpiece 600; the gripping mechanism 20 is located on one side of the supporting mechanism 10, and the gripping mechanism 20 is used to grip the workpiece 600 from the supporting mechanism 10 and drive the workpiece 600 to move.

[0089] The dispensing mechanism 30 includes a dispensing assembly 31 and a detection module 32. The dispensing assembly 31 is located on one side of the gripping mechanism 20 and spaced apart from the carrying mechanism 10. The dispensing assembly 31 is used to dispense glue onto the workpiece 600 when the gripping mechanism 20 moves the workpiece 600 to a position corresponding to the dispensing assembly 31. The detection module 32 is located on the dispensing assembly 31 and is used to detect the glue path on the workpiece 600 after dispensing. The detection module 32 can be a CCD (Charge Device). The coupled-cevice camera and detection module 32 store photos of the workpiece 600 with accurate adhesive paths, which are used as template adhesive path photos. When the detection module 32 performs adhesive path detection on the workpiece 600, it takes a picture of the adhesive path on the workpiece 600 to obtain a real-time adhesive path photo. The real-time adhesive path photo is compared with the template adhesive path photo to obtain the adhesive path area ratio deviation and adhesive path position deviation. Then, it is determined whether the adhesive path area ratio deviation and adhesive path position deviation exceed the preset threshold. If the adhesive path area ratio deviation and adhesive path position deviation exceed the preset threshold, the dispensing component 31 is deemed to have failed the dispensing test. The gripping mechanism 20 places the workpiece 600 with the failed dispensing test into a fixed collection position (not shown) for temporary storage. If the adhesive path area ratio deviation and adhesive path position deviation do not exceed the preset threshold, the dispensing component 31 is deemed to have passed the dispensing test. Only then can the gripping mechanism 20 continue to drive the workpiece 600 for subsequent installation work. In this way, the failure of the dispensing component 31 to dispense adhesive can be effectively avoided from affecting the installation quality of the workpiece 600.

[0090] The first imaging component 40 is located on the other side of the gripping mechanism 20 and is spaced apart from the carrying mechanism 10 and the dispensing mechanism 30. The first imaging component 40 is coupled to the gripping mechanism 20. The first imaging component 40 is used to detect the positional offset of the workpiece 600 when the workpiece 600 after the gripping mechanism 20 drives the glue path detection to move to the position corresponding to the first imaging component 40.

[0091] The fixing mechanism 50 includes a fixing component 51 and a second shooting component 52. The fixing component 51 is disposed adjacent to the first shooting component 40 and is used to support and position the product 700. The second shooting component 52 is disposed on the fixing component 51 and coupled to the gripping mechanism 20. The second shooting component 52 is used to detect the positional offset of the mounting position 710 of the product 700.

[0092] Specifically, the positional offset of workpiece 600 is the offset data between the current position of workpiece 600 and the theoretical installation position 710 of product 700. The positional offset of installation position 710 is the offset data between the current position of installation position 710 of product 700 and the theoretical position of installation position 710 of product 700. Both the first imaging component 40 and the second imaging component 52 detect the offset data by taking pictures. The first imaging component 40 stores a template capture picture, which is a reference picture taken by the first imaging component 40 after the gripping mechanism 20 grips workpiece 600 and accurately installs it into the installation position 710 of product 700, and then the gripping mechanism 20 moves workpiece 600 in the opposite direction to the first imaging component 40. The first imaging component 40 can determine the positional offset of workpiece 600 by comparing the real-time picture of the gripping mechanism 20 moving workpiece 600 to the first imaging component 40 with the template capture picture. The second imaging component 52 stores template hole position photos. These template hole position photos are taken by the second imaging component 52 after the gripping mechanism 20 grips the workpiece 600 and accurately installs it into the mounting position 710 of the product 700, and then the gripping mechanism 20 moves the workpiece 600 out of the mounting position 710. Since the position of the product 700 may be slightly deviated when the fixing component 51 supports the product 700, or the position of the mounting hole may be slightly deviated when the mounting hole is opened on the product 700, these deviations will affect the accuracy of the gripping mechanism 20 in installing the workpiece 600 into the mounting position 710. The second imaging component 52 can determine the positional offset of the mounting position 710 by comparing the template hole position photos with the real-time photos taken by the second imaging component 52 when the fixing component 51 supports the product 700. After the first shooting component 40 and the second shooting component 52 respectively acquire the position offset of the workpiece 600 and the position offset of the mounting position 710, the gripping mechanism 20 installs the workpiece 600 onto the mounting position 710 according to the position offset of the workpiece 600 and the position offset of the mounting position 710, thereby improving the accuracy of installing the workpiece 600 onto the mounting position 710 of the product 700.

[0093] Please see Figure 1 and Figure 3In this embodiment, the carrying mechanism 10 includes a support frame 11, a carrying plate 12, and positioning blocks 13. The support frame 11 is located on one side of the gripping mechanism 20; the carrying plate 12 is movably mounted on the support frame 11, facilitating replacement of the carrying plate 12. The carrying plate 12 has multiple spaced positioning slots 121 for receiving and positioning the workpiece 600; the positioning blocks 13 are located on the support frame 11 and abut against the carrying plate 12, and are used to position the carrying plate 12. Multiple positioning blocks 13 can be provided on the support frame 11 and spaced around the carrying plate 12. By positioning the carrying plate 12 with the positioning blocks 13 and positioning the workpiece 600 with the multiple positioning slots 121 on the carrying plate 12, the gripping mechanism 20 can accurately remove the workpiece 600 from the carrying plate 12.

[0094] Please see Figure 1 and Figure 4 The gripping mechanism 20 includes a robotic arm 21 and a gripping unit 22. The gripping unit 22 includes an assembly frame 221, a clamping assembly 222, and a buffer assembly 223. The robotic arm 21 is located between the bearing mechanism 10, the dispensing mechanism 30, the first shooting assembly 40, and the fixing assembly 51. The first shooting assembly 40 and the second shooting assembly 52 are both coupled to the robotic arm 21. The assembly frame 221 is located on the robotic arm 21 and moves under the drive of the robotic arm 21. The assembly frame 221 has a guide rail 2211. The clamping assembly 222 is slidably located on the guide rail 2211 of the assembly frame 221. The clamping assembly 222 is used to clamp the workpiece 600 and moves the workpiece 600 when the robotic arm 21 moves the assembly frame 221. The buffer assembly 223 is connected to the assembly frame 221 and the clamping assembly 222 and is used to elastically support the clamping assembly 222. When the gripping mechanism 20 installs the workpiece 600 onto the mounting position 710 of the product 700, by setting the clamping component 222 to slide and connect it to the assembly frame 221, and by setting the buffer component 223 to elastically support the clamping component 222, it can effectively prevent the gripping mechanism 20 from moving the workpiece 600 too far and damaging the product 700.

[0095] In this embodiment, the clamping assembly 222 includes a sliding base 2221, a clamping drive 2222, a plurality of clamping fingers 2223 and a limiting block 2224. The sliding seat 2221 is slidably disposed on the guide rail 2211 of the assembly frame 221. The buffer assembly 223 is connected to the assembly frame 221 and the sliding seat 2221. The clamping drive 2222 is disposed on the sliding seat 2221 and can be a clamping cylinder. Multiple clamping fingers 2223 are connected to the clamping drive 2222 and clamp the workpiece 600 under the drive of the clamping drive 2222. The limiting block 2224 is disposed on the clamping drive 2222 and one end of the limiting block 2224 extends between the multiple clamping fingers 2223. The end of the limiting block 2224 extending between the multiple clamping fingers 2223 has a limiting part 2224a, which is used to abut against and position the workpiece 600 when the multiple clamping fingers 2223 clamp the workpiece 600. Specifically, the limiting part 2224a can be a protrusion, and the workpiece 600 can be sleeved on the limiting part 2224a. When the clamping assembly 222 clamps the workpiece 600, the multiple clamping fingers 2223 clamp the workpiece 600 under the drive of the clamping drive member 2222. The limiting part 2224a abuts against the workpiece 600 so that the positions of different workpieces 600 relative to the multiple clamping fingers 2223 are consistent. This is beneficial to the accuracy of the dispensing assembly 31 in dispensing the workpiece 600, and the accuracy of the robotic arm 21 driving the clamping assembly 222 to install the workpiece 600 onto the mounting position 710 of the product 700.

[0096] In this embodiment, the buffer assembly 223 includes a guide post 2231 and a buffer elastic element 2232. The guide post 2231 slides through the sliding seat 2221 and is connected to the mounting frame 221, guiding the sliding direction of the sliding seat 2221. The buffer elastic element 2232 can be a spring, sleeved on the guide post 2231. One end of the buffer elastic element 2232 is connected to the guide post 2231, and the other end abuts against the sliding seat 2221, providing elastic support for the sliding seat 2221. Thus, by providing the guide post 2231 to guide the sliding direction of the sliding seat 2221 and the buffer elastic element 2232 to elastically support the sliding seat 2221, the accuracy and stability of the buffer assembly 223's elastic support for the clamping assembly 222 are improved.

[0097] In this embodiment, the gripping unit 22 of the gripping mechanism 20 further includes a position sensor 224. The position sensor 224 is disposed on the assembly frame 221 and coupled to the robotic arm 21. The position sensor 224 can be a tool setter. The position sensor 224 is used to sense the position of the dispensing assembly 31 relative to the workpiece 600 when the robotic arm 21 moves the assembly frame 221 to a position corresponding to the dispensing assembly 31, so that the robotic arm 21 can determine the initial dispensing position of the workpiece 600. Since the position of the dispensing nozzle of the dispensing assembly 31 will deviate after the fixing adhesive is changed, by setting the position sensor 224 to sense the position of the dispensing nozzle of the dispensing assembly 31 relative to the workpiece 600, and thus determining the initial dispensing position of the workpiece 600, the time for adjusting the dispensing assembly 31 can be effectively saved, and the accuracy of dispensing the workpiece 600 can be improved.

[0098] Please see Figure 1 and Figure 5 In this embodiment, the dispensing assembly 31 includes a dispensing platform 311 and a dispensing device 312. The dispensing platform 311 is located on one side of the gripping mechanism 20 and spaced apart from the carrying mechanism 10, and the detection module 32 is located on the dispensing platform 311; the dispensing device 312 includes a mounting base 3121, a glue cylinder 3122, an extrusion drive 3123, an extrusion component 3124, a mixing tube 3125, an adjusting plate 3126, a stop valve 3127, and a needle 3128. Mounting base 3121 is disposed on dispensing station 311 and located on one side of detection module 32; glue cartridge 3122 is disposed on mounting base 3121 and is used to hold fixing glue; extrusion drive 3123 is disposed on mounting base 3121 and located at one end of glue cartridge 3122; extrusion member 3124 is slidably inserted into glue cartridge 3122 and connected to extrusion drive 3123, extrusion member 3124 is used to extrude fixing glue under the drive of extrusion drive 3123, so that fixing glue is discharged from the other end of glue cartridge 3122; mixing pipe 3125 is disposed on glue cartridge 3122. At the other end, the mixing tube 3125 is used to mix the fixing adhesive discharged from the glue cylinder 3122; the adjusting plate 3126 is slidably disposed on the mounting base 3121 and located at the other end of the glue cylinder 3122; the stop valve 3127 is disposed on the adjusting plate 3126 and connected to the end of the mixing tube 3125 away from the glue cylinder 3122; the needle 3128 is disposed on the stop valve 3127, and the needle 3128 is used to discharge the mixed fixing adhesive under the control of the stop valve 3127. The adjusting plate 3126 adjusts the position and perpendicularity of the needle 3128 by driving the stop valve 3127 to move. The extrusion drive 3123 can be a servo motor, which facilitates accurate movement of the extrusion component 3124 to control the amount of adhesive discharged from the mixing tube 3125.

[0099] During the dispensing process of the dispensing assembly 31 on the workpiece 600, the extrusion drive 3123 drives the extruder 3124 to move in the glue cylinder 3122. The extruder 3124 extrudes the fixing glue and discharges it from the glue cylinder 3122 to the mixing tube 3125. The mixing tube 3125 mixes the fixing glue and discharges it to the stop valve 3127. The stop valve 3127 controls the opening and closing of the needle 3128 and the glue flow rate. The position sensor 224 of the gripping mechanism 20 senses the position of the glue outlet of the needle 3128 relative to the workpiece 600, thereby determining the initial dispensing position of the workpiece 600. The robotic arm 21 moves the workpiece 600 relative to the needle 3128 according to the initial dispensing position, so that the needle 3128 dispenses glue on the workpiece 600. Thus, by setting the extrusion drive 3123 to drive the extrusion component 3124 to extrude the fixing adhesive in the mixing tube 3125, and by setting the glue stop valve 3127 to control the opening and closing of the needle 3128 and the glue flow rate, the accuracy and stability of the dispensing assembly 31 in dispensing glue to the workpiece 600 are improved. Furthermore, when the position and perpendicularity of the needle 3128 are inaccurate, the position and perpendicularity of the needle 3128 can be adjusted by setting the adjustment plate 3126, further improving the accuracy of the dispensing assembly 31 in dispensing glue to the workpiece 600.

[0100] In this embodiment, the mixing pipe 3125 includes multiple independent pipes 3122a, which are interconnected and extend in the same direction. The multiple pipes 3122a have the same outlet. The mixing pipe 3125 is connected to the same outlet of the multiple pipes 3122a. Different types of fixing adhesives are contained in the multiple pipes 3122a. The extruder 3124 is slidably inserted into the multiple pipes 3122a and, driven by the extrusion drive 3123, extrudes the different types of fixing adhesives in the multiple pipes 3122a into the mixing pipe 3125, thereby facilitating the mixing pipe 3125 to mix the different types of fixing adhesives.

[0101] In this embodiment, the mounting base 3121 is provided with a sliding groove 3121a, and the adjusting plate 3126 slides against the sliding groove 3121a. The sliding groove 3121a is used to restrict the movement direction of the adjusting plate 3126. The adjusting plate 3126 is provided with an adjusting elongated hole 3126a. The adjusting plate 3126 is fixed to the mounting base 3121 by inserting an adjusting bolt (not shown in the figure) into the adjusting elongated hole 3126a. When it is necessary to adjust the position and perpendicularity of the needle 3128, the position of the adjusting plate 3126 can be quickly adjusted by turning the adjusting screw, thereby causing the adjusting plate 3126 to drive the anti-adhesion valve 3127 to move to adjust the position and perpendicularity of the needle 3128. The structure is simple and the operation is convenient.

[0102] Please refer to the following: Figure 6In this embodiment, the dispensing device 312 further includes a limiting plate 3129. The limiting plate 3129 is hinged to the adjusting plate 3126 and located on one side of the stop valve 3127. The limiting plate 3129 has a first limiting groove 3129a and a second limiting groove 3129b. The first limiting groove 3129a and the second limiting groove 3129b are connected and set at an angle. When the limiting plate 3129 rotates toward the adjusting plate 3126 and covers the adjusting plate 3126, The first limiting groove 3129a and the second limiting groove 3129b respectively engage with the mixing tube 3125 and the stop valve 3127, thereby limiting the positions of the mixing tube 3125 and the stop valve 3127. Since the position of the mixing tube 3125 is fixed, after the first limiting groove 3129a and the second limiting groove 3129b limit the positions of the mixing tube 3125 and the stop valve 3127, the position of the needle 3128 can also be limited. Thus, by setting the limiting plate 3129 and opening the first limiting groove 3129a and the second limiting groove 3129b on the limiting plate 3129, the accuracy of the positions of the stop valve 3127 and the needle 3128 is improved.

[0103] Please see Figure 1 and Figure 7 The fixing component 51 includes a fixing frame 511 and multiple fixing modules 512. A first imaging component 40 is disposed on the fixing frame 511 and located on one side of the fixing frame 511. The multiple fixing modules 512 are spaced apart on the fixing frame 511 and arranged in a straight line. The multiple fixing modules 512 are used to support and position the product 700. The second imaging component 52 includes a linear module 521 and an imaging module 522. The linear module 521 can be a linear slide. The linear module 521 is disposed on the fixing frame 511 and located below the multiple fixing modules 512. The extending direction of the linear module 521 is the same as the arrangement direction of the multiple fixing modules 512. The imaging module 522 is disposed on the linear module 521. The imaging module 522 is used to move under the drive of the linear module 521 to a position directly opposite the multiple fixing modules 512 to detect the positional offset of the mounting position 710 of the product 700 supported by the multiple fixing modules 512. Both the first imaging component 40 and the imaging module 522 can be CCD cameras, and the first imaging component 40 and the imaging module 522 can be controlled by a CCD controller (not shown) and communicate with the robotic arm 21 through the TCP / Ethernet communication protocol, which helps to improve the accuracy of detecting the positional offset of the workpiece 600 and the positional offset of the mounting position 710.

[0104] Furthermore, by setting multiple fixed modules 512, multiple products 700 can be simultaneously supported and positioned, thereby improving the efficiency of installing the workpiece 600 onto the mounting position 710 of the product 700. Since different fixed modules 512 may have deviations in supporting and positioning the product 700, the multiple fixed modules 512 can be numbered. Multiple template grabbing photos corresponding to each fixed module 512 are stored in the first imaging component 40, and multiple template hole position photos corresponding to each fixed module 512 are stored in the imaging module 522. During the process of the gripping mechanism 20 installing the workpiece 600, after glue path detection, onto the mounting position 710 of the product 700, the clamping component 222 clamps the workpiece 600 and moves it to the first imaging component 40 under the drive of the robotic arm 21. The first imaging component 40 takes a picture of the workpiece 600 and, according to the workpiece 600, installs it onto a specific fixed module 512. The settings on product 700 call the corresponding template to capture photos and detect the positional offset of workpiece 600. At this time, the linear module 521, according to the setting that workpiece 600 needs to be installed on product 700 supported by the corresponding fixed module 512, drives the shooting module 522 to move to a position directly opposite the corresponding fixed module 512. The shooting module 522 takes a picture of product 700 and calls the corresponding template hole position photo to detect the positional offset of mounting position 710. The CCD controller performs geometric addition and subtraction calculations based on the positional offset of workpiece 600 and mounting position 710. The robotic arm 21 obtains the assembly point coordinates according to the calculation structure of the CCD controller and drives workpiece 600 to assemble according to the assembly point coordinates. In this way, the accuracy of assembling workpiece 600 onto mounting position 710 of product 700 is improved.

[0105] In some other embodiments, since the linear module 521 causes the shooting module 522 to move, the fixing frame 511 will vibrate slightly, thereby affecting the detection accuracy of the first shooting component 40, the first shooting component 40 can also be set on one side of the fixing frame 511 and adjacent to the fixing frame 511. This application embodiment does not specifically limit this.

[0106] Please refer to the following: Figure 8In this embodiment, each of the multiple fixing modules 512 includes a positioning seat 5121, a suction cup 5122, and a limiting block 5123. The positioning seat 5121 is disposed on the fixing frame 511; the suction cup 5122 is disposed on the positioning seat 5121 and is used to adsorb the product 700; the limiting block 5123 is disposed on the positioning seat 5121 and spaced apart from the suction cup 5122, and is used to abut against and position the product 700. When the fixing module 512 carries and positions the product 700, the product 700 can be placed from the assembly line to the positioning seat 5121 by a transfer mechanism (not shown), the suction cup 5122 adsorbs the product 700, and the limiting block 5123 positions the product 700. Thus, by setting the suction cup 5122 to adsorb the product 700, damage to the product 700 can be effectively reduced. By setting the limiting block 5123 to position the product 700, the accuracy of the fixed module 512 in carrying the product 700 can be improved, which is conducive to the gripping mechanism 20 accurately installing the workpiece 600 onto the mounting position 710 of the product 700.

[0107] In this embodiment, there can be multiple limiting blocks 5123. Multiple limiting blocks 5123 are spaced apart on the positioning seat 5121. When the suction cup 5122 adsorbs the product 700, multiple limiting blocks 2224 are located around the product 700 and position the product 700 from multiple directions, which helps to improve the accuracy of positioning the product 700.

[0108] In this embodiment, each of the multiple fixing modules 512 further includes a heating element 5124. The heating element 5124 is located on the side of the positioning seat 5121 near the linear module 521. After the fixing module 512 supports and positions the product 700, the heating element 5124 is directly opposite and abuts against the mounting position 710 of the product 700. After the workpiece 600 is installed on the mounting position 710 of the product 700, the heating element 5124 heats and cures the fixing adhesive on the workpiece 600, thereby improving the efficiency of fixing the workpiece 600 to the product 700.

[0109] In this embodiment, each of the multiple fixed modules 512 also includes a light source 5125. The light source 5125 is located on the side of the positioning base 5121 away from the linear module 521 and is directly opposite the linear module 521. When the shooting module 522 takes a picture of the product 700, the light source 5125 provides supplementary lighting to the shooting module 522, which helps to improve the accuracy of the shooting module 522 in detecting the positional offset of the mounting position 710 of the product 700.

[0110] In this embodiment, each of the multiple fixing modules 512 further includes a clamping unit 5126, which includes a clamping drive 5126a and a clamping member 5126b. The clamping member 5126b is rotatably disposed on the side of the positioning seat 5121 near the linear module 521 and spaced apart from the heating member 5124. The clamping drive 5126a can be a telescopic cylinder, which is disposed on the positioning seat 5121 and connected to the clamping member 5126b. The clamping drive 5126a is used to drive the clamping member 5126b to swing towards or away from the positioning seat 5121, so that when the clamping member 5126b swings towards the positioning seat 5121, it presses the product 700 onto the suction cup 5122, thereby effectively preventing the product 700 from shaking on the suction cup 5122 and improving the accuracy of the fixing module 512 in positioning the product 700.

[0111] The process by which the assembly apparatus 100 of this application installs the workpiece 600 onto the mounting position 710 of the product 700 is roughly as follows:

[0112] The suction cup 5122 of the fixed module 512 adsorbs the product 700 that is moved to the positioning seat 5121 by the transfer mechanism, and multiple limiting blocks 5123 position the product 700.

[0113] The clamping assembly 222 moves to the carrier plate 12 under the drive of the robotic arm 21. The clamping drive 2222 drives multiple clamping fingers 2223 to clamp the workpiece 600. The limiting block 2224 abuts against the workpiece 600 and positions the workpiece 600.

[0114] Driven by the robotic arm 21, the clamping assembly 222 moves the workpiece 600 to the outlet of the needle 3128 of the dispensing device 312. The position sensor 224 senses the position of the dispensing port of the needle 3128 relative to the workpiece 600, thereby determining the initial dispensing position of the workpiece 600. Based on the initial dispensing position, the robotic arm 21 drives the workpiece 600 to move relative to the needle 3128 through the clamping assembly 222. The needle 3128 discharges the mixed fixing adhesive to dispense the workpiece 600.

[0115] Driven by the robotic arm 21, the clamping assembly 222 moves the workpiece 600 to the position corresponding to the detection module 32, and the detection module 32 performs glue path detection on the workpiece 600.

[0116] After the glue path inspection is qualified, the clamping assembly 222, driven by the robotic arm 21, moves the workpiece 600 to a position directly opposite the first shooting assembly 40. The first shooting assembly 40 detects the positional offset of the workpiece 600. At this time, according to the setting that the workpiece 600 needs to be installed on the product 700 carried by the corresponding fixed module 512, the linear module 521 drives the shooting module 522 to a position directly opposite the corresponding fixed module 512. The shooting module 522 detects the positional offset of the mounting position 710 of the product 700.

[0117] The CCD controller performs geometric addition and subtraction calculations based on the position offset of the workpiece 600 and the position offset of the mounting position 710 of the product 700. The robotic arm 21 obtains the assembly point coordinates based on the calculation results of the CCD controller, and drives the clamping assembly 222 and the workpiece 600 to move according to the assembly point coordinates, thereby installing the workpiece 600 onto the mounting position 710 of the product 700.

[0118] In summary, the assembly apparatus 100 of this application embodiment facilitates the dispensing and installation of the workpiece 600 by setting a gripping mechanism 20 to grip the workpiece 600 and move the workpiece 600; by setting a dispensing mechanism 30 to dispense the workpiece 600 and setting a detection module 32 to detect the glue path after dispensing, the accuracy of dispensing the workpiece 600 is improved, effectively avoiding the impact of unqualified dispensing on the installation quality of the workpiece 600; by setting a first shooting component 40 to detect the positional offset of the workpiece 600 and a second shooting component 52 to detect the positional offset of the mounting position 710 of the product 700, the gripping mechanism 20 can quickly and accurately install the workpiece 600 onto the mounting position 710 of the product 700 according to the positional offset of the workpiece 600 and the positional offset of the mounting position 710 of the product 700. Thus, the assembly apparatus 100 of this application embodiment realizes the operation of automatically installing the workpiece 600 onto the mounting position 710 of the product 700, improving the efficiency of installing the workpiece 600. Furthermore, the gripping mechanism 20 is more precise in installing the workpiece 600 onto the mounting position 710 of the product 700 based on the position offset of the workpiece 600 and the position offset of the mounting position 710 of the product 700, thereby improving the accuracy of installing the workpiece 600.

[0119] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0120] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. An assembly apparatus for mounting a workpiece onto a mounting position of a product, characterized in that, The assembly device includes: A support mechanism is used to support and position the workpiece; A gripping mechanism is provided on one side of the supporting mechanism for gripping the workpiece from the supporting mechanism and moving the workpiece. A dispensing mechanism includes a dispensing component and a detection module. The dispensing component is located on one side of the gripping mechanism and spaced apart from the carrying mechanism. It is used to dispense the workpiece when the gripping mechanism moves the workpiece to a position corresponding to the dispensing component. The detection module is located on the dispensing component and is used to detect the glue path on the workpiece after dispensing. A first imaging component is disposed on one side of the gripping mechanism and spaced apart from the carrying mechanism and the dispensing mechanism. The first imaging component is coupled to the gripping mechanism and is used to detect the positional offset of the workpiece when the workpiece is moved to a position corresponding to the first imaging component after the gripping mechanism drives the glue path detection. The fixing mechanism includes a fixing component and a second imaging component. The fixing component is disposed adjacent to the first imaging component and is used to support and position the product. The second imaging component is disposed on the fixing component and coupled to the gripping mechanism, and is used to detect the positional offset of the mounting position. The gripping mechanism installs the workpiece into the mounting position according to the position offset of the workpiece and the position offset of the mounting position; The dispensing assembly includes: A dispensing station is located on one side of the gripping mechanism and spaced apart from the carrying mechanism; the detection module is located on the dispensing station. Dispenser, including: The mounting base is provided on the dispensing station and located on one side of the detection module; A glue tube, located on the mounting base, is used to hold and fix the glue. An extrusion drive is disposed on the mounting base and located at one end of the rubber cylinder; An extrusion component is slidably inserted into the glue cylinder and connected to the extrusion drive component, and is used to extrude the fixing glue under the drive of the extrusion drive component so that the fixing glue is discharged from the other end of the glue cylinder; A mixing tube, located at the other end of the glue cylinder, is used to mix the fixing adhesive discharged from the glue cylinder; An adjusting plate is slidably disposed on the mounting base and located at the other end of the rubber cylinder; A stop valve is provided on the regulating plate and connected to the end of the mixing pipe away from the glue cylinder; A needle is located at the stop valve and is used to discharge the mixed fixing adhesive under the control of the stop valve. The adjusting plate adjusts the position and verticality of the needle by moving the stop valve. A limiting plate is hinged to the adjusting plate and located on one side of the stop valve. The limiting plate has a first limiting groove and a second limiting groove. The first limiting groove and the second limiting groove are connected and set at an angle. The first limiting groove and the second limiting groove are respectively used to engage with the mixing pipe and the stop valve, thereby limiting the position of the mixing pipe and the stop valve. The gripping mechanism includes a position sensor, which is disposed on the assembly frame of the gripping mechanism and coupled to the robotic arm of the gripping mechanism. The position sensor is used to sense the position of the dispensing assembly relative to the workpiece when the robotic arm moves the assembly frame to a position corresponding to the dispensing assembly, so that the robotic arm can determine the initial dispensing position of the workpiece. The fixing component includes a fixing frame and multiple fixing modules. The fixing frame is disposed adjacent to the first shooting component. The multiple fixing modules are spaced apart from the fixing frame and are used to support and position the product. The second imaging component includes a linear module and an imaging module. The linear module is disposed on the mounting frame and located below the plurality of fixed modules. The imaging module is disposed on the linear module and is used to move under the drive of the linear module to a position directly opposite the plurality of fixed modules, so as to detect the positional offset of the mounting position of the product carried by the plurality of fixed modules.

2. The assembly apparatus as described in claim 1, characterized in that, The bearing mechanism includes: A support frame is provided on one side of the gripping mechanism; A carrier plate is movably mounted on the support frame. The carrier plate has multiple spaced positioning slots, which are used to receive and position the workpiece. A positioning block is disposed on the support frame and abuts against the bearing plate, and is used to position the bearing plate.

3. The assembly apparatus as described in claim 1, characterized in that, The grasping mechanism includes: A robotic arm is disposed between the bearing mechanism, the dispensing mechanism, the first shooting component, and the fixing component, wherein both the first shooting component and the second shooting component are coupled to the robotic arm. An assembly frame is mounted on the robotic arm and moves under the drive of the robotic arm; A clamping assembly is slidably disposed on the assembly frame for clamping the workpiece and for moving the workpiece when the robotic arm moves the assembly frame. A buffer assembly, connected to the mounting frame and the clamping assembly, is used to elastically support the clamping assembly.

4. The assembly apparatus as described in claim 3, characterized in that, The clamping assembly includes: A sliding seat is slidably disposed on the assembly frame, and the buffer assembly is connected to the assembly frame and the sliding seat; A clamping drive component is provided on the sliding seat; Multiple gripping fingers are connected to the gripping drive unit and are used to grip the workpiece under the drive of the gripping drive unit; A limiting block is disposed on the clamping drive member, and one end extends into the space between the plurality of clamping fingers. The end of the limiting block extending into the space between the plurality of clamping fingers has a limiting part, which is used to abut against the workpiece and position the workpiece when the plurality of clamping fingers clamp the workpiece.

5. The assembly apparatus as described in claim 4, characterized in that, The buffer component includes: A guide post slides through the sliding seat and connects to the assembly frame to guide the sliding direction of the sliding seat; A buffer elastic element is sleeved on the guide post, with one end of the buffer elastic element connected to the guide post and the other end of the buffer elastic element abutting against the sliding seat, for elastically supporting the sliding seat.

6. The assembly apparatus as claimed in claim 1, characterized in that, Each of the aforementioned fixed modules includes: A positioning seat is provided on the fixing frame; A suction cup, provided on the positioning seat, is used to adsorb the product; A limiting block is disposed on the positioning seat and spaced apart from the suction cup, for abutting against the product and positioning the product; A heating element is located on the side of the positioning seat near the linear module, used to abut against the mounting position, and to heat and cure the fixing adhesive after the workpiece is installed in the mounting position.

7. The assembly apparatus as described in claim 6, characterized in that, Each of the aforementioned fixing modules further includes a clamping unit, the clamping unit comprising: The clamping component is rotatably positioned on the side of the positioning seat near the linear module and spaced apart from the heating component. A clamping drive is provided on the positioning seat and connected to the clamping member, and is used to drive the clamping member to swing towards or away from the positioning seat, so that when the clamping member swings towards the positioning seat, it presses the product onto the suction cup.

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