Assembly apparatus

Abstract

The application provides an assembling device for assembling a first part and a second part to an assembly, the assembling device comprising a first base, a first clamping assembly and a first driving assembly. The clamping assembly is connected to the first base, the first clamping assembly comprising a first clamping jaw for clamping the first part and a second clamping jaw for clamping the second part; the first driving assembly is used for driving the first base to switch positions between a first position and a second position; wherein the first clamping jaw is in sliding connection with the first base, and the first clamping jaw is configured to slide relative to the first base towards the second clamping jaw during movement of the first base from the first position to the second position driven by the first driving assembly. The assembling device can facilitate quick assembly of multiple parts having a mutual assembly relationship on an assembly to be assembled, thereby improving assembly efficiency.

Description

Technical Field

[0001] This application relates to the field of parts assembly, and in particular to an assembly device. Background Technology

[0002] In automated assembly equipment, robotic arms are used to assemble parts onto workpieces. When there are multiple parts, such as two, a robotic arm with one gripper can first assemble one part onto the workpiece, and then assemble the other part onto the workpiece, thus completing the assembly of the two parts. To improve assembly efficiency, an improved solution is to equip a single robotic arm with two grippers, each gripping one part in turn, and then simultaneously assembling both parts onto the workpiece. However, the above solution can only assemble two parts with a constant relative distance during the assembly process. When the two parts also have an assembly relationship (i.e., both parts need to be assembled onto the workpiece, and the two parts also have an assembly relationship with each other), during the assembly process, either the two grippers on one robotic arm cannot complete the assembly action between the two parts after gripping them, or the two parts cannot be gripped by the two grippers on one robotic arm (when one part needs to be completely assembled into the other part). In summary, when it is necessary to assemble two parts that have an assembly relationship onto a workpiece, only a robotic arm with a gripper can be used to assemble the two parts one by one, which results in low assembly efficiency. Summary of the Invention

[0003] The main objective of this application is to provide an assembly device that facilitates the rapid assembly of multiple parts with mutual assembly relationships on an assembly to be assembled.

[0004] To achieve the above objectives, this application proposes an assembly apparatus for assembling a first part and a second part into an assembly. The assembly apparatus includes:

[0005] First base;

[0006] A first clamping assembly is connected to a first base. The first clamping assembly includes a first jaw for clamping a first part and a second jaw for clamping a second part.

[0007] The first driving component is used to drive the first base to switch positions between the first position and the second position;

[0008] The first gripper is slidably connected to the first base. During the process of the first driving component driving the first base to move from the first position to the second position, the first gripper is configured to slide relative to the first base toward the direction of the second gripper.

[0009] Furthermore, the first gripper is adapted to be stopped by the assembly to allow the first gripper to slide relative to the first base toward the direction of the second gripper; or, the assembly equipment further includes a stop member that, during the movement of the first base from the first position to the second position, stops the first gripper and drives the first gripper to slide relative to the first base toward the direction of the second gripper; or, the assembly equipment further includes a second drive assembly for driving the first gripper to slide relative to the first base toward the direction of the second gripper.

[0010] In the above embodiments, the setting of the first gripper to stop the assembly can stop the first gripper by changing the relative position between the first gripper and the second gripper without the need for additional components. The structure is simple and the control is flexible. The setting of the first gripper to stop the assembly of the first part and the second part can be changed by changing the relative position between the first gripper and the second gripper. The implementation is simple and the control is flexible. The setting of the second drive component to drive the first gripper to slide can adjust the starting position and drive speed by adjusting the second drive component. The control is flexible and precise.

[0011] Furthermore, the first drive component is configured to drive the first base to move from the first position to the second position along the first direction, and the first gripper is configured to slide in the opposite direction along the first direction to approach the second gripper.

[0012] In the above embodiments, the setting of the sliding direction of the first gripper can make the direction of movement of the first base and the direction of movement of the first gripper relative to the first base toward the second gripper adaptable to the assembly direction of the assembly and the first part and the second part, thereby reducing the direction adjustment during the assembly process.

[0013] Furthermore, the first driving component is also used to drive the first base to move to a third position, which is located between the first position and the second position. The first driving component is configured such that during the process of driving the first base from the first position to the third position, the relative positions of the first gripper and the second gripper remain unchanged. The first driving component is also configured such that during the process of driving the first base from the third position to the second position, the first gripper slides relative to the first base toward the direction closer to the second gripper.

[0014] In the above embodiments, the third position can correspond to the position where the first base moves to the position where the first part is stopped by the assembly. That is, when the first base is in the third position where the first part abuts against the assembly, the first gripper can start to slide relative to the first base toward the direction of the second gripper under the stopping action of the assembly.

[0015] Furthermore, the first driving component includes a first driving part and a second driving part. The first driving part is used to drive the first base to move from a first position to a fourth position, and the second driving part is used to drive the first base to move from the fourth position to a second position. The fourth position is located between the second position and the third position.

[0016] In the above embodiments, by setting a fourth position, the driving distance between the first base and the second position can be made more precise.

[0017] Furthermore, when the first base is in the first position, the first driving part is in the first maximum limit position and the second driving part is in the second maximum limit position; when the first base is in the fourth position, the first driving part is in the first minimum limit position; and when the first base is in the second position, the second driving part is in the second minimum limit position.

[0018] In the above embodiments, when the fourth position corresponds to the first driving part being in the first minimum limit position, the first base can be precisely moved to the fourth position in the middle, thereby improving the control accuracy of the driving distance of the first base and the control accuracy of the relative position between the first gripper and the second gripper.

[0019] Furthermore, when the first base is in the third position, the first part is suitable for assembly; when the first base is in the fourth position, the second part is suitable for assembly; and when the first base is in the second position, both the first and second parts are fully assembled.

[0020] In the above embodiments, by setting the fourth position and the limit position, when the first base is in the fourth position, that is, when the first driving part is in the first minimum limit position, the relative position between the first gripper and the second gripper can depend on the limit driving distance set by the first driving part and the setting position of the assembly. Therefore, the relative position between the first gripper and the second gripper can be precisely controlled at this time (at this time, the second part can abut against the first part, and the first part can also be in the state of abutting against the assembly, but not yet assembled with the assembly), so that the second part can start to be assembled and connected to the assembly. When the first base is in the second position, the second driving part can be in the minimum limit position. At this time, under the action of the second driving part driving the first base, both the first part and the second part can be assembled on the assembly.

[0021] Furthermore, the first clamping assembly also includes a rod and a first spring, with the first spring passing through the rod; the second gripper also includes a first opening extending in the direction from the second gripper to the first gripper, with one end of the rod connected to the first gripper and the other end passing through the first opening in the direction of the first opening, so that when the first gripper slides relative to the first base toward the second gripper, the rod moves in the direction of the first opening, and the first spring generates an elastic force from the second gripper toward the first gripper; or, the first gripper also includes a second opening extending in the direction from the second gripper to the first gripper, with one end of the rod connected to the second gripper and the other end passing through the second opening in the direction of the second opening, so that when the first gripper slides relative to the first base toward the second gripper, the rod moves in the direction of the second opening, and the first spring generates an elastic force from the second gripper toward the first gripper.

[0022] In the above embodiments, after the first part and the second part are assembled on the assembly, the first spring releases its elastic force to push the first gripper away from the second gripper. At this time, the relative positions of the first gripper and the second gripper when they are in the first position can be restored to facilitate the next assembly operation.

[0023] Furthermore, the first clamping assembly also includes an abutment and a second spring. The abutment is disposed on the second jaw, and the second spring is sleeved on the abutment. During the process of the first jaw sliding relative to the first base toward the direction of the second jaw, the abutment is configured to abut against the first part and can move relative to the second jaw, and the second spring generates an elastic force from the second jaw toward the first jaw.

[0024] In the above embodiments, by providing an abutment and a second spring, during the sliding of the first gripper relative to the first base towards the second gripper, the abutment moves relative to the second gripper, and the second spring compresses to provide an elastic force from the second gripper towards the first gripper. This ensures that the abutment always abuts against the first part, thus limiting its contact and ensuring that the relative position between the first part and the first gripper remains unchanged. It can even allow the first part to be further assembled into the assembly. After both the first and second grippers are assembled, the first base can return to its first position, and the second spring can release its elastic force to push the abutment towards the first gripper, restoring the position of the abutment relative to the second gripper for the next abutment action.

[0025] Furthermore, the first drive assembly is configured to drive the first base to move from the first position to the second position along the first direction, and the assembly equipment also includes a sixth drive assembly;

[0026] After the first base moves to the fourth position, the sixth drive assembly is configured to drive the first gripper to move along a second direction intersecting the first direction, so as to move the first gripper away from the first part and release the first part.

[0027] In the above embodiments, after the first part is installed, the first gripper moves away from the first part to release the first part, which facilitates further assembly of the first part and the second part and avoids interference between the grippers or between the first gripper and the second part.

[0028] Furthermore, the first drive assembly is configured to drive the first base to move from the first position to the second position along the first direction. The assembly equipment also includes a fourth drive assembly, which is configured to drive the first base, the first gripper, and the second gripper to move along a third direction perpendicular to the first direction, so that the first gripper and the second gripper can grip the first part and the second part.

[0029] In the above embodiments, the fourth driving component can drive the first base to move in a direction perpendicular to the assembly direction, thereby improving the flexibility of adjusting the position of the first base.

[0030] Furthermore, the assembly equipment also includes a second base, a third base, and a fourth drive assembly. The second base is slidably connected to the first base. The first drive assembly is configured to drive the first base to slide relative to the second base in a first direction. The second base is also slidably connected to the third base. The fourth drive assembly is configured to drive the second base to slide relative to the third base in a third direction and drive the first base to move in a third direction.

[0031] In the above embodiments, the sliding connection of each base is configured to facilitate the clamping operation of the first gripper / second gripper in a third direction.

[0032] Furthermore, the assembly equipment also includes a second clamping assembly, which includes a third jaw and a fourth jaw. The assembly equipment also includes a fifth driving assembly, which is used to drive the second clamping assembly to switch positions between a fifth position and a sixth position. When the second clamping assembly is in the fifth position, the third jaw grips the first part and the fourth jaw grips the second part. When the second clamping assembly is in the sixth position, the first jaw grips the first part and the second jaw grips the second part.

[0033] In the above embodiments, the third and fourth grippers can facilitate the accurate acquisition of the first and second parts and transport the two parts to a position that is easy for the first and second grippers to grasp.

[0034] Furthermore, the third direction is perpendicular to the first direction, the first gripper and the second gripper are arranged opposite each other along the first direction, and the fifth drive component is configured to drive the second gripping component to move along a direction parallel to the first direction X and along a direction parallel to the third direction, so that the second gripping component can switch positions between the fifth position and the sixth position.

[0035] In the above embodiments, the fifth drive component can easily adjust the position of the second clamping component so that the movement of the first and second clamping jaws does not interfere with the movement direction of the third and fourth clamping jaws.

[0036] Furthermore, the first drive assembly is configured to drive the first base to move from the first position to the second position along the first direction. Along the first direction, the first clamping assembly is arranged opposite to the assembly. Along the third direction, the first clamping assembly is arranged opposite to the second clamping assembly located at the sixth position.

[0037] In the above embodiments, the layout space of the assembly equipment can be saved, and the actions of each gripper do not interfere with each other.

[0038] Furthermore, the assembly equipment also includes a material conveying assembly for carrying the first part and the second part. The material conveying assembly includes a first material conveying section and a second material conveying section. The first material conveying section is configured to transport the first part and the second part to the second material conveying section along a fourth direction, and the second material conveying section is configured to transport the first part and the second part along a fifth direction intersecting the fourth direction.

[0039] In the above embodiments, the material conveying assembly transports the first part and the second part so that the first part and the second part can be transported to a position that is convenient for the second clamping assembly to clamp.

[0040] Furthermore, the first material conveying unit includes a first vibrating plate and a second vibrating plate. The first vibrating plate has a first discharge port, and the second vibrating plate has a second discharge port. The first vibrating plate is used to transport and sort the first part and transport the first part to the first discharge port along the fourth direction. The second vibrating plate is used to transport and sort the second part and transport the second part to the second discharge port along the fourth direction. The second material conveying unit includes a first material conveying component and a second material conveying component. The first material conveying component is connected to the first discharge port to transport the first part from the first discharge port to the seventh position along the fifth direction. The second material conveying component is connected to the second discharge port to transport the second part from the second discharge port to the eighth position along the fifth direction.

[0041] In the above embodiments, the first part and the second part are transported using different transport devices, which is beneficial for the sorting of parts.

[0042] Furthermore, the assembly equipment also includes a second clamping assembly, which, when in the fifth position, is suitable for clamping the first part and the second part, with the first part in the ninth position. The second material conveying unit also includes an adjustment assembly, which includes a push block, a rotating block, and a rotating motor. The rotating block defines an inner cavity and has an opening communicating with the inner cavity. The push block is configured to drive the first part in the seventh position to move from the opening into the inner cavity. The rotating motor is configured to drive the rotating block to rotate about a rotation axis parallel to the fifth direction. The rotation of the rotating block about the rotation axis can move the first part to the ninth position.

[0043] In the above embodiments, the adjustment component can easily adjust the position of the first part so that the first part is suitable for being clamped.

[0044] Furthermore, the assembly equipment also includes a first sensor disposed on the first conveying component, which is used to detect whether the first conveying component has received the first part output from the first discharge port, and / or, the assembly equipment also includes a second sensor disposed on one side of the first discharge port, which is used to detect the specifications of the first part; and / or, the assembly equipment also includes a third sensor disposed on the second conveying component, which is used to detect whether the second conveying component has received the second part output from the second discharge port; the assembly equipment also includes a fourth sensor, which is used to detect the specifications of the second part.

[0045] In the above embodiments, the sensor configuration facilitates the detection and observation of the working status of each station of the material handling component.

[0046] Compared with the prior art, the beneficial effects of this application are:

[0047] When the assembly equipment of this application drives the first base to switch between the first position and the second position, it can simultaneously drive the first gripper and the second gripper to move towards the second position. It can also realize the relative movement of the first gripper towards the second gripper. When it is necessary to assemble two parts that have an assembly relationship to each other onto the assembly to be assembled, the prior art only uses a robot arm with one gripper to assemble the two parts one by one, which is inefficient. The assembly equipment of this application can facilitate the rapid assembly of multiple parts with an assembly relationship on the assembly to be assembled, thereby improving the assembly efficiency. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0049] Figure 1 This is a perspective view of the assembly equipment provided in the first embodiment of this application;

[0050] Figure 2 for Figure 1 A magnified view of a portion of point P in the middle;

[0051] Figure 3 This is a partial perspective view of the assembly equipment provided in the first embodiment of this application;

[0052] Figure 4 This is a partial schematic diagram of the assembly equipment provided in the second embodiment of this application;

[0053] Figure 5 This is a perspective view of the assembly equipment provided in the first embodiment of this application; wherein the first material conveying unit is removed.

[0054] Figure 6 This is a side view of the assembly equipment provided in the first embodiment of this application;

[0055] Figure 7 This is a top view of the assembly equipment provided in the first embodiment of this application;

[0056] Figure 8 This is a perspective view of the first material conveying unit provided in the first embodiment of this application.

[0057] Explanation of icon numbers:

[0058] 1-Assemble equipment;

[0059] 10-First base;

[0060] 20a-First clamping assembly; 21a-First gripper; 211a-Second opening; 22a-Second gripper; 221a-First opening; 222a-Abutting member; 223a-Second spring; 23a-Rod; 24a-First spring;

[0061] 20b - Second gripping assembly; 21b - Third gripper; 22b - Fourth gripper;

[0062] 30 - First drive assembly; 31 - First drive section; 32 - Second drive section;

[0063] 40 - Second drive component;

[0064] 50 - Third drive component;

[0065] 60 - Second base;

[0066] 70 - Third base;

[0067] 80 - Fourth drive component;

[0068] 90 - Fifth drive component;

[0069] 200 - Sixth Drive Component;

[0070] 100 - Material conveying assembly; 101 - First material conveying section; 1011 - First vibratory feeder; 10111 - First discharge port; 1012 - Second vibratory feeder; 10121 - Second discharge port; 102 - Second material conveying section; 1021 - First material conveying component; 1022 - Second material conveying component; 1023 - Adjustment assembly; 10231 - Push block; 10232 - Rotating block; 10233 - Rotating motor;

[0071] 110 - First sensor;

[0072] 120 - Second sensor;

[0073] 130 - Third sensor;

[0074] 140 - Fourth sensor;

[0075] 2-First part;

[0076] 3-Second part;

[0077] 4-Assembly;

[0078] P1 - First position;

[0079] P2 - Second position;

[0080] P3 - Third position;

[0081] P4 - Fourth position;

[0082] X - First direction;

[0083] Y - Second direction;

[0084] Z - Third-party direction;

[0085] A-Fourth direction;

[0086] B - Fifth direction.

[0087] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0088] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0089] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0090] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or," "and / or," or "and / or" throughout the text implies three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where A and B are simultaneously satisfied. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0091] In automated assembly equipment, robotic arms are used to assemble parts onto workpieces. When there are multiple parts, such as two, a robotic arm with one gripper can first assemble one part onto the workpiece, and then assemble the other part onto the workpiece, thus completing the assembly of the two parts. To improve assembly efficiency, an improved solution is to equip a single robotic arm with two grippers, each gripping one part in turn, and then simultaneously assembling both parts onto the workpiece. However, the above solution can only assemble two parts with a constant relative distance during the assembly process. When the two parts also have an assembly relationship (i.e., both parts need to be assembled onto the workpiece, and the two parts also have an assembly relationship with each other), during the assembly process, either the two grippers on one robotic arm cannot complete the assembly action between the two parts after gripping them, or the two parts cannot be gripped by the two grippers on one robotic arm (when one part needs to be completely assembled into the other part). In summary, when it is necessary to assemble two parts that have an assembly relationship onto a workpiece, only a robotic arm with a gripper can be used to assemble the two parts one by one, which results in low assembly efficiency.

[0092] In view of this, see Figures 1-8 This application provides an assembly device 1 for assembling a first part 2 and a second part 3 into an assembly 4. The assembly device 1 needs to connect the first part 2 and the second part 3 to the assembly 4, and the first part 2 and the second part 3 need to form a mutually mating connection. It should be noted that in this application, the first part 2, the second part 3, and the assembly 4 represent different types of parts and can have different structural forms. The assembly device 1 can be used to assemble multiple first parts 2 and multiple second parts 3 into multiple assemblies 4 respectively. In different embodiments, the first part 2, the second part 3, and the assembly 4 can be the same type of component, that is, they can have the same structural form.

[0093] See Figures 1-2 In this embodiment, the assembly device 1 includes a first base 10, a clamping component 20a, and a first driving component 30.

[0094] See Figures 1-2The first clamping component 20a is connected to the first base 10. Therefore, the first base 10 can be any structure suitable for connecting the clamping component 20a; for example, the base can be block-shaped, plate-shaped, bracket-shaped, or any combination thereof. The first clamping component 20a includes a first jaw 21a for clamping the first part 2 and a second jaw 22a for clamping the second part 3. It is understood that the clamping component 20a can be used to clamp parts. It should be noted that in this embodiment, the first jaw 21a can only clamp one first part 2 at a time, or the second jaw 22a can only clamp one second part 3 at a time. In other embodiments, the first jaw 21a can clamp multiple parts, including the first part 2, at a time, or the second jaw 22a can clamp multiple parts, including the second part 3, at a time. For ease of description, the following example illustrates an embodiment where the first jaw 21a clamps only one first part 2 at a time, and the second jaw 22a clamps only one second part 3 at a time. Different embodiments can be combined with different technical solutions.

[0095] See Figure 3 The first driving component 30 is used to drive the first base 10 to switch positions between a first position P1 and a second position P2. That is, the first position P1 and the second position P2 can correspond to different positions of the first base 10 during the driving process by the first driving component 30. The first base 10 can be in different first positions P1 and second positions P2, and the first gripper 21a and the second gripper 22a can also be in different working positions. Furthermore, the first part 2 and the second part 3 can also be in different assembly states, for example, see [reference needed]. Figure 3In this embodiment, when the first base 10 is located at the first position P1, the first gripper 21a and the second gripper 22a are in the position to assemble the gripped first part 2 and second part 3 to the assembly body 4. That is, at this time, the first part 2 and second part 3 are in the state to be assembled, and the first base 10 is in the static state before the assembly begins. When the first base 10 is located at the second position P2, the first gripper 21a and the second gripper 22a are in the position to assemble the first part 2 and second part 3 to the assembly body 4. That is, at this time, the first part 2 and second part 3 are in the state of completed assembly. For ease of description, the following description uses this type of positional correspondence as an example. In other embodiments, when the first base 10 is located at the first position P1, the first gripper 21a and the second gripper 22a can be in the operation position to start adjusting the relative position of the two grippers, that is, a position during the movement of the first base 10. After the first base 10 moves to the first position P1, the first gripper 21a can start to slide relative to the first base 10 towards the second gripper 22a. When the first base 10 is in the second position P2, the first gripper 21a can be in the position where the first part 2 is assembled, while the second gripper 22a can be in the position where the second part 3 is not assembled. That is, at this time, the first part is in the assembled state, while the second part is in the intermediate state between the state to be assembled and the state to be assembled. For details, see [link to details]. Figures 2-3 In this embodiment, the first gripper 21a and the second gripper 22a are arranged at a relative interval along the direction in which the first base 10 moves from the first position P1 to the second position P2, and the first gripper 21a is located in front of the second gripper 22a along the direction in which the first base 10 moves from the first position P1 to the second position P2. For ease of description, the following description uses this type of relative positional relationship between the first gripper 21a and the second gripper 22a as an example. Correspondingly, in some other embodiments, along the direction in which the first base 10 moves from the first position P1 to the second position P2, the first gripper 21a may also be located behind the second gripper 22a. It should be noted that in different embodiments, the first gripper 21a and the second gripper 22a may have different relative positional relationships.

[0096] See Figure 3 The first gripper 21a is slidably connected to the first base 10, and the second gripper 22a is fixedly connected to the first base 10. For details, see [link to details]. Figure 3 and Figure 2In this embodiment, the first gripper 21a includes a slider, and the first base 10 has a sliding rod. The sliding rod extends along the direction in which the first base 10 moves from a first position P1 to a second position P2. The sliding rod extends into the slider, and the slider slides along the extension direction of the sliding rod to form a sliding connection between the first gripper 21a and the first base 10. The second gripper 22a moves synchronously with the first base 10. In other embodiments, the first gripper 21a and the first base 10 may have different sliding connection forms. For example, in some other embodiments, the first gripper 21a may include a slider, and the first base 10 may include a groove; or the first gripper 21a may include a through rod, and the first base 10 may have a through hole. The through rod can pass through the through hole and slide along the extension direction of the through hole to form a sliding connection between the first gripper 21a and the first base 10.

[0097] Specifically, during the process of the first drive assembly 30 driving the first base 10 to move from the first position P1 to the second position P2, the first gripper 21a is configured to slide relative to the first base 10 towards the second gripper 22a. It can be understood that when the first drive assembly 30 drives the first base 10 from the first position P1 to the second position P2, it also causes the first gripper 21a and the second gripper 22a to move simultaneously along the direction in which the first base 10 moves from the first position P1 to the second position P2, and the first gripper 21a can also slide relative to the first base 10 to approach the second gripper 22a. See also Figures 2 to 3 At this point, the first base 10 is in the first position P1, and the first drive assembly 30 begins to drive the first base 10 from the first position P1 to the second position P2. This state corresponds to the first base 10 being between the first position P1 and the second position P2, and compared to the state where the first base 10 is in the first position P1, the distance between the first gripper 21a and the second gripper 22a is reduced. This relative movement of the first gripper 21a and the second gripper 22a allows the first drive assembly 30 to drive both grippers 21a and 22a simultaneously, while also causing them to move towards each other, facilitating the assembly operation between the first part 2 and the second part 3, which are gripped by the two grippers respectively. It should be noted that, during the process of the first base 10 moving from the first position P1 to the second position P2 in this embodiment, the relative position between the first gripper 21a and the second gripper 22a remains unchanged for a certain distance, while for another distance, the first gripper 21a moves relative to the first base 10 toward the direction of the second gripper 22a; in other embodiments, during the process of the first base 10 moving from the first position P1 to the second position P2, the first gripper 21a can always move relative to the first base 10 toward the direction of the second gripper 22a.

[0098] In summary, it can be seen that when the assembly equipment 1 of this application drives the first base 10 to switch positions between the first position P1 and the second position P2, it can simultaneously drive the first gripper 21a and the second gripper 22a to move along the direction from the first position P1 to the second position P2 of the first base 10. Furthermore, it can also achieve relative movement of the first gripper 21a towards the second gripper 22a. When two parts with an assembly relationship need to be assembled onto the assembly to be assembled, the prior art only uses a robotic arm with one gripper to assemble the two parts one by one, resulting in low assembly efficiency. The assembly equipment 1 of this application can facilitate the rapid assembly of multiple parts with an assembly relationship on the assembly to be assembled 4, thereby improving assembly efficiency. To enable the first gripper 21a to slide relative to the first base 10 towards the second gripper 22a, different methods can be used to make the first gripper 21a move relative to the second gripper 22a. Specifically, in this embodiment, the first part 2 is adapted to be stopped by the assembly 4, so that the first gripper 21a that grasps the first part 2 is also stopped, thereby causing the first gripper 21a to slide relative to the first base 10 towards the second gripper 22a. It can be understood that the assembly 4 can prevent the first part 2 from moving along the direction of the first base 10 from the first position P1 to the second position P2 during the movement of the first base 10 from the first position P1 to the second position P2, thereby preventing the first gripper 21a from moving along the direction of the first base 10 from the first position P1 to the second position P2. This allows the first gripper 21a to slide relative to the first base 10 and approach the second gripper 22a. In this embodiment, the stopping effect can be achieved through the mutual cooperation between the assembly 4 and the first part 2. That is, when the assembly 4 and the first part 2 form a cooperative connection, it indirectly stops the first gripper 21a that grasps the first part 2, driving the first gripper 21a to move towards the second gripper 22a. In this embodiment, the assembly 4 changes the relative position between the first gripper 21a and the second gripper 22a by stopping the first part 2. The structure is simple and the control is flexible. In other embodiments, the assembly 4 can stop the first gripper 21a in different ways. For example, the assembly 4 can directly stop the first gripper 21a to drive the first gripper 21a to move closer to the second gripper 22a.

[0099] In some embodiments, the assembly device 1 may also include a stop. This stop is also used to stop the first part 2 or the first gripper 21a during the movement of the first base 10 from the first position P1 to the second position P2, and to drive the first gripper 21a to slide relative to the first base 10 toward the second gripper 22a. Similar to the stopping function of the assembly 4 in the previous embodiment, the stop is located behind the assembly 4 along the direction in which the first base 10 moves from the first position P1 to the second position P2. That is, the stop abuts against the first part 2 or the first gripper 21a before the assembly 4. In other words, if the relative positions of the two parts need to be adjusted before assembling the first part 2 and the second part 3 to the assembly 4, the relative positions of the first gripper 21a and the second gripper 22a can be adjusted first by the stop before assembling the two parts to the assembly 4. Therefore, the position and shape of the stop should be suitable for contacting and stopping the first part 2 or the first gripper 21a from moving along the first base 10 from the first position P1 to the second position P2. For example, the stop can be block-shaped, rod-shaped, or other arbitrary shapes.

[0100] See Figure 4 In other embodiments, the assembly device 1 may further include a second drive assembly 40. This second drive assembly 40 can be used to drive the first gripper 21a to slide relative to the first base 10 towards the second gripper 22a. It is understood that the second drive assembly 40 can connect to the first gripper 21a and drive it to slide. For example, the second drive assembly 40 may include a motor, cylinder, hydraulic cylinder, electric cylinder, or other drive components. In this type of embodiment, when the relative positions of the two parts need to be adjusted before assembling the first part 2 and the second part 3 to the assembly body 4, the relative positions of the first gripper 21a and the second gripper 22a can be adjusted by the second drive assembly 40 before the first base 10 moves to the second position P2, and then the two parts can be assembled to the assembly body 4. Furthermore, the second drive assembly 40 can adjust the starting position and the driving speed, providing flexible and precise control.

[0101] In different embodiments, the first gripper 21a may approach the second gripper 22a in different directions relative to the first base 10. See also Figures 1-3In this embodiment, the first driving component 30 is configured to drive the first base 10 to move from the first position P1 to the second position P2 along the first direction X, and the first gripper 21a is configured to slide in the opposite direction of the first direction X to approach the second gripper 22a. It can be understood that this embodiment makes the first gripper 21a approach the second gripper 22a along the direction of movement of the first base 10. Corresponding to the form of a sliding connection between a slider and a sliding rod, the sliding rod can extend along the first direction X. The setting of the sliding direction of the first gripper 21a in this embodiment allows the direction of movement of the first base 10 and the direction of movement of the first gripper 21a relative to the first base 10 toward the second gripper 22a to adapt to the assembly direction of the assembly 4 and the assembly direction of the first part 2 and the second part 3, reducing directional adjustments during assembly. Based on different assembly requirements or different relative positions of the first gripper 21a and the second gripper 22a, in other embodiments, the first gripper 21a can also be configured to slide along the first direction X or in any other direction to approach the second gripper 22a.

[0102] In summary, one specific driving process in which the first driving component 30 drives the first base 10 from the first position P1 to the second position P2 is as follows: Initially, the first base 10 is located at the first position P1. The first driving component 30 drives the first base 10 to gradually approach the second position P2 along the first direction X. After the first base 10 reaches the set position, the first part 2 held by the first gripper 21a contacts the assembly 4, and the assembly 4 applies a resisting force to the first part 2 in the opposite direction of the first direction X. The resisting force drives the slider of the first gripper 21a to move along the slide bar of the first base 10, causing the first gripper 21a to approach the second gripper 22a in the opposite direction of the first direction X. The first gripper 21a gradually approaches the second gripper 22a until the first part 2 and the second part 3 are assembled together. Therefore, the assembly equipment 1 of this application can first assemble the first part 2 onto the assembly body 4, and then complete the mutual assembly of the first part 2 and the second part 3 through the relative movement of the two grippers. Only the first base 10 needs to be driven to complete one movement, with fewer driving parts, thus improving assembly efficiency.

[0103] To more precisely control the movement of the first base 10, see [link to relevant documentation]. Figures 1-3In this embodiment, the first driving component 30 can also be used to drive the first base 10 to move to a third position P3. The third position P3 is located between the first position P1 and the second position P2. It can be understood that the third position P3 is an intermediate position between the first position P1 and the second position P2, so that the first base 10 can move from the first position P1 to the third position P3 before reaching the second position P2. The first driving component 30 can be configured such that during the process of driving the first base 10 from the first position P1 to the third position P3, the relative positions of the first gripper 21a and the second gripper 22a remain unchanged. The first driving component 30 can also be configured such that during the process of driving the first base 10 from the third position P3 to the second position P2, the first gripper 21a slides relative to the first base 10 towards the second gripper 22a. As can be seen from the above configuration, the two grippers can transfer simultaneously between the first position P1 and the third position P3. After the first base 10 reaches the third position P3, the relative position of the two grippers begins to change, thus facilitating the adjustment of the relative position of the two grippers according to the assembly requirements of different workstations. Specifically, in this embodiment, the first part 2 is adapted to be stopped by the assembly body 4, so as to indirectly cause the first gripper 21a that grips the first part 2 to slide relative to the first base 10 towards the direction of the second gripper 22a. Based on this configuration, the third position P3 can correspond to the position of the first base 10 when the first part 2 moves to the stop of the assembly body 4. That is, when the first base 10 is located at the third position P3, which causes the first part 2 to abut against the assembly body 4, under the stopping action of the assembly body 4, the first gripper 21a begins to slide relative to the first base 10 towards the direction of the second gripper 22a.

[0104] To make the driving distance between the first base 10 and the second position P1 more precise, see [reference needed]. Figure 2 In this embodiment, the first driving component 30 may include a first driving part 31 and a second driving part 32. Based on this configuration, the first driving part 31 and the second driving part 32 can correspondingly drive the first base 10 to move at different distance segments. Specifically, see... Figures 1-3In this embodiment, the first driving unit 31 can be used to drive the first base 10 from the first position P1 to the fourth position P4. The second driving unit 32 can be used to drive the first base 10 from the fourth position P4 to the second position P2. The fourth position P4 is located between the second position P2 and the third position P3. It is understood that, based on the setting that the first gripper 21a and the second gripper 22a begin relative movement when the first base 10 moves to the third position P3, a fourth position P4 can also be provided between the second position P2 and the third position P3. In this embodiment, the fourth position P4 can correspond to the limit driving position that the first driving unit 31 can reach when driving the first base 10 from the first position P1 to the second position P2. That is, when the first base 10 moves from the first position P1 to the fourth position P4, the first driving unit 31 drives the first base 10 from the first position P1 to the second position P2 to its maximum driving stroke.

[0105] Specifically, in this embodiment, when the first base 10 is located at the first position P1, the first driving part 31 is at the first maximum limit position and the second driving part 32 is at the second maximum limit position. When the first base 10 is located at the fourth position P4, the first driving part 31 is at the first minimum limit position. When the first base 10 is located at the second position P2, the second driving part 32 is at the second minimum limit position. Taking the first driving component 30 driving the first base 10 to move from the first position P1 to the second position P2 along the first direction X as an example, it should be noted that the first maximum limit position of the first driving part 31 is the limit position of the first driving part 31 driving the first base 10 to move in the opposite direction along the first direction X. Similarly, the second maximum limit position of the second driving part 32 is the limit position of the second driving part 32 driving the first base 10 to move in the opposite direction along the first direction X. The first minimum limit position of the first driving part 31 is the limit position of the first driving part 31 driving the first base 10 to move in the first direction X. Similarly, the second minimum limit position of the second driving part 32 is the limit position of the second driving part 32 driving the first base 10 to move in the first direction X. As can be seen from the above settings, when the first base 10 is in the fourth position P4, the corresponding first drive unit 31 is in the first minimum limit position, so that the first base 10 can move precisely to the fourth position P4 in the middle, thereby improving the accuracy of the driving distance of the first base 10 and the accuracy of the relative position between the first gripper 21a and the second gripper 22a.

[0106] Furthermore, different positions of the first base 10 can correspond to different assembly states of the first part 2 or the second part 3, see [reference]. Figures 1-3In this embodiment, when the first base 10 is in the third position P3, the first part 2 is suitable for starting to be assembled onto the assembly 4; when the first base 10 is in the fourth position P4, the second part 3 is suitable for starting to be assembled onto the assembly 4; when the first base 10 is in the second position P2, both the first part 2 and the second part 3 are assembled onto the assembly 4. In conjunction with the above embodiment, it can be understood that when the first base 10 is in the third position P3, the first part 2 can abut against the assembly 4, thus allowing the first part 2 to begin assembly and connection onto the assembly 4; when the first base 10 is in the fourth position P4, the first driving part 31 can be in the first minimum limit position. At this time, the relative position between the first gripper 21a and the second gripper 22a can depend on the limit driving distance set by the first driving part 31 and the setting position of the assembly 4, thus allowing precise control of the first gripper 21a and the second gripper 22a at this time. The relative positions between them (at this time, the second part 3 can abut against the first gripper 21a, and the first part 2 is still abutting against the assembly 4, but has not completed the assembly with the assembly 4) are such that the second part 3 can start to be assembled with the first part 2 or the first part 2 and the assembly 4; when the first base 10 is in the second position P2, the second drive part 32 can be in the second minimum limit position. At this time, under the action of the second drive part 32 driving the first base 10, the first part 2 and the second part 3 are assembled and both the first part 2 and the second part 3 are assembled on the assembly 4.

[0107] To further control the relative position between the first gripper 21a and the second gripper 22a during the movement of the first base 10 from the first position P1 to the second position P2, see [reference needed]. Figure 2 In this embodiment, the clamping assembly 20a may further include a rod 23a and a first spring 24a. The first spring 24a may be sleeved on the rod 23a. The rod 23a may be used to abut against the first gripper 21a or the second gripper 22a. See details below. Figure 2In this embodiment, the second gripper 22a may further include a first opening 221a. The first opening 221a may extend parallel to the direction in which the first base 10 moves from the first position P1 to the second position P2. Specifically, in this embodiment, the first opening 221a extends along the first direction X, that is, the extension direction of the first opening 221a is parallel to the direction in which the first driving assembly 30 drives the first base 10 to move. Along the extension direction of the first opening 221a, one end of the rod 23a is connected to the first gripper 21a, and the other end passes through the first opening 221a, so that during the sliding of the first gripper 21a relative to the first base 10 toward the second gripper 22a, the rod 23a moves along the extension direction of the first opening 221a, and the first spring 24a generates an elastic force from the second gripper 22a toward the first gripper 21a. Understandably, based on the above configuration, during the relative movement of the first gripper 21a toward the second gripper 22a, the rod 23a can slide within the first opening 221a. The first gripper 21a compresses the first spring 24a. When the first part 2 and the second part 3 are both assembled, the first spring 24a releases its elastic force to push the first gripper 21a away from the second gripper 22a. At this time, the relative positions of the first gripper 21a and the second gripper 22a when they are in the first position P1 can be restored to facilitate the next assembly action.

[0108] Similar to the previous embodiment, see [link to previous embodiment]. Figure 4 In other embodiments, the first gripper 21a may further include a second opening 211a, which extends in the direction from the second gripper 22a to the first gripper 21a. Along the extension direction of the second opening 211a, one end of a rod 23a is connected to the second gripper 22a, and the other end passes through the second opening 211a. This allows the rod 23a to move along the extension direction of the second opening 211a while the first gripper 21a slides relative to the first base 10 towards the second gripper 22a. The first spring 24a then generates an elastic force from the second gripper 22a towards the first gripper 21a. It is understood that the difference between this embodiment and the previous embodiment lies in the connection position of the rod 23a and the location of the first opening 221a. Similarly, during the relative movement of the two grippers, the first gripper 21a compresses the first spring 24a, and the first spring 24a pushes the first gripper 21a away from the second gripper 22a.

[0109] To ensure that the relative position between the first part 2 and the first gripper 21a remains unchanged during the movement of the first base 10 from the first position P1 to the second position P2, and to prevent the first part 2 from undergoing relative displacement relative to the first gripper 21a after being abutted by the assembly 4, see [reference needed]. Figure 2In this embodiment, the clamping assembly 20a may further include an abutment 222a disposed in the middle of the second jaw 22a and a second spring 223a sleeved on the abutment 222a. The abutment 222a can pass through the second part 3 to abut against the first part 2, and one end of the second spring 223a abuts against the second jaw 22a, and the other end abuts against the abutment 222a. During the movement of the first gripper 21a relative to the first base 10 toward the second gripper 22a, in order to gradually assemble the first part 2 toward the second part 3, the abutment 222a in the second gripper 22a will not interfere with the first part 2 assembled in the second part 3. The abutment 222a can move away from the first part 2 relative to the second gripper 22a, but always abuts against the first part 2. When the abutment 222a moves relative to the first base 10, it will compress the second spring 223a. The second spring 223a will generate an elastic force pointing toward the first part 2. It can be understood that one end of the first part 2 abuts against the assembly 4 and the other end abuts against the abutment 222a, which can limit the first part 2 during the relative movement of the two grippers, avoid the phenomenon of positional displacement of the first part 2 during the assembly of the assembly 4 or the second part 3, and ensure the relative position between the first part 2 and the first gripper 21a. It can even allow the first part 2 to be further assembled toward the assembly 4. To achieve the abutting function, the abutting member 222a can have any shape or structure. For example, the abutting member 222a can be rod-shaped, block-shaped, or have other arbitrary shapes. In this embodiment, the abutting member 222a is rod-shaped, so that it can pass through the second part 3 to abut against the first part 2. It should be noted that, based on different control configurations and positioning requirements, the abutting member 222a can begin to abut against the first part 2 at any position during the relative movement of the two grippers. After the first part 2 and the second part 3 are assembled, the second spring 223a releases its elastic force to move the abutting member 222a relative to the second gripper 22a toward the first gripper 21a, so as to restore the position of the abutting member 222a relative to the second gripper 22a for the next abutting action.

[0110] In summary, one of the driving processes in which the first driving unit 31 drives the first base 10 to move sequentially from the first position P1 to the third position P3 and the fourth position P4, and the second driving unit 32 then drives the first base 10 to move from the fourth position P4 to the second position P2, is as follows: In the initial state, the first driving unit 31 is at the first maximum limit position, and the second driving unit 32 is at the second maximum limit position, with the first base 10 located at the first position P1. The first driving unit 31 drives the first base 10 to move towards the fourth position along the first direction X, causing the first gripper 21a and the first part 2 it grips, and the second gripper 22a and the second part 3 it grips, to gradually approach the assembly 4. When the first base 10 moves to the third position P3, the first part 2 contacts the assembly 4, and the assembly 4 applies a resisting force to the first part 2 in the opposite direction of the first direction X. The resisting force drives the first gripper 21a to move towards the second gripper 22a in the opposite direction of the first direction X. The rod 23a connected to the first gripper 21a then passes through the first opening 221a of the second gripper 22a and compresses the first spring 24a. When the first gripper 21a and the second gripper 22a move towards each other to a certain position, the abutting member 222a of the second gripper 22a abuts against the first part 2 and compresses the second spring 223a. The first drive unit 31 continues to drive the first base 10 in the first direction X until the first drive unit 31 is at the first minimum limit position, at which point the first base 10 is at the fourth position P4. During the above process, the second drive unit 32 does not work, and therefore the second drive unit 32 is still at the second maximum limit position. After the first base 10 is in the fourth position P4, the first drive unit 31 remains in the first minimum limit position, and the second drive unit 32 begins to operate. The second drive unit 32 drives the first base 10 from the fourth position P4 to the second position P2 along the first direction X. During this process, the abutment member 222a continues to abut the first part 2 towards the assembly 4, and the second gripper 22a continues to drive the second part 3 towards the first part 2. When the second drive unit 32 is in the second minimum limit position, the first base 10 is in the second position P2, the first part 2 completes the assembly connection with the assembly 4, and the second part 3 completes the assembly connection with the first part 2 and the assembly 4. After the above assembly connection is completed, the second drive unit 32 stops operating, the first spring 24a drives the first gripper 21a away from the second gripper 22a along the first direction X, and the second spring 223a drives the abutment member 222a towards the first gripper 21a along the first direction X.

[0111] In another embodiment, the abutment 222a may abut against the first part 2 only when the first base 10 is in the fourth position P4.

[0112] As can be seen from the above process, the assembly equipment 1 of this application can drive the first base 10 to complete two displacements along the first direction X by the first drive unit 31 and the second drive unit 32 respectively. Since the first base 10 is in the fourth position P4, the first drive unit 31 is in the first minimum limit position, so the relative distance between the first part 2 and the second part 3 along the first direction X can be controlled more accurately. Based on the set relative distance, the second drive unit 32 continues to drive the first base 10 to move along the first direction X. Therefore, the drive stroke of the second drive unit 32 from the second maximum limit position to the second minimum limit position can correspond to the drive stroke required for the second part 3 to be assembled and connected to the first part 2 when the first part 2 and the second part 3 are in the set relative distance. Therefore, the segmented driving of the first base 10 by the first driving unit 31 and the second driving unit 32 in this application is beneficial to improving the positional accuracy of the drive, and thus beneficial to improving the assembly accuracy of the first part 2 and the second part 3; at the same time, since the first part 2 and the second part 3 need to form an assembly relationship, the segmented driving of the first base 10 can also ensure that when the driving stroke of the first driving unit 31 ends, one end of the first part 2 has already abutted against the assembly body 4, and the other end of the first part 2 has already abutted against the abutment member 222a, that is, the first part 2 can be driven in the first direction X. To prevent interference between the first gripper 21a and the second part 3 during the assembly of the first part 2 and the second part 3 or the second gripper 22a (where the direction in which the first gripper 21a holds the first part 2 intersects with the first direction), the first gripper 21a can be driven to retract, releasing the grip on the first part 2. Then, the second drive unit 32 is activated to continue moving the two grippers towards each other, completing the assembly of the two parts. Of course, the action of retracting the first gripper 21a and releasing the grip on the first part 2 can be synchronized with the drive of the second drive unit 32. That is, the first drive unit 31 and the second drive unit 32 respectively drive the first base 10 to complete two segments of displacement along the first direction X, creating a pause between the two segments of displacement of the first part 2. This pause allows the first gripper 21a to retract, releasing the grip on the first part 2, thereby preventing interference between the first gripper 21a and the second part 3 or the second gripper 22a during the assembly of the first part 2 and the second part 3.

[0113] like Figure 2 As shown, the assembly equipment 1 also includes a third drive assembly 50, which is used to drive the opening and closing of the first gripper 21a and the second gripper 22a to clamp the first part 2 and the second part 3 or release the clamping of the first part 2 and the second part 3. Specifically, the third drive assembly 50 drives the first gripper 21a and the second gripper 22a to move in a direction parallel to the third direction Z to clamp the first part 2 and the second part 3 or release the clamping of the first part 2 and the second part 3. The third direction Z is perpendicular to the first direction X.

[0114] like Figure 2 As shown, the assembly equipment 1 also includes a sixth drive component 200. The sixth drive component 200 is used to drive the first gripper 21a to retract, thereby releasing the gripping action on the first part 2. Specifically, the sixth drive component 200 drives the first gripper 21a to move along the second direction Y perpendicular to the first direction X, so as to cancel the gripping action of the first gripper 21a on the first part 2, thereby avoiding interference between the first gripper 21a and the second part 3 or the second gripper 22a during the assembly of the first part 2 and the second part 3.

[0115] To facilitate adjustment of the positions of the first gripper 21a and the second gripper 22a, and to accommodate various operations of the first gripper 21a and the second gripper 22a, the assembly equipment 1 can also drive the first gripper 21a or the second gripper 22a in any direction. For details, see [link to details]. Figure 3The assembly equipment 1 may further include a second base 60, a third base 70, and a fourth drive assembly 80. The first drive assembly 30 may be configured to drive the first base 10 to slide relative to the second base 60 along a first direction X. In this embodiment, the second base 60 may be slidably connected to the first base 10. By sliding the first base 10 and the second base 60 together, and connecting the first base 10 to the first drive assembly 30, the first base 10 may slide relative to the second base 60 along the first direction X, thereby realizing the driving effect of the first drive assembly 30 on the first base 10. The first base 10 and the second base 60 are slidably connected by a slider and a sliding rod, which can be referred to as the slidable connection between the first gripper 21a and the first base 10 in the above embodiment, and will not be repeated here. The second base 60 is also slidably connected to the third base 70. The second base 60 and the third base 70 are slidably connected by a slider and a sliding groove. The fourth drive assembly 80 is configured to drive the second base 60 to slide relative to the third base 70 along a third direction Z perpendicular to the first direction X and the second direction Y, and to move the first base 10 along the third direction Z. That is, the fourth drive assembly 80 can be adapted to drive the first gripper 21a or the second gripper 22a to perform operations different from assembly connections. In this embodiment, the assembly equipment 1 includes a preparation station for providing the first part 2 and the second part 3. The fourth drive assembly 80 is configured to drive the first gripper 21a or the second gripper 22a to approach the preparation station along the third direction Z before assembling the two parts, so that the first gripper 21a or the second gripper 22a can, under the drive of the third drive assembly 50, grip the first part 2 or the second part 3 provided by the preparation station. After the first gripper 21a and the second gripper 22a grip the first part 2 and the second part 3, the third drive assembly 50 can then drive the first gripper 21a and the second gripper 22a back to the first position P1 along the third direction Z in the opposite direction. To facilitate precise acquisition of the first part 2 and the second part 3, and to transport the two parts to a position easily gripped by the first gripper 21a and the second gripper 22a, see [reference needed]. Figure 5In this embodiment, the clamping component 20a may further include a second clamping component 20b, which includes a third gripper 21b and a fourth gripper 22b. The assembly device 1 also includes a fifth drive component 90. The fifth drive component 90 is used to drive the second clamping component 20b to switch positions between a fifth position and a sixth position. The third gripper 21b can be used to acquire the first part 2 and transport it to a position suitable for gripping by the first gripper 21a. The fourth gripper 22b can be used to acquire the second part 3 and transport it to a position suitable for gripping by the second gripper 22a. Based on the above configuration, when the second clamping component 20b is in the fifth position, the third gripper 21b grips the first part 2, and the fourth gripper 22b grips the second part 3. That is, the fifth position can correspond to the position where the third gripper 21b and the fourth gripper 22b acquire the first part 2 and the second part 3, therefore the fifth position can be located around the discharge port of the material conveying component 100. When the second clamping assembly 20b is in the sixth position, the first jaw 21a clamps the first part 2, and the second jaw 22a clamps the second part 3. Accordingly, the sixth position can correspond to the position where the second clamping assembly 20b causes the first jaw 21a or the second jaw 22a to clamp the first part 2 or the second part 3. Specifically, in this embodiment, the sixth position is located on the side of the first position P1 along the third direction Z. The above-described configuration enables the third gripper 21b and the fourth gripper 22b to acquire and transport the first part 2 and the second part 3. The first gripper 21a and the second gripper 22a are used to acquire the two parts from the aforementioned two grippers respectively, thereby controlling different grippers to perform different operations. That is, the travel distance of the first clamping component 20a can be used only for installing the first part 2 and the second part 3, and the travel distance of the second clamping component 20b can be used only for gripping and transferring the first part 2 and the second part 3, and transferring the two parts to the first clamping component 20a. Moreover, this configuration makes the overall layout of the assembly equipment 1 more flexible. That is, the material conveying component 100 can transport the first part 2 and the second part 3 to any position, and then drive the third gripper 21b and the fourth gripper 22b to move to acquire and provide the two parts.

[0116] Meanwhile, in order to ensure that the movements of the first gripper 21a and the second gripper 22a do not interfere with the movements of the third gripper 21b and the fourth gripper 22b, see [reference needed]. Figure 5 In this embodiment, the first gripper 21a and the second gripper 22a are arranged opposite to each other along the first direction X. The fifth drive component 90 is configured to drive the third gripper 21b and the fourth gripper 22b to switch positions between the fifth position and the sixth position along the first direction X and along the third direction Z perpendicular to the first direction X.

[0117] Furthermore, to facilitate the acquisition of the first part 2 and the second part 3 by the third gripper 21b and the fourth gripper 22b, see [reference needed]. Figures 6-8 In this embodiment, the assembly equipment 1 may further include a material conveying component 100, which is used to transport the first part 2 and the second part 3. Different forms of material conveying components 100 can be used depending on different material conveying requirements. For example, in this embodiment, the material conveying component 100 includes a vibratory feeder, the discharge port of which is located around the fifth position. The vibratory feeder is configured to transport and sort the first part 2 and the second part 3 through vibration. Its configuration can refer to existing technology and will not be elaborated here. In other embodiments, the material conveying component 100 may also include a conveyor belt, a robotic arm, or other transport mechanisms. The material conveying component 100 may include a first material conveying section 101 and a second material conveying section 102. The first material conveying section 101 may be configured to transport the first part 2 and the second part 3 to the second material conveying section 102 along the fourth direction A, and the second material conveying section 102 may be configured to transport the first part 2 and the second part 3 to the vicinity of the fifth position along the fifth direction B, which intersects the fourth direction A. See also... Figure 7 In this embodiment, the first material conveying section 101 corresponds to the conveying section around the discharge port of the vibratory feeder, and the second material conveying section 102 is a conveying mechanism set between the discharge port of the vibratory feeder and the fifth position. It can be understood that the second material conveying section 102 conveys the first part 2 and the second part 3 along the fifth direction B, which can be used to change the material conveying direction at the discharge port of the vibratory feeder, so as to convey the first part 2 and the second part 3 in different directions, and make the overall layout of the assembly equipment 1 more flexible, which is conducive to saving the layout space of the assembly equipment 1.

[0118] Different parts can also be transported using different corresponding material handling devices. For details, please refer to [link / reference]. Figures 6-8 In this embodiment, the first conveying unit 101 includes a first vibratory feeder 1011 and a second vibratory feeder 1012. The first vibratory feeder 1011 has a first discharge port 10111, and the second vibratory feeder 1012 has a second discharge port 10121. The first vibratory feeder 1011 is used to transport and sort the first part 2, and transport the first part 2 along the fourth direction A to the first discharge port 10111. The second vibratory feeder 1012 is used to transport and sort the second part 3, and transport the second part 3 along the fourth direction A to the second discharge port 10121. It is understood that when the first part 2 and the second part 3 have different specifications, it is more beneficial to use different vibratory feeders to transport different parts. Correspondingly, the second conveying unit 102 includes a first conveying component 1021 and a second conveying component 1022. The first conveying component 1021 is connected to the first discharge port 10111 to transport the first part 2 to the seventh position along the fifth direction B. The second conveyor 1022 is connected to the second discharge port 10121 to transport the second part 3 to the eighth position along the fifth direction B.

[0119] Furthermore, when the position of the first part 2 or the second part 3 needs to be adjusted before being clamped, an adjustment component 1023 can be provided accordingly. See details below. Figures 6-8 In this embodiment, when the second clamping assembly 20b is in the fifth position, the first part 2 is in the ninth position, and the second material conveying unit 102 further includes an adjustment assembly 1023. The adjustment assembly 1023 includes a push block 10231, a rotating block 10232, and a rotating mechanism 10233. The rotating block 10232 defines an inner cavity and has an opening communicating with the inner cavity. The push block 10231 is configured to drive the first part 2, located in the seventh position, to move from the opening into the inner cavity. The rotating mechanism 10233 is configured to drive the rotating block 10232 to rotate about a rotation axis parallel to the fifth direction B. The rotation of the rotating block 10232 about the rotation axis drives the first part 2 to move to the ninth position. Understandably, after the first conveying component 1021 transports the first part 2 to the seventh position, the second conveying part 102 can then move the first part 2 to the side of the rotating block 10232. At this time, the pushing block 10231 can push the first part 2 from the opening of the rotating block 10232 into the inner cavity. Then, the rotating block 10232 can rotate around the rotation axis by a certain angle to adjust the relative position of the first part 2. During this process, the relative position of the first part 2 and the rotating block 10232 can remain basically unchanged. After the rotation is completed, the first part 2 can be located in the ninth position suitable for being clamped.

[0120] In summary, the material conveying assembly 100 transports the first part 2 and the second part 3, and the third gripper 21b and the fourth gripper 22b respectively grip the first part 2 and the second part 3, and provides the first part 2 and the second part 3 to the first gripper 21a and the second gripper 22a respectively. One of the driving processes is as follows: the first vibratory plate 1011 transports and sorts the first part 2, and transports the first part 2 along the fourth direction A to the discharge port of the first vibratory plate 1011. Similarly, the second vibratory plate 1012 transports and sorts the second part 3, and transports the second part 3 along the fourth direction A to the discharge port of the second vibratory plate 1012. After the first part 2 is transported to the discharge port of the first vibratory feeder 1011, the first conveying component 1021 picks up the first part 2 and moves the first part 2 to the seventh position along the fifth direction B. At this time, the first part 2 is located on the side of the adjusting component 1023 along the fourth direction A. After that, the pushing block 10231 pushes the first part 2 into the inner cavity through the opening of the rotating block 10232 along the opposite direction of the first direction X. The rotating machine 10233 drives the rotating block 10232, and the rotating block 10232 further drives the first part 2 to rotate 90 degrees around the rotation axis parallel to the fifth direction B so that the first part 2 is located in the ninth position. At this time, the opening direction of the rotating block 10232 is upward (corresponding to the third direction Z), and the first part 2 is suitable to be gripped by the third gripper 21b. After the second part 3 is transported to the discharge port of the second vibrating plate 1012, the second conveying component 1022 picks up the part and moves the second part 3 to the eighth position along the fifth direction B perpendicular to the fourth direction A. At this time, the second part 3 is suitable to be clamped by the fourth gripper 22b.

[0121] To save space in the assembly equipment 1 and to ensure that the movements of each gripper do not interfere with each other, see [reference needed]. Figure 5 In this embodiment, the first driving component 30 can be configured to drive the first base 10 to move from a first position P1 to a second position P2 along a first direction X. When the first base 10 is in the first position P1, the first clamping component 20a is arranged opposite to the assembly 4 along the first direction X, and the first clamping component 20a is arranged opposite to the second clamping component 20b in the sixth position along the third direction Z. It can be understood that in this embodiment, when the first base 10 is in the first position P1, that is, the first part 2 and the second part 3 are in a state to be assembled into the assembly 4, the first clamping component 20a is arranged opposite to the assembly 4 along the assembly direction, and the first clamping component 20a and the second clamping component 20b in the sixth position are arranged opposite to each other along the third direction Z perpendicular to the above direction. The above arrangement allows the first clamping component 20a and the second clamping component 20b to perform part transfer operations on the side away from the assembly 4, which is beneficial for saving layout space and makes the movements of each gripper independent of each other.

[0122] To facilitate the inspection and observation of the operation of each station of the material handling assembly 100, please refer to... Figures 5-8 In this embodiment, the material conveying component 100 may further include various sensors. Specifically, in this embodiment, the assembly equipment 1 may further include a first sensor 110, which can be used to detect whether the first material conveying component 1021 has received the first part 2 output from the first vibratory feeder 1011. In this embodiment, the assembly equipment 1 may further include a second sensor 120, which can be used to detect the specifications of the first part 2. In another embodiment, the assembly equipment 1 may further include a third sensor 130, which can be used to detect whether the second material conveying component 1022 has received the second part 3 output from the second vibratory feeder 1012. In yet another embodiment, the assembly equipment 1 may further include a fourth sensor 140, which can be used to detect the specifications of the second part 3. In summary, the assembly equipment 1 of this application transports the first part 2 and the second part 3 and completes the assembly and connection of the two parts as follows:

[0123] After the first part 2 is transported to the discharge port of the first vibratory feeder 1011, the first conveying component 1021 picks up the first part 2. The first sensor 110 is located on the first conveying component 1021 and moves synchronously with the first conveying component 1021. The second sensor 120 is located on one side of the discharge port of the first vibratory feeder 1011 and is used to detect the specifications of the first part 2 transported by the first conveying component 1021. The first conveying component 1021 transfers the first part 2 to the side of the adjustment component 1023 along the fifth direction B. At this time, the first part 2 is located on the side of the adjustment component 1023 along direction A. The first conveying component 1021 transfers the first part 2 to the side of the rotating block 10232 along the fifth direction B, which is perpendicular to the fourth direction A. The pushing block 10231 then pushes the first part 2 into the inner cavity through the opening of the rotating block 10232 along the opposite direction of the first direction X. The rotating machine 10233 drives the rotating block 10232, which further drives the first part 2 to rotate 90 degrees around the rotation axis parallel to the fifth direction B, so that the first part 2 is in the ninth position (the position where the first part 2 is suitable to be gripped by the third gripper 21b). At this time, the opening direction of the rotating block 10232 is upward (corresponding to the third direction Z). At this time, part of the first part 2 can be relatively engaged with the rotating block 10232, and another part can have a gap with the rotating block 10232, thereby reserving the third gripper 21b to be suitable for extending into the above-mentioned gap position to grip the first part 2. After the second part 3 is transported to the discharge port of the second vibratory feeder 1012, the second conveying component 1022 picks up the second part 3. The third sensor 130 is located on one side of the second conveying component 1022. The second conveying component 1022 transfers the second part 3 to the eighth position along the fifth direction B. Among them, the first part 2 located at the ninth position and the second part 3 located at the eighth position are arranged opposite each other along the first direction X.

[0124] Material handling and transport by the third gripper 21b and the fourth gripper 22b: In the initial state, the first part 2 is located at the ninth position and the second part 3 is located at the eighth position. Both the third gripper 21b and the fourth gripper 22b are located on the side away from the transport assembly 100 along the third direction Z. The third gripper 21b is aligned with the first part 2 along the third direction Z, and the fourth gripper 22b is aligned with the second part 3 along the third direction Z. Then, the fifth drive assembly 90 drives the third gripper 21b and the fourth gripper 22b to the fifth position along the third direction Z and close to the transport assembly 100. Afterward, the third gripper 21b in the fifth position grips the first part 2, and the fourth gripper 22b in the fifth position grips the second part 3. After both grippers have completed gripping, the fifth drive assembly 90 drives the third gripper 21b and the fourth gripper 22b away from the transport assembly 100 along the third direction Z. During this process, the fourth sensor 140 detects the specifications of the second part 3. Subsequently, the fifth drive assembly 90 drives the second clamping assembly 20b along the first direction X to the sixth position along the third direction Z. At this time, along the third direction Z, the first part 2 is located above the first gripper 21a; and along the first direction X, the first part 2 is located on the side of the first gripper 21a away from the second gripper 22a. Along the third direction Z, the second part 3 is located above the second gripper 22a; and along the first direction X, the second part 3 is located on the side of the first gripper 21a close to the second gripper 22a. Then, the fifth drive assembly 90 drives the third gripper 21b and the fourth gripper 22b in the opposite direction of the third direction Z (considered downward) so that the first part 2 is located at the same height as the first gripper 21a along the third direction Z, and the second part 3 is located at the same height as the second gripper 22a along the third direction Z. At this time, along the first direction X, the first part 2 is located on the side of the first gripper 21a away from the second gripper 22a; and the second part 3 is located between the second gripper 22a and the first gripper 21a. Subsequently, the fifth drive assembly 90 drives the third gripper 21b to approach the first gripper 21a and the fourth gripper 22b to approach the second gripper 22a in the opposite direction of the first direction X, so that the second clamping assembly 20b is located in the sixth position (at this time, the second clamping assembly 20b corresponds to the aforementioned material preparation station). During this process, the first part 2 is located in the first gripper 21a, the second part 3 is located in the second gripper 22a, and the abutting member 222a of the second gripper 22a passes through the opening provided in the second part 3. At this time, the first base 10 is located in the first position P1 on the side of the third direction Z.

[0125] The first gripper 21a and the second gripper 22a clamp the material: In the initial state, the first base 10 is located at the first position P1 on the side along the third direction Z, and the first gripper 21a and the second gripper 22a are in the open state. The second clamping assembly 20b transfers the first part 2 into the first gripper 21a through the fifth drive assembly 90, and the second part 3 moves into the second gripper 22a. Then, the third drive assembly 50 drives the first gripper 21a and the second gripper 22a to clamp the first part 2 and the second part 3 respectively. At this time, the third gripper 21b clamps one end of the first part 2 along the first direction, and the first gripper 21a drives to clamp the other end of the first part 2 along the first direction. Similarly, the fourth gripper 22b clamps one end of the second part 3 along the first direction, and the second gripper 22a drives to clamp the other end of the second part 3 along the first direction. After the first gripper 21a and the second gripper 22a have both gripped the parts, the third gripper 21b releases the first part 2, and the fourth gripper 22b releases the second part 3. The fourth drive assembly 80 drives the first base 10 to move in the opposite direction of the third direction Z to the first position P1. At this time, the first gripper 21a and the second gripper 22a are in the position to assemble the gripped first part 2 and the second part 3 into the assembly 4, the first drive unit 31 is in the first maximum limit position (i.e., the first drive unit 31 is in the position of maximum stroke), and the second drive unit 32 is in the second maximum limit position (i.e., the second drive unit 31 is in the position of maximum stroke). At this time, the drive stroke of the first drive assembly 30 along the first direction X reaches its minimum value.

[0126] The third gripper 21b and the fourth gripper 22b return to their positions: After the first gripper 21a and the second gripper 22a have both gripped the part, the fifth drive assembly 90 moves in the opposite direction of the third direction Z, the first direction X, and the third direction until the third gripper 21b and the fourth gripper 22b are both in the fifth position. (It should be noted that the order of the above steps of "the third gripper 21b and the fourth gripper 22b returning to their positions" and "the first gripper 21a and the second gripper 22a gripping the part" is not limited after the first gripper 21a and the second gripper 22a have both gripped the part.)

[0127] Assembling Parts with First Gripper 21a and Second Gripper 22a: In the initial state, the first base 10 is located at the first position P1, and the first gripper 21a and second gripper 22a are arranged at intervals relative to each other along the first direction. The first drive unit 31 drives the first base 10 to move towards the second position P2 along the first direction X. When the first base 10 moves to the third position P3, the first part 2 contacts the assembly body 4, and the assembly body 4 applies a resisting force to the first part 2 in the opposite direction of the first direction X. This resisting force drives the first gripper 21a to start moving towards the second gripper 22a in the opposite direction of the first direction X. The rod 23a connected to the first gripper 21a then passes through the first opening 221a of the second gripper 22a and compresses the first spring 24a. When the first gripper 21a and the second gripper 22a move towards each other to a certain position, the abutment 222a abuts against the first part 2 and compresses the second spring 223a. The first drive unit 31 continues to drive the first base 10 along the first direction X until the first drive unit 31 is at the first minimum limit position (i.e., the first drive unit 31 is at the minimum stroke position), at which point the first base 10 is at the fourth position P4. During the above process, the second drive unit 32 does not work, and therefore the second drive unit 32 is still at the second maximum limit position. After the first base 10 is at the fourth position P4, the assembly 4 and the abutment member 222a abut against the two ends of the first part 2 along the first direction, respectively. The sixth drive assembly 200 drives the first gripper 21a to move away from the first part 2 along the second direction Y. At this time, the first drive unit 31 remains at the first minimum limit position, and the second drive unit 32 begins to work. The second drive unit 32 drives the first base 10 from the fourth position P4 to the second position P2 along the first direction X. During this process, the first gripper 21a continues to drive the first part 2 to be further assembled into the assembly 4, and the second gripper 22a continues to drive the second part 3 to approach the first part 2. The abutment 222a moves in the opposite direction of the first direction X and contracts the second spring 223a. The second spring 223a applies an elastic force along the first direction X to the abutment. When the second drive unit 32 is in the second minimum limit position (i.e., the second drive unit 32 is in the minimum stroke position), the drive stroke of the first drive assembly 30 along the first direction X reaches its maximum value. The first base 10 is in the second position P2, the first part 2 completes the assembly connection with the assembly 4, and the second part 3 completes the assembly connection with the first part 2 and the assembly 4. After the above assembly and connection are completed, the second drive unit 32 stops working, the first spring 24a drives the first gripper 21a away from the second gripper 22a along the first direction X, and the second spring 223a drives the abutment 222a to approach the first gripper 21a along the first direction X.

[0128] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural transformations made based on the content of the specification and drawings of this application under the concept of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. An assembling apparatus for assembling a first part and a second part to an assembly, the first part and the second part forming a mutually cooperating connection relationship therebetween, characterized in that, The assembly device comprises: a first base; a first clamping assembly connected to the first base, the first clamping assembly comprising a first clamping jaw for clamping the first part and a second clamping jaw for clamping the second part; a first driving assembly for driving the first base to switch positions between a first position and a second position; wherein the first clamping jaw is slidingly connected to the first base, and the first driving assembly drives the first clamping jaw to slide relative to the first base towards the second clamping jaw during movement of the first base from the first position to the second position; the first clamping jaw is adapted to be stopped by the assembly body to slide relative to the first base towards the second clamping jaw; or, the assembly device further comprises a stopper for stopping the first clamping jaw and driving the first clamping jaw to slide relative to the first base towards the second clamping jaw during movement of the first base from the first position to the second position; or, the assembly device further comprises a second driving assembly for driving the first clamping jaw to slide relative to the first base towards the second clamping jaw.

2. The assembly device according to claim 1, wherein the first driving assembly is configured to drive the first base to move from the first position to the second position in a first direction, and the first clamping jaw is configured to slide in the reverse direction of the first direction to approach the second clamping jaw.

3. The assembly device according to claim 1, wherein the first driving assembly is further configured to drive the first base to move to a third position between the first position and the second position, and the first driving assembly is configured to drive the first clamping jaw to slide relative to the first base towards the second clamping jaw during movement of the first base from the third position to the second position.

4. The assembly device according to claim 3, wherein the first driving assembly comprises a first driving part for driving the first base to move from the first position to a fourth position, and a second driving part for driving the first base to move from the fourth position to the second position, the fourth position being between the second position and the third position.

5. The assembly device according to claim 4, wherein when the first base is in the first position, the first driving part is in a first maximum limit position and the second driving part is in a second maximum limit position, when the first base is in the fourth position, the first driving part is in a first minimum limit position, and when the first base is in the second position, the second driving part is in a second minimum limit position.

6. The assembly equipment according to claim 4, characterized in that, When the first base is in the third position, the first part is suitable for assembly; when the first base is in the fourth position, the second part is suitable for assembly; when the first base is in the second position, both the first part and the second part are fully assembled.

7. The assembly equipment according to claim 1, characterized in that, The first clamping assembly further includes a rod and a first spring, the first spring being sleeved on the rod; The second gripper also includes a first opening extending in the direction from the second gripper to the first gripper. Along the extension direction of the first opening, one end of the rod is connected to the first gripper, and the other end passes through the first opening. This allows the rod to move along the extension direction of the first opening as the first gripper slides relative to the first base towards the second gripper. The first spring generates an elastic force from the second gripper towards the first gripper. or, The first gripper also includes a second opening, which extends along the direction from the second gripper to the first gripper. Along the extension direction of the second opening, one end of the rod is connected to the second gripper, and the other end passes through the second opening, so that as the first gripper slides relative to the first base toward the direction of the second gripper, the rod moves along the extension direction of the second opening, and the first spring generates an elastic force from the second gripper toward the first gripper.

8. The assembly equipment according to claim 1, characterized in that, The first clamping assembly further includes an abutment and a second spring. The abutment is disposed on the second jaw, and the second spring is sleeved on the abutment. During the sliding of the first jaw relative to the first base toward the second jaw, the abutment is configured to abut against the first part and can move relative to the second jaw. The second spring generates an elastic force from the second jaw toward the first jaw.

9. The assembly equipment according to claim 4, characterized in that, The first drive component is configured to drive the first base to move from the first position to the second position along a first direction, and the assembly equipment further includes a sixth drive component; After the first base moves to the fourth position, the sixth drive assembly is configured to drive the first gripper to move along a second direction intersecting the first direction, so as to move the first gripper away from the first part and release the first part.

10. The assembly equipment according to claim 1, characterized in that, The first drive assembly is configured to drive the first base to move from the first position to the second position along a first direction. The assembly equipment further includes a fourth drive assembly configured to drive the first base, the first gripper, and the second gripper to move along a third direction perpendicular to the first direction, so that the first gripper and the second gripper can grip the first part and the second part.

11. The assembly equipment according to claim 10, characterized in that, The assembly equipment further includes a second base, a third base, and a fourth drive assembly. The second base is slidably connected to the first base. The first drive assembly is configured to drive the first base to slide relative to the second base in a first direction. The second base is also slidably connected to the third base. The fourth drive assembly is configured to drive the second base to slide relative to the third base in a third direction and drive the first base to move in the third direction.

12. The assembly equipment according to claim 1, characterized in that, The assembly equipment further includes a second clamping assembly, which includes a third jaw and a fourth jaw. The assembly equipment also includes a fifth driving assembly, which is used to drive the second clamping assembly to switch positions between a fifth position and a sixth position. When the second clamping assembly is in the fifth position, the third jaw grips the first part and the fourth jaw grips the second part. When the second clamping assembly is in the sixth position, the first jaw grips the first part and the second jaw grips the second part.

13. The assembly equipment according to claim 12, characterized in that, The third direction is perpendicular to the first direction, the first gripper and the second gripper are arranged opposite each other along the first direction, and the fifth drive component is configured to drive the second gripping component to move along a direction parallel to the first direction and along a direction parallel to the third direction, so that the second gripping component can switch positions between the fifth position and the sixth position.

14. The assembly equipment according to claim 12, characterized in that, The first drive component is configured to drive the first base to move from the first position to the second position along a first direction. When the first base is in the first position, the first clamping component is arranged opposite to the assembly along the first direction, and the first clamping component is arranged opposite to the second clamping component located in the sixth position along a third direction.

15. The assembly equipment according to claim 1, characterized in that, The assembly equipment further includes a material conveying assembly for carrying the first part and the second part. The material conveying assembly includes a first material conveying section and a second material conveying section. The first material conveying section is configured to transport the first part and the second part to the second material conveying section along a fourth direction. The second material conveying section is configured to transport the first part and the second part along a fifth direction intersecting the fourth direction.

16. The assembly equipment according to claim 15, characterized in that, The first material conveying unit includes a first vibrating plate and a second vibrating plate. The first vibrating plate has a first discharge port, and the second vibrating plate has a second discharge port. The first vibrating plate is used to transport and sort the first part and transport the first part to the first discharge port along the fourth direction. The second vibrating plate is used to transport and sort the second part and transport the second part to the second discharge port along the fourth direction. The second material conveying unit includes a first material conveying component and a second material conveying component. The first material conveying component is connected to the first discharge port to transport the first part from the first discharge port to the seventh position along the fifth direction. The second material conveying component is connected to the second discharge port to transport the second part from the second discharge port to the eighth position along the fifth direction.

17. The assembly equipment according to claim 16, characterized in that, The assembly equipment further includes a second clamping assembly, which, when in the fifth position, is adapted to clamp the first part and the second part, and the first part is in the ninth position. The second material conveying part further includes an adjustment assembly, which includes a push block, a rotating block, and a rotating motor. The rotating block defines an inner cavity and has an opening communicating with the inner cavity. The push block is configured to drive the first part, located in the seventh position, to move from the opening into the inner cavity. The rotating motor is configured to drive the rotating block to rotate about a rotation axis parallel to the fifth direction. The rotation of the rotating block about the rotation axis can move the first part to the ninth position.

18. The assembly equipment according to claim 16, characterized in that, The assembly equipment further includes a first sensor, which is disposed on the first conveying component and is used to detect whether the first conveying component has received the first part output from the first discharge port. And / or, The assembly equipment also includes a second sensor, which is located on one side of the first discharge port and is used to detect the specifications of the first part. And / or, The assembly equipment also includes a third sensor, which is located on the second material conveying component and is used to detect whether the second material conveying component has received the second part output from the second discharge port; And / or, The assembly equipment also includes a fourth sensor for detecting the specifications of the second part.

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