Assembly system, associated gripper device and associated method

Abstract

The present application discloses an assembling system, a related gripper device and a related method, wherein the assembling system comprises a robot arm and a gripper device arranged on the robot arm, the gripper device comprises a body, a first gripper assembly and a second gripper assembly, the first gripper assembly is arranged on the body, the first gripper assembly comprises a first gripper piece and a first elastic component, the first elastic component is used to drive the first gripper piece to elastically abut a workpiece, the second gripper assembly is arranged on the body, the second gripper assembly comprises a second gripper piece, and the first gripper piece and the second gripper piece are used to jointly clamp the workpiece. Through the embodiments, the clamped workpiece is moved during the insertion process to adapt to the offset or inclined insertion slot, thereby effectively shortening the assembly time and increasing the assembly accuracy.

Description

Technical Field

[0001] This invention relates to an assembly system, related gripper devices, and related methods, and more particularly to an assembly system with a floating gripping mechanism, related gripper devices, and related methods. Background Technology

[0002] With the development of technology, the use of robotic arms and gripper devices to replace human labor in assembling workpieces (such as inserting memory into slots) is becoming increasingly common. However, slots may deviate from their preset positions or tilt due to manufacturing errors. Therefore, visual correction mechanisms are usually required during the insertion process to align the memory with the slot, but this method is time-consuming. In addition, slot offsets or tilts make it difficult for gripper devices to accurately and quickly insert multiple workpieces into multiple slots simultaneously. Summary of the Invention

[0003] Therefore, one object of the present invention is to provide an assembly system with a floating clamping mechanism, a related gripper device, and a related method to solve the above-mentioned problems.

[0004] To achieve the above objectives, the present invention discloses an assembly system comprising a robotic arm and a gripper device. The gripper device is disposed on the robotic arm and includes a body, a first gripper assembly, and a second gripper assembly. The first gripper assembly is disposed on the body and includes a first gripper member and a first elastic component. The first elastic component is used to drive the first gripper member to elastically abut against a workpiece. The second gripper assembly is disposed on the body and includes a second gripper member. The first gripper member and the second gripper member are used to jointly grip the workpiece.

[0005] Furthermore, to achieve the above objectives, the present invention discloses a gripper device comprising a body, a first gripper assembly, and a second gripper assembly. The first gripper assembly is disposed on the body and includes a first gripper member and a first elastic component. The first elastic component is used to drive the first gripper member to elastically abut against a workpiece. The second gripper assembly is disposed on the body and includes a second gripper member. The first gripper member and the second gripper member are used to jointly grip the workpiece.

[0006] Furthermore, to achieve the above objectives, the present invention also discloses a method for mounting a workpiece using an assembly system, comprising: adjusting a distance between a first gripper and a second gripper of a gripper device of the assembly system, such that the distance between the first gripper and the second gripper is less than the length of the workpiece along a length direction; moving a body of the gripper device using a robotic arm of the assembly system, such that the first gripper and the second gripper jointly grip the workpiece, wherein when the first gripper and the second gripper jointly grip the workpiece, at least one of the first gripper and the second gripper elastically abuts against at least one side of the workpiece along the length direction; and moving and releasing the workpiece, such that the workpiece is positioned in a corresponding slot.

[0007] In summary, the present invention allows the clamped workpiece to move during the insertion process to adapt to the offset or tilted slot. Therefore, even without the assistance of a visual correction mechanism, multiple workpieces can be accurately and quickly inserted into multiple slots simultaneously, thereby effectively shortening the assembly time and increasing the assembly accuracy. Attached Figure Description

[0008] Figure 1 The diagram shown is a schematic diagram of an automated device according to an embodiment of the present invention;

[0009] Figure 2 The diagram shown is a partial structural schematic of the assembly system according to an embodiment of the present invention;

[0010] Figure 3 The diagram shown is an exploded view of some components of the assembly system according to an embodiment of the present invention;

[0011] Figure 4 The diagram shown is a partial internal structure schematic of the assembly system according to an embodiment of the present invention;

[0012] Figure 5 The figure shown is a partial structural cross-sectional view of the assembly system according to an embodiment of the present invention;

[0013] Figure 6 The image shown is a partial structural cross-sectional view of the assembly system according to an embodiment of the present invention from another perspective;

[0014] Figure 7 The diagram shown is a schematic representation of another part of the internal structure of the assembly system according to an embodiment of the present invention;

[0015] Figure 8 The diagram shown is a cross-sectional view of another part of the assembly system according to an embodiment of the present invention;

[0016] Figure 9 The diagram shown is a cross-sectional view of another part of the assembly system of the present invention from another perspective;

[0017] Figure 10The diagram shown is a schematic diagram of the assembly system of the present invention when inserting multiple first workpieces;

[0018] Figure 11 The diagram shown is a schematic diagram of the assembly system according to another embodiment of the present invention when multiple first workpieces are inserted;

[0019] Figure 12 The diagram shown is a schematic of the assembly system of the present invention clamping a first workpiece of different sizes.

[0020] Figure 13 The diagram shown is a partial functional block diagram of the assembly system according to an embodiment of the present invention;

[0021] Figure 14 The figure shows a method for installing a first workpiece using an assembly system according to an embodiment of the present invention.

[0022] [Explanation of Figure Markers]:

[0023] 1. Automated equipment;

[0024] 11,11', Assembly system;

[0025] 111. Robotic arm;

[0026] 112. Gripper device;

[0027] 1121. Ontology;

[0028] 1122. First gripper assembly;

[0029] 1122A, 1122A', First gripper component;

[0030] 1122A1, First end;

[0031] 1122A2, Second end;

[0032] 1122B, First elastic component;

[0033] 1122B1, First elastic element;

[0034] 1122B2, Second elastic element;

[0035] 1122B3, Shaft;

[0036] 1122B4, Positioning component;

[0037] 1122B5, Third elastic element;

[0038] 1122B6, Fourth elastic element;

[0039] 1122B7, Fifth elastic element;

[0040] 1122B8, Auxiliary positioning components;

[0041] 1122B9, Sixth elastic element;

[0042] 1122C, First Claw Seat;

[0043] 1122C1, First arch component;

[0044] 1122C2, Second arch component;

[0045] 1123. Second gripper assembly;

[0046] 1123A, Second gripper component;

[0047] 1123A', Second gripper component;

[0048] 1123A1, First end structure;

[0049] 1123A2, Second end structure;

[0050] 1123B, Second elastic component;

[0051] 1123B1, First elastic structure;

[0052] 1123B2, Second elastic structure;

[0053] 1123B3, Shaft structure;

[0054] 1123B4, Positioning structure;

[0055] 1123B5, Third elastic structure;

[0056] 1123B6, Fourth elastic structure;

[0057] 1123B7, Fifth elastic structure;

[0058] 1123B8, Auxiliary positioning structure;

[0059] 1123B9, the sixth elastic structure;

[0060] 1123C, Second Claw Seat;

[0061] 1123C1, First arch structure;

[0062] 1123C2, Second arch structure;

[0063] 1124. Pressed block;

[0064] 113. Control unit;

[0065] 114. Pressure sensor;

[0066] 115. Cylinder assembly;

[0067] 1151. Cylinder;

[0068] 1152. Piston;

[0069] 12. Base;

[0070] 13. Pallet device;

[0071] 14. Conveying device;

[0072] A1, A3, direction of rotation;

[0073] A2, A4, direction of movement;

[0074] D1,D2,D3,D1',D2',D3', distance;

[0075] G1, G2, gaps;

[0076] P1, Positioning recess;

[0077] P2, Positioning recessed structure;

[0078] R1, clamping recess;

[0079] R2, Clamping recessed structure;

[0080] S,S', slots;

[0081] S1~S4, steps;

[0082] W1, W1', the first workpiece;

[0083] W2, the second workpiece;

[0084] X1, First side;

[0085] X2, Second side;

[0086] X3, Third side;

[0087] Y1, First Wall;

[0088] Y2, Second Wall;

[0089] Y3, the third wall. Detailed Implementation

[0090] The directional terms used in the following embodiments, such as up, down, left, right, front, or back, are merely for reference to the accompanying drawings. Therefore, the directional terms used are for illustrative purposes and not for limiting the invention. Furthermore, unless otherwise specified, the term "connection" herein includes any direct or indirect electrical or structural connection means. Therefore, if the text describes a first device connected to a second device, it means that the first device can be directly electrically / structurally connected to the second device, or indirectly electrically / structurally connected to the second device through other devices or connection means.

[0091] Please see Figure 1 , Figure 1 This is a schematic diagram of the automated device 1 according to Embodiment 1 of the present invention. Figure 1 As shown, in this embodiment, the automated equipment 1 includes an assembly system 11, a base 12, a tray device 13, and a conveying device 14. The assembly system 11 includes a robotic arm 111 disposed on the base 12 and a gripper device 112 disposed on and movable by the robotic arm 111. The robotic arm 111 can be a four-axis robotic arm, a six-axis robotic arm, or a gantry robotic arm, etc. The gripper device 112 is used to grip a first workpiece W1. The tray device 13 is disposed on the base 12 and is assembled to hold multiple first workpieces W1 (such as memory devices). The assembly system 11 can use the robotic arm 111 and the gripper device 112 to accurately and quickly insert at least partially the first workpieces W1 located on the tray device 13 into a second workpiece W2 (such as a motherboard disposed on a housing). In this embodiment, the second workpiece W2 may be provided with multiple slots S for at least partial insertion of multiple first workpieces W1. The conveying device 14 can be used to convey a second workpiece W2. However, the present invention is not limited to such Figure 1 The illustrated embodiment. For example, in another embodiment, the robotic arm and the pallet device may be mounted on two different bases. Alternatively, in another embodiment, the automated equipment may further include a conveying device for conveying the pallet device.

[0092] Please see Figures 2 to 10 , Figure 2 This is a partial structural diagram of the assembly system 11 according to an embodiment of the present invention. Figure 3 This is an exploded view of some components of the assembly system 11 according to an embodiment of the present invention. Figure 4 This is a partial internal structure diagram of the assembly system 11 according to an embodiment of the present invention. Figure 5 This is a partial structural cross-sectional view of the assembly system 11 according to an embodiment of the present invention. Figure 6 This is a partial structural cross-sectional view of the assembly system 11 according to an embodiment of the present invention from another perspective. Figure 7 This is a schematic diagram of another part of the internal structure of the assembly system 11 according to an embodiment of the present invention. Figure 8This is a cross-sectional view of another part of the assembly system 11 according to an embodiment of the present invention. Figure 9 This is a schematic diagram of the assembly system 11 of the present invention when inserting multiple first workpieces W1. Figure 10 This is a cross-sectional view of another part of the structure of the assembly system 11 in an embodiment of the present invention from another perspective.

[0093] like Figures 2 to 8 As shown, in this embodiment, the gripper device 112 includes a body 1121, a first gripper assembly 1122, and a second gripper assembly 1123. The body 1121 is connected to the robotic arm 111. The first gripper assembly 1122 and the second gripper assembly 1123 are structurally corresponding and are disposed on opposite sides of the body 1121 and can be driven to move closer or further apart to jointly grip multiple first workpieces W1. The first gripper assembly 1122 includes multiple first gripper pieces 1122A and multiple first elastic components 1122B. The second gripper assembly 1123 includes multiple second gripper pieces 1123A and multiple second elastic components 1123B. Each first elastic component 1122B is used to drive the corresponding first gripper piece 1122A to elastically abut against one side of the corresponding first workpiece W1. Each second elastic component 1123B is used to drive the corresponding second gripper piece 1123A to elastically abut against the other side of the corresponding first workpiece W1. The multiple first gripper pieces 1122A and the corresponding second gripper pieces 1123A are used to jointly grip the corresponding first workpiece W1. However, the present invention is not limited to the embodiment shown in the figure. For example, in another embodiment, the structures of the first and second gripper assemblies may not be symmetrical and may only be used to grip one first workpiece. For instance, the first gripper assembly may contain only one first gripper and one first elastic component, and the second gripper assembly may contain only one fixedly disposed second gripper. That is, in this embodiment, the first gripper elastically abuts against the first workpiece, while the second gripper fixedly abuts against the first workpiece. Furthermore, the elastic abutment described herein refers to the movable gripper being driven by the elastic force generated by the corresponding elastic component to abut against the workpiece.

[0094] Furthermore, such as Figures 2 to 6As shown, the first gripper assembly 1122 further includes a first gripper seat 1122C, which is movably connected to the body 1121. The first gripper seat 1122C can be driven pneumatically or electrically to move closer to or further away from the second gripper assembly 1123. Each first gripper member 1122A includes a first end 1122A1 and a second end 1122A2. In the embodiment shown, the first end 1122A1 is located above the second end 1122A2. In other words, the first and second ends 1122A1 and 1122A2 of the first gripper member 1122A are the upper and lower ends of the first gripper member 1122A, respectively. The first end 1122A1 is movably installed within the first gripper seat 1122C. For example, each first elastic component 1122B is disposed between the first end 1122A1 and the first gripper seat 1122C of the corresponding first gripper member 1122A. The second end 1122A2 of each first gripper 1122A protrudes from the first gripper seat 1122C and is used to elastically abut against the first workpiece W1 (see...). Figures 2 to 4 ).

[0095] In this embodiment, each first elastic component 1122B includes a first elastic element 1122B1 and a second elastic element 1122B2. Each first elastic element 1122B1 abuts against a first side X1 of the first end 1122A1 of the corresponding first gripper 1122A and a first gripper seat 1122C. Each second elastic element 1122B2 abuts against a second side X2 of the first end 1122A1 of the corresponding first gripper 1122A and a first gripper seat 1122C. Figure 4 In the illustrated embodiment, the first claw seat 1122C includes at least one first arch member 1122C1 for abutting against the first elastic member 1122B1 and / or the second elastic member 1122B2.

[0096] Furthermore, please refer to Figure 3 and Figure 5 Each first elastic component 1122B further includes a shaft 1122B3, which is disposed on the first claw seat 1122C and passes through the first end portion 1122A1. Therefore, the first end portion 1122A1 can rotate about the shaft 1122B3 in a rotational direction A1. Furthermore, a gap G1 is formed between the shaft 1122B3 and the first end portion 1122A1, allowing the first end portion 1122A1 to move (e.g., swing) relative to the shaft 1122B3 in a moving direction A2 without interfering with the shaft 1122B3. In the embodiment shown in the figure, the first elastic component 1122B1 and the second elastic component 1122B2 are sleeved on the shaft 1122B3.

[0097] It is worth noting that, in this embodiment, as Figure 3 and Figure 5 As shown, the shafts 1122B3 of two adjacent first elastic components 1122B can be integrally formed and connected to each other; however, the present invention is not limited to this embodiment. For example, in another embodiment, the shafts of two adjacent first elastic components can be arranged separately from each other.

[0098] In addition, such as Figure 4 and Figure 6 As shown, each of the first elastic components 1122B further includes a positioning member 1122B4 and a third elastic member 1122B5. The positioning member 1122B4 abuts against a third side X3 adjacent to the first side X1 and the second side X2 of the first end 1122A1. A positioning recess P1 is formed on the third side X3 of the first end 1122A1 to cooperate with the positioning member 1122B4. The third elastic member 1122B5 abuts between the positioning member 1122B4 and the first claw seat 1122C.

[0099] Specifically, in this embodiment, the first elastic element 1122B1, the second elastic element 1122B2, and the third elastic element 1122B5 can each be a coil spring; however, the present invention is not limited to this embodiment. For example, in another embodiment, the first elastic element, the second elastic element, or the third elastic element can be a leaf spring or an air spring.

[0100] Understandably, in another embodiment, at least one of the shaft, positioning member, first elastic member, second elastic member, and third elastic member may be omitted according to actual design requirements.

[0101] Similarly, such as Figure 7 and Figure 8 As shown, the second gripper assembly 1123 further includes a second gripper seat 1123C, which is movably connected to the body 1121. The second gripper seat 1123C can be pneumatically or electrically driven to move closer to or further away from the first gripper assembly 1122. The second gripper member 1123A includes a first end structure 1123A1 and a second end structure 1123A2. In the embodiment shown, the first end structure 1123A1 is located above the second end structure 1123A2. In other words, the first and second end structures 1123A1 and 1123A2 of the second gripper member 1123A are the upper end and lower end of the second gripper member 1123A, respectively. The first end structure 1123A1 is movably mounted within the second jaw seat 1123C. For example, the second elastic component 1123B is disposed between the first end structure 1123A1 and the second jaw seat 1123C, and the second end structure 1123A2 protrudes from the second jaw seat 1123C and is used to elastically abut against the first workpiece W1 (see [link]). Figure 2 and Figure 7 ).

[0102] In this embodiment, each second elastic component 1123B includes a first elastic structure 1123B1 and a second elastic structure 1123B2. The first elastic structure 1123B1 abuts between a first wall Y1 of the first end structure 1123A1 and a second claw seat 1123C. The second elastic structure 1123B2 abuts between a second wall Y2 of the first end structure 1123A1 relative to the first wall Y1 and the second claw seat 1123C. Figure 7 In the illustrated embodiment, the second claw seat 1123C includes at least one first arch structure 1123C1 for abutting against the first elastic structure 1123B1 and / or the second elastic structure 1123B2.

[0103] Furthermore, please refer to Figure 7 and Figure 8 Each second elastic component 1123B further includes a shaft structure 1123B3, which is disposed on the second claw seat 1123C and passes through the first end structure 1123A1. Therefore, the first end structure 1123A1 can rotate about the shaft structure 1123B3 in a rotation direction A3. A gap G2 is further formed between the shaft structure 1123B3 and the first end structure 1123A1, thereby allowing the first end structure 1123A1 to move (e.g., swing) relative to the shaft structure 1123B3 in a movement direction A4 without interfering with the shaft structure 1123B3. In the embodiment shown in the figure, the first elastic structure 1123B1 and the second elastic structure 1123B2 are sleeved on the shaft structure 1123B3.

[0104] It is worth noting that, in this embodiment, as Figure 8 As shown, the shaft structures 1123B3 of two adjacent second elastic components 1123B can be integrally formed and connected to each other; however, the present invention is not limited to this embodiment. For example, in another embodiment, the shaft structures of two adjacent second elastic components can be arranged separately from each other.

[0105] In addition, such as Figure 7 and Figure 9 As shown, each of the second elastic components 1123B further includes a positioning structure 1123B4 and a third elastic structure 1123B5. The positioning structure 1123B4 abuts against a third wall Y3 of the first end structure 1123A1 adjacent to the first wall Y1 and the second wall Y2. A positioning recess structure P2 is formed on the third wall Y3 of the first end structure 1123A1 to cooperate with the positioning structure 1123B4. The third elastic structure 1123B5 abuts between the positioning structure 1123B4 and the second claw seat 1123C.

[0106] In this embodiment, the first elastic structure 1123B1, the second elastic structure 1123B2, and the third elastic structure 1123B5 can each be a coil spring; however, the present invention is not limited to this embodiment. For example, in another embodiment, the first elastic structure, the second elastic structure, or the third elastic structure can be a leaf spring or an air spring.

[0107] Understandably, in another embodiment, at least one of the shaft structure, positioning structure, first elastic structure, second elastic structure and third elastic structure may be omitted according to actual design requirements.

[0108] The above structural arrangement allows the first workpiece W1 to move during insertion to adapt to the offset or tilted slot S, meaning the first workpiece W1 can be finely adjusted and moved to adapt to the offset slot S. For example, as Figure 10 As shown, since the first gripper 1122A and the second gripper 1123A can translate along the axial direction of the shaft 1122B3 and the shaft structure 1123B3 respectively by compressing the corresponding elastic members and elastic structures, the second first workpiece W1 from the right can be offset to the left to fit into the corresponding offset slot S. Furthermore, since the first gripper 1122A and the second gripper 1123A can swing relative to the shaft 1122B3 and the shaft structure 1123B3 respectively, the third first workpiece W1 from the right can be tilted counterclockwise to fit into the corresponding skewed slot S. Therefore, even without the aid of a visual correction mechanism, multiple workpieces can still be accurately and quickly inserted into multiple slots simultaneously, thereby effectively shortening the assembly time. In addition, it is worth mentioning that, as Figure 6 and Figure 9 As shown, when the first gripper 1122A and the second gripper 1123A do not abut against the first workpiece W1, each third elastic member 1122B5 and each third elastic structure 1123B5 can respectively push against the corresponding positioning member 1122B4 and the corresponding positioning structure 1123B4 to cooperate with the corresponding positioning recess P1 and the corresponding positioning recess structure P2, so as to drive the corresponding first gripper 1122A and the second gripper 1123A to automatically reset.

[0109] like Figures 4 to 9As shown, in order to make the displacement, swaying or resetting of the first gripper 1122A and the second gripper 1123A smoother, each first elastic component 1122B further includes a fourth elastic component 1122B6, a fifth elastic component 1122B7, an auxiliary positioning component 1122B8 and a sixth elastic component 1122B9. Each fourth elastic component 1122B6 and the corresponding fifth elastic component 1122B7 respectively abut against the opposite sides of the middle part of the corresponding first gripper 1122A. Each sixth elastic component 1122B9 is used to drive the corresponding auxiliary positioning component 1122B8 to push against the other side of the middle part of the corresponding first gripper 1122A. In the embodiment shown in the figure, each of the fourth elastic elements 1122B6, each of the fifth elastic elements 1122B7, and each of the sixth elastic elements 1122B9 are arranged in parallel with the corresponding first elastic element 1122B1, the corresponding second elastic element 1122B2, and the corresponding third elastic element 1122B5, respectively, and the first claw seat 1122C further includes at least one second arch member 1122C2 for abutting against the first elastic element 1122B1 and / or the second elastic element 1122B2. Each second elastic component 1123B further includes a fourth elastic structure 1123B6 and a fifth elastic structure 1123B7, an auxiliary positioning structure 1123B8 and a sixth elastic structure 1123B9. Each fourth elastic structure 1123B6 and the corresponding fifth elastic structure 1123B7 respectively abut against the opposite sides of the middle part of the corresponding second gripper 1123A. Each sixth elastic structure 1123B9 is used to drive the corresponding auxiliary positioning structure 1123B8 to push against the other side of the middle part of the corresponding second gripper 1123A. In the embodiment shown in the figure, each of the fourth elastic structures 1123B6, each of the fifth elastic structures 1123B7, and each of the sixth elastic structures 1123B9 are arranged in parallel with the corresponding first elastic structure 1123B1, the corresponding second elastic structure 1123B2, and the corresponding third elastic structure 1123B5, respectively. The second claw seat 1123C further includes at least one second arch structure 1123C2 for the first elastic structure 1123B1 and / or the second elastic structure 1123B2 to abut against.

[0110] In this embodiment, the fourth elastic element 1122B6, the fifth elastic element 1122B7, the sixth elastic element 1122B9, the fourth elastic structure 1123B6, the fifth elastic structure 1123B7, and the sixth elastic structure 1123B9 can all be coil springs; however, the present invention is not limited to this embodiment. For example, in another embodiment, the fourth elastic element, the fifth elastic element, the sixth elastic element, the fourth elastic structure, the fifth elastic structure, or the sixth elastic structure can be a leaf spring or an air spring.

[0111] Understandably, in another embodiment, at least one of the fourth elastic element, the fifth elastic element, the sixth elastic element, the auxiliary positioning element, the fourth elastic structure, the fifth elastic structure, the sixth elastic structure, and the auxiliary positioning structure may be omitted according to actual design requirements.

[0112] Furthermore, in this embodiment, as Figure 10 As shown, a distance D1 between adjacent pairs of the plurality of first gripper members 1122A can be approximately equal to a distance D2 between adjacent pairs of the plurality of second gripper members 1123A and approximately equal to a distance D3 between adjacent pairs of the plurality of slots S, so that adjacent pairs of the plurality of clamped first workpieces W1 can be at least partially inserted into adjacent pairs of the plurality of slots S. However, the present invention is not limited to this embodiment. For example, please refer to... Figure 11 , Figure 11 This is a schematic diagram of another embodiment of the present invention, showing a system 11' being used to insert multiple first workpieces W1'. Figure 11 As shown, in order to allow the clamped first workpiece W1' to be smoothly adapted to the multiple slots S', the distance D1' between two adjacent pairs of the multiple first gripper pieces 1122A' can be approximately equal to the distance D2' between two adjacent pairs of the multiple second gripper pieces 1123A' and greater than the distance D3' between two adjacent pairs of the multiple slots S'. For example, the distance D1' between two adjacent pairs of the multiple first gripper pieces 1122A' can be approximately twice the distance D3' between two adjacent pairs of the multiple slots S', so that two adjacent pairs of the clamped first workpieces W1' can be at least partially inserted into two non-adjacent pairs of the multiple slots S'.

[0113] In addition, please see Figure 12 , Figure 12 This is a schematic diagram of the assembly system 11 of the present invention clamping a first workpiece W1 with different dimensions, according to an embodiment of the present invention. Figure 12 As shown, to allow the gripper device 112 to simultaneously and securely hold first workpieces W1 of different sizes (the length of the first workpiece W1 located at the upper part of the figure is greater than the length of the first workpiece W1 located at the lower part, and the width of the first workpiece W1 located at the upper part is less than the width of the first workpiece W1 located at the lower part), a gripping recess is formed at the second end 1122A2 of the first gripper member 1122A. In the embodiment shown, the gripping recess R1 is V-shaped, and the second end structure 1123A2 of the second gripper member 1123A forms a gripping recess structure R2, which is also V-shaped.

[0114] Understandably, in another embodiment, the clamping recess and the clamping recess structure may be U-shaped or other shapes.

[0115] Please refer to the following: Figure 2 and Figure 13 , Figure 13 This is a partial functional block diagram of the assembly system 11 according to an embodiment of the present invention. For example... Figure 2 and Figure 13 As shown, the assembly system 11 includes a control unit 113 and a pressure sensor 114 and a cylinder assembly 115 electrically connected to the control unit 113. The control unit 113 can be implemented in hardware, software, or firmware, such as a processor, microprocessor, or application-specific integrated circuit. The gripper assembly 112 further includes a pressure block 1124, which is movably disposed on the body 1121 and located between the first gripper assembly 1122 and the second gripper assembly 1123. The cylinder assembly 115 is used to drive the gripper assembly 112 to move (e.g., rise or fall), thereby driving the pressure block 1124 to press down on the workpiece. The pressure sensor 114 is used to sense the pressure in a cylinder 1151 of the cylinder assembly 115. The control unit 113 controls the cylinder assembly 115 according to the pressure sensed by the pressure sensor 114, so as to allow a piston 1152 of the cylinder assembly 115 to retract relative to the cylinder 1151. For example, when the control unit 113 determines that the pressure sensed by the pressure sensor 114 is greater than a predetermined pressure, it allows the piston 1152 of the cylinder assembly 115 to retract relative to the cylinder 1151, thereby releasing the downward pressure applied by the cylinder assembly 115. This effectively prevents the first workpiece W1 and / or the second workpiece W2 from being deformed or damaged due to excessive force applied by the cylinder assembly 115. However, the present invention is not limited to this embodiment. For example, in another embodiment, the gripper device may include multiple pressure blocks, which can be driven by a drive component such as a stepper motor to simultaneously press down multiple first workpieces.

[0116] Please see Figure 14 , Figure 14 The method for mounting a first workpiece W1 using the assembly system 11 according to an embodiment of the present invention includes the following steps:

[0117] Step S1: Adjust the distance between each first gripper 1122A and the corresponding second gripper 1123A so that the distance between each first gripper 1122A and the corresponding second gripper 1123A is less than the length of the corresponding first workpiece W1 along the length direction;

[0118] Step S2: Use the robotic arm 111 to move the body 1121 of the gripper device 112 so that each first gripper 1122A and the corresponding second gripper 1123A jointly grip the corresponding first workpiece W1.

[0119] Step S3: Move multiple first workpieces W1 and then release multiple first workpieces W1, so that the multiple first workpieces W1 are respectively located at the corresponding multiple slots S; and

[0120] Step S4: The cylinder device 115 drives the gripper device 112 to move, thereby driving the pressure block 1124 of the gripper device 112 to press down on the multiple first workpieces W1 in sequence, so that the multiple first workpieces W1 are at least partially inserted into the multiple slots S.

[0121] The following explains the above steps. First, the distance between each first gripper 1122A and the corresponding second gripper 1123A can be adjusted so that the distance between each first gripper 1122A and the corresponding second gripper 1123A is less than the length of the corresponding first workpiece W1 along the length direction. Then, the robotic arm 111 moves the body 1121 of the gripper device 112 so that each first gripper 1122A and the corresponding second gripper 1123A jointly grip the corresponding first workpiece W1. When each first gripper 1122A and the corresponding second gripper 1123A jointly grip the corresponding first workpiece W1, each first gripper 1122A and the corresponding second gripper 1123A elastically abut against the opposite sides of the corresponding first workpiece W1 along the length direction under the action of the corresponding first elastic component 1122B and the corresponding second elastic component 1123B, respectively. Next, multiple first workpieces W1 can be moved and then released, so that the multiple first workpieces W1 are respectively located at the corresponding multiple slots S. The cylinder device 115 drives the gripper device 112 to move, thereby driving the pressure block 1124 of the gripper device 112 to press down the multiple first workpieces W1 in sequence, so that the multiple first workpieces W1 are at least partially inserted into the multiple slots S. When the cylinder assembly 115 moves the gripper assembly 112, thereby causing the pressure block 1124 of the gripper assembly 112 to sequentially press down on multiple first workpieces W1, the pressure sensor 114 can sense the pressure inside the cylinder 1151 of the cylinder assembly 115. This allows the control unit 113 to control the cylinder assembly 115 based on the pressure sensed by the pressure sensor 114, driving the piston 1152 of the cylinder assembly 115 to retract relative to the cylinder 1151, releasing the downward pressure applied by the cylinder assembly 115. This effectively prevents the first workpiece W1 and / or the second workpiece W2 from being deformed or damaged due to excessive force applied by the cylinder assembly 115. However, the present invention is not limited to this embodiment. For example, in another embodiment, when the first gripper and the second gripper jointly hold the first workpiece, the gripper assembly can utilize only the elasticity of the first gripper under the action of the first elastic component to abut against one side of the first workpiece along its length. Alternatively, in another embodiment, the assembly system can sequentially insert multiple first workpieces, at least partially, into multiple slots. Alternatively, in another embodiment, the gripper device may include multiple pressure blocks for simultaneously pressing down multiple first workpieces.

[0122] In summary, the present invention allows the clamped workpiece to move during the insertion process to adapt to the offset or tilted slot. Therefore, even without the assistance of a visual correction mechanism, multiple workpieces can be accurately and quickly inserted into multiple slots simultaneously, thereby effectively shortening the assembly time and increasing the assembly accuracy.

[0123] The above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be included in the scope of the present invention.

Claims

1. An assembly system, characterized in that, Includes: A robotic arm; and A gripper device is disposed on the robotic arm, the gripper device comprising: one body; A first gripper assembly is disposed on the body. The first gripper assembly includes a first gripper member and a first elastic component, the first elastic component being used to drive the first gripper member to elastically abut against a workpiece; and A second gripper assembly is disposed on the body, the second gripper assembly includes a second gripper member, the first gripper member and the second gripper member are used together to grip the workpiece; The first gripper assembly further includes a first gripper seat, which is movably connected to the body. The first gripper includes a first end and a second end. The first end is movably located within the first gripper seat. A first elastic component is disposed between the first end and the first gripper seat. The second end protrudes from the first gripper seat and is used to elastically abut against the workpiece. The second gripper assembly further includes a second gripper seat and a second elastic component. The second gripper is movably connected to the body. The second gripper includes a first end structure and a second end structure. The first end structure is movably located within the second gripper seat. The second elastic component is disposed between the first end structure and the second gripper seat. The second end structure protrudes from the second gripper seat and is used to elastically abut against the workpiece.

2. The assembly system according to claim 1, characterized in that, The first elastic component includes a first elastic member and a second elastic member. The first elastic member abuts between a first side of the first end and the first claw seat. The second elastic member abuts between a second side of the first end relative to the first side and the first claw seat. The second elastic component includes a first elastic structure and a second elastic structure. The first elastic structure abuts between a first wall of the first end structure and the second claw seat. The second elastic structure abuts between a second wall of the first end structure relative to the first wall and the second claw seat.

3. The assembly system according to claim 2, characterized in that, The first elastic component further includes a positioning member and a third elastic member. The positioning member abuts against a third side of the first end adjacent to the first side and the second side. A positioning recess is formed on the third side of the first end for cooperating with the positioning member. The third elastic member abuts between the positioning member and the first claw seat. The second elastic component further includes a positioning structure and a third elastic structure. The positioning structure abuts against a third wall of the first end structure adjacent to the first wall and the second wall. A positioning recess is formed on the third wall of the first end structure for cooperating with the positioning structure. The third elastic structure abuts between the positioning structure and the second claw seat.

4. The assembly system according to claim 2, characterized in that, The first elastic component further includes a shaft member disposed on the first claw seat and passing through the first end portion. A gap is formed between the shaft member and the first end portion to allow the first end portion to move relative to the shaft member. The first elastic member and the second elastic member are sleeved on the shaft member. The second elastic component further includes a shaft structure disposed on the second claw seat and passing through the first end portion structure. A gap is formed between the shaft structure and the first end portion structure to allow the first end portion structure to move relative to the shaft structure. The first elastic structure and the second elastic structure are sleeved on the shaft structure.

5. The assembly system according to claim 1, characterized in that, The gripper device further includes a pressure block, which is movably disposed on the body and located between the first gripper assembly and the second gripper assembly. The pressure block is used to press down on the workpiece. The assembly system further includes a control unit, a pressure sensor, and a cylinder assembly. The cylinder assembly is used to drive the gripper device to move, thereby driving the pressure block to press down on the workpiece. The control unit is electrically connected to the pressure sensor and the cylinder assembly. The pressure sensor is used to sense a pressure in a cylinder of the cylinder assembly. The control unit controls the cylinder assembly according to the pressure sensed by the pressure sensor to allow a piston of the cylinder assembly to retract relative to the cylinder.

6. A gripper device, characterized in that, Includes: one body; A first gripper assembly is disposed on the body. The first gripper assembly includes a first gripper member and a first elastic component, the first elastic component being used to drive the first gripper member to elastically abut against a workpiece; and A second gripper assembly is disposed on the body, the second gripper assembly includes a second gripper member, the first gripper member and the second gripper member are used together to grip the workpiece; The first gripper assembly further includes a first gripper seat, which is movably connected to the body. The first gripper includes a first end and a second end. The first end is movably located within the first gripper seat. The first elastic component is disposed between the first end and the first gripper seat. The second end protrudes from the first gripper seat and is used to elastically abut against the workpiece.

7. The gripper device according to claim 6, characterized in that, The first elastic component includes a first elastic member and a second elastic member. The first elastic member abuts between a first side of the first end and the first claw seat, and the second elastic member abuts between a second side of the first end relative to the first side and the first claw seat.

8. The gripper device according to claim 7, characterized in that, The first elastic component further includes a positioning member and a third elastic member. The positioning member abuts against a third side of the first end adjacent to the first side and the second side. A positioning recess is formed on the third side of the first end for cooperating with the positioning member. The third elastic member abuts between the positioning member and the first claw seat.

9. The gripper device according to claim 8, characterized in that, The first elastic component further includes a fourth elastic element, a fifth elastic element, an auxiliary positioning element, and a sixth elastic element. The first gripper includes an intermediate portion located between the first end and the second end. The fourth elastic element and the fifth elastic element respectively abut against opposite sides of the intermediate portion of the first gripper. The sixth elastic element is used to drive the auxiliary positioning element to push against the other side of the intermediate portion of the first gripper. The other side refers to a side in a direction perpendicular to the direction of the fourth elastic element and the fifth elastic element.

10. The gripper device according to claim 7, characterized in that, The first elastic component further includes a shaft member disposed on the first claw seat and passing through the first end. A gap is formed between the shaft member and the first end to allow the first end to move relative to the shaft member. The first elastic member and the second elastic member are sleeved on the shaft member.

11. The gripper device according to claim 7, characterized in that, The second end has a clamping recess.

12. The gripper device according to claim 6, characterized in that, The second gripper assembly further includes a second gripper seat and a second elastic component. The second gripper seat is movably connected to the body. The second gripper includes a first end structure and a second end structure. The first end structure is movably located within the second gripper seat. The second elastic component is disposed between the first end structure and the second gripper seat. The second end structure protrudes from the second gripper seat and is used to elastically abut against the workpiece.

13. The gripper device according to claim 12, characterized in that, The second elastic component includes a first elastic structure and a second elastic structure. The first elastic structure abuts between a first wall of the first end structure and the second claw seat, and the second elastic structure abuts between a second wall of the first end structure relative to the first wall and the second claw seat.

14. The gripper device according to claim 13, characterized in that, The second elastic component further includes a positioning structure and a third elastic structure. The positioning structure abuts against a third wall of the first end structure adjacent to the first wall and the second wall. A positioning recess is formed on the third wall of the first end structure to cooperate with the positioning structure. The third elastic structure abuts between the positioning structure and the second claw seat.

15. The gripper device according to claim 13, characterized in that, The second elastic component further includes a shaft structure disposed on the second claw seat and passing through the first end structure. A gap is formed between the shaft structure and the first end structure to allow the first end structure to move relative to the shaft structure. The first elastic structure and the second elastic structure are sleeved on the shaft structure.

16. The gripper device according to claim 6, characterized in that, It also includes a pressure block, which is movably disposed on the body and located between the first jaw assembly and the second jaw assembly, and the pressure block is used to press the workpiece.

17. The gripper device according to claim 6, characterized in that, The distance between the first gripper and the second gripper is less than a length of the workpiece along a certain length direction.

18. A method for mounting a workpiece using a set of independent systems, characterized in that, Includes: Adjust the distance between a first gripper and a second gripper of a gripper device in the assembly system so that the distance between the first gripper and the second gripper is less than the length of the workpiece along a length direction; Using a robotic arm of the assembly system, a body of the gripper device is moved so that the first gripper and the second gripper jointly grip the workpiece. When the first gripper and the second gripper jointly grip the workpiece, at least one of the first gripper and the second gripper elastically abuts against at least one side of the workpiece along the length direction. as well as Move the workpiece and release it so that the workpiece is positioned in the corresponding slot; The gripper device further includes a first gripper seat, which is movably connected to the main body. The first gripper includes a first end and a second end. The first end is movably located within the first gripper seat. A first elastic component is disposed between the first end and the first gripper seat. The second end protrudes from the first gripper seat and is used to elastically abut against the workpiece.

19. The method according to claim 18, characterized in that, Also includes: The gripper device is used to clamp multiple workpieces and insert at least partially two adjacent workpieces into multiple slots, while non-adjacent workpieces are inserted into the slots.

20. The method according to any one of claims 18 to 19, characterized in that, Also includes: The cylinder device of the assembly system drives the gripper device to move, thereby driving a pressure block of the gripper device to press down on the workpiece, so that the workpiece is at least partially inserted into the slot. The pressure in a cylinder of the cylinder assembly is sensed using a pressure sensor in the assembly system. as well as A control unit of the assembly system controls the cylinder assembly based on the pressure sensed by the pressure sensor, so as to allow a piston of the cylinder assembly to retract relative to the cylinder.

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