Positioning device, assembly apparatus and positioning method
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- FUXIANG PRECISION IND KUNSHAN
- Filing Date
- 2024-03-13
- Publication Date
- 2026-07-24
Smart Images
Figure CN118204732B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of automated processing, and in particular to a positioning device, assembly equipment and positioning method. Background Technology
[0002] In some assembly equipment for product assembly, parts need to be gripped by a gripper on a moving device (such as a multi-axis robotic arm), and then the moving device moves the parts to the assembly position, thereby installing the parts onto the semi-finished product.
[0003] When assembling different products, the required assembly height for parts varies. Currently, each time a product is assembled, the assembly equipment needs to be powered on, and a worker must remotely control the moving device to move the gripper to the corresponding assembly position. The processor of the assembly equipment then records the height of this position so that the moving device can automatically move each part to its designated assembly position after assembly begins. This means that every time a product is changed, a worker must remotely control the moving device to determine the assembly height, impacting the efficiency of the assembly equipment. Summary of the Invention
[0004] In view of the above, it is necessary to provide a positioning device, assembly equipment, and positioning method to solve the above problems.
[0005] In a first aspect, embodiments of this application provide a positioning device applied to an assembly equipment. The assembly equipment is used to move parts to an assembly position. The assembly equipment also includes a machine base, a moving device, and a processor. The moving device is disposed on the machine base, and the processor is connected to the moving device. The positioning device includes: a positioning component, which is disposed on the machine base and has a positioning hole; and a positioning finding component, which is connected to the moving device. The moving device is used to drive the positioning finding component to move in multiple directions. The positioning finding component includes a first detection element and a docking pin. The docking pin is used to enter the positioning hole along the height direction. The first detection element is used to acquire the detection height and output and / or display the detection height. The detection height is the height of the docking pin. The processor is used to record the detection height and to control the moving device to work based on the difference between the height of the assembly position and the detection height, so that the moving device drives the part to move to the assembly position, which is the position where the part needs to be assembled.
[0006] Optionally, the positioning device further includes: a second detection element, which is connected to the processor and installed on the positioning assembly. The second detection element is used to detect the movement of the docking pin into position in the height direction and to output a position detection signal to the processor. The processor is used to receive the position detection signal and trigger the moving device to stop working.
[0007] Optionally, the positioning device further includes: a positioning rod passing through a positioning hole and movably connected to the positioning assembly in the height direction, the positioning rod being used to abut against the mating pin; a second detection element being used to detect the positioning rod moving into place in the height direction, so as to detect the mating pin moving into place in the height direction; and an elastic element being connected to the positioning rod and the positioning assembly, the elastic element being used to support the positioning rod and drive the positioning rod to move towards the positioning assembly.
[0008] Optionally, the positioning component includes: a first base, a positioning hole formed in the first base and passing through the first base in the height direction; a connecting plate, which is fixed relative to the base, a second detection element installed on the connecting plate and spaced apart from the first base in the height direction; and a second base, which is installed on the connecting plate and spaced apart from the first base in the height direction, a through hole formed in the second base, through which the positioning rod passes, and an elastic element abutting against the second base to support part of the positioning rod structure on the second base.
[0009] Optionally, the positioning assembly further includes: a positioning connector, which is connected to the first base body and the connecting plate. The positioning connector is used to install on the fixture, wherein the assembly position is located on the fixture, and the fixture is movably mounted on the machine tool.
[0010] Optionally, the positioning assembly also includes a positioning connector for connecting to a mobile device, wherein the mating pin is fixed relative to the positioning connector.
[0011] Optionally, the first detection component is a digital edge finder, and the docking pin is a probe corresponding to the digital edge finder. The first detection component is connected to the docking pin.
[0012] Secondly, embodiments of this application provide an assembly device, comprising: a machine base; a moving device mounted on the machine base; a processor connected to the moving device; and a positioning device, comprising a positioning component, a positioning seeker component, and the processor. The positioning component is disposed on the machine base and has a positioning hole. The positioning seeker component is detachably connected to the moving device, and the moving device is used to drive the positioning seeker component to move in multiple directions. The positioning seeker component includes a first detection element and a mating pin. The mating pin is used to enter the positioning hole along the height direction. The first detection element is connected to the processor and is used to acquire a detection height and output and / or display the detection height, which is the height of the mating pin. The processor is used to record the detection height and to trigger the moving device to work based on the difference between the height of the assembly position and the detection height, so that the moving device drives the part to move to the assembly position, which is the position where the part needs to be assembled.
[0013] Thirdly, embodiments of this application provide a positioning method applied to a positioning device as described in any of the above claims. The positioning method includes: determining whether the docking pin has moved into place when the docking pin of the positioning component enters the positioning hole of the positioning device; and obtaining a detection height through a first detection element in response to the docking pin moving into place, wherein the detection height is the height at which the docking pin is located.
[0014] Optionally, the method for determining whether the docking pin has moved into place includes: determining whether a positioning detection signal output by the second detection element is received; determining that the docking pin has moved into place when the positioning detection signal is received; and determining that the docking pin has not moved into place when the positioning detection signal is not received, and returning to the step of determining whether the positioning detection signal output by the second detection element is received.
[0015] The positioning device, assembly equipment, and positioning method provided in this application can establish a three-dimensional coordinate system by using the docking of the docking pin and positioning hole to obtain the origin position of the three-dimensional coordinate system on which the moving device operates. Each time the product to be assembled is changed, the operator can update the coordinates of the assembly position in the three-dimensional coordinate system, allowing the updated product to be assembled. When the various devices on the assembly equipment remain unchanged, and their installation positions do not change, the operator can assemble the updated product simply by updating the coordinate data of the assembly position each time the product to be assembled is changed. This reduces the operator's workload in manipulating the moving device to position the assembly location and improves the efficiency of the assembly equipment in assembling products. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the assembly equipment in one embodiment of this application.
[0017] Figure 2 This is a schematic diagram of the assembly equipment in one embodiment of this application.
[0018] Figure 3 This is a schematic diagram of the positioning device in one embodiment of this application.
[0019] Figure 4 This is a cross-sectional view of the positioning component in one embodiment of this application.
[0020] Figure 5 This is a schematic diagram of the fixture and positioning components in one embodiment of this application.
[0021] Figure 6 This is a flowchart of a positioning method in one embodiment of this application.
[0022] Explanation of main component symbols
[0023] Assembly equipment 100
[0024] Machine 101
[0025] Mobile device 102
[0026] Transmission device 103
[0027] Jig 104
[0028] Processor 105
[0029] Filming device 106
[0030] Positioning device 107
[0031] Positioning component 10
[0032] First seat 11
[0033] Positioning hole 111
[0034] Connecting plate 12
[0035] Second seat 13
[0036] Through hole 131
[0037] Positioning connector 14
[0038] Positioning component 20
[0039] Positioning connector 21
[0040] First inspection item 22
[0041] Connecting to sales 23
[0042] Second inspection item 30
[0043] Positioning rod 40
[0044] Elastic element 50 Detailed Implementation
[0045] The technical solutions in the implementation of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described implementation is only a part of the implementation of this application, and not all of the implementations.
[0046] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are used only for descriptive purposes and should not be construed as indicating or implying relative importance, nor as indicating or implying order.
[0047] In the description of the embodiments in this application, the words "exemplary" or "for example" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0048] Please see Figure 1 , Figure 1 An assembly apparatus 100 according to an embodiment of this application is shown. The assembly apparatus 100 can receive a semi-finished product (not shown) to be assembled and drive the parts (not shown) of the product to move. The assembly apparatus 100 can drive the parts to the assembly position on the semi-finished product, thereby completing the assembly of the parts on the semi-finished product.
[0049] In the embodiments of this application, the products assembled by the assembly equipment 100 are not specifically limited. For example, the products can be, but are not limited to, terminal devices such as tablet computers, smartphones, and laptops. Among them, the semi-finished products can be the combined structure of the product's back cover and some electronic components, and the parts can be sound insulation cotton, insulating adhesive, etc., used in terminal devices.
[0050] Please refer to the following: Figure 2 In one embodiment, the assembly equipment 100 may include a machine base 101, a moving device 102, a gripper (not shown), a transfer device 103, a fixture 104, and a processor 105. The moving device 102 is fixedly mounted on the machine base 101, and the gripper is detachably connected to the moving device 102. The gripper can grasp and release parts. The fixture 104 can carry semi-finished products. The transfer device 103 is fixedly mounted on the machine base 101. The transfer device 103 can carry the fixture 104, move the fixture 104 to a preset area, and then keep the fixture 104 stationary. The transfer device 103 is spaced apart from the moving device 102. The processor 105 is communicatively connected to the moving device 102, the gripper, and the transfer device 103.
[0051] It is understood that processor 105 can be an electronic device with information interaction and processing functions, and the embodiments of this application do not limit the type of processing device. For example, processor 105 can be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of the above scheme program, and the embodiments of this application do not limit this.
[0052] In the embodiments of this application, the type of communication connection is not specifically limited. For example, the communication connection can be a wired communication connection implemented through a device such as a bus. As another example, the communication connection can be a wireless communication connection implemented through technologies such as Bluetooth, 3G, 4G, 5G, wireless LAN, and cellular network.
[0053] It is understood that a detachable connection refers to a connection method where two components can remain relatively fixed and can be separated. In the embodiments of this application, no specific limitation is made on the connection method of a detachable connection. For example, the connection method of a detachable connection may include, but is not limited to, bolt connections, screw connections, snap-fit connections, etc.
[0054] It is understood that after the processor 105 is connected to the mobile device 102 and the gripper and transmission device 103, after the product assembly operation begins, the processor 105 can execute the program set by the worker, thereby controlling the mobile device 102, the gripper and transmission device 103 to work, so that the mobile device 102, the gripper and transmission device 103 can cooperate to move the parts to the assembly position.
[0055] The transmission device 103 can drive the fixture 104 to reciprocate along the length of the machine tool 101. A preset area can be set on the machine tool 101, and the assembly position is located within the preset area. After the transmission device 103 moves the fixture 104 to the preset area, it stops working, so that the fixture 104 and the semi-finished product on the fixture 104 remain in the preset area.
[0056] During the assembly process of the product by the assembly equipment 100, the gripper can be mounted on the moving device 102. When the fixture 104 is located in the preset area, the moving device 102 can drive the gripper to move to the part loading point, and the gripper can grab the part; then the moving device 102 can drive the gripper and the part to the assembly position, and the gripper can release the part, thereby completing the assembly of the part on the semi-finished product.
[0057] In the embodiments of this application, the type of mobile device 102 is not specifically limited. For example, mobile device 102 may be, but is not limited to, a multi-axis robotic arm, a combination of multiple linear motion drive components, etc. For example, such as... Figure 1 As shown, the mobile device 102 can be a multi-axis robotic arm, and the mobile device 102 can drive components (such as grippers) mounted on the mobile device 102 to move and rotate in multiple directions.
[0058] In the embodiments of this application, the type of transmission device 103 is not specifically limited. For example, transmission device 103 may be, but is not limited to, a conveyor belt device.
[0059] It is understood that the assembly equipment 100 may also include a feeding device (not shown). The feeding device may be fixedly mounted on the machine base 101 and may continuously transport parts to the feeding position. In the embodiments of this application, the type of feeding device is not specifically limited. For example, the feeding device may be, but is not limited to, a feeder, etc.
[0060] In the embodiments of this application, the principle by which the gripper grasps the parts is not specifically limited. For example, the gripper can use negative air pressure to adsorb the parts in order to grasp them. Alternatively, the gripper can be an electric or pneumatic clamp, which can grasp the parts by gripping them.
[0061] It is understood that the assembly equipment 100 may also include a photographing device 106. The photographing device 106 can be communicatively connected to the processor 105. The photographing device 106 can be fixedly mounted on the machine base 101 and spaced apart from the moving device 102 and the transmission device 103. The photographing device 106 can take pictures of the parts gripped by the gripper and transmit the captured images to the processor 105. The processor 105 can determine whether the current placement angle of the part is the same as the preset placement angle based on the preset placement angle of the part during assembly and the captured image of the part; if they are not the same, the processor 105 can trigger the moving device 102 to work, thereby rotating the gripper and the part so that the placement angle of the part is the same as the preset placement angle. Then, the moving device 102 can drive the part to move to the assembly position.
[0062] It is understood that the processor 105 can communicate with an electronic device (not shown). The electronic device is a device with human-computer interaction, information processing, and communication functions. Operators can output information to the processor 105 by operating the electronic device (e.g., preset placement angles during part assembly, horizontal restrictions on assembly positions, etc.), and can obtain information from the processor 105 (e.g., images captured by the imaging device 106, etc.). In the embodiments of this application, the type of electronic device is not specifically limited. For example, the electronic device can be a personal computer, an industrial computer, a tablet computer, etc.
[0063] It is understood that the planes containing the length and width directions of fixture 104 can be parallel to the planes containing the length and width directions of machine tool 101. The preset area corresponding to fixture 104 does not change with the product, and the length and width of fixture 104 also do not change with the product. Therefore, in assembly scenarios for different products, the assembly position of the part is always located within fixture 104, which rests in the preset area, and the assembly position of the part is located within the projection area of fixture 104 in the height direction. In this way, the operator can obtain the horizontally restricted area of the part assembly position based on the preset area and the planar dimensions of fixture 104.
[0064] Meanwhile, when the moving device 102 needs to operate according to a preset three-dimensional coordinate system—that is, when the moving device 102 needs to know the coordinate information of the assembly position in the three-dimensional coordinate system in order to move the drive gripper and its parts to the assembly position—the operator can determine the extension directions of the X, Y, and Z axes of the three-dimensional coordinate system based on the length, width, and height directions of the fixture 104, or based on the length, width, and height directions of the machine tool 101. Specifically, the length, width, and height directions of the machine tool 101 can coincide with the length, width, and height directions of the fixture 104, respectively; or, the length, width, and height directions of the machine tool 101 can coincide with the width, length, and height directions of the fixture 104, respectively.
[0065] For example, such as Figure 1 As shown, the length, width, and height directions of the machine tool 101 coincide with the length, width, and height directions of the fixture 104, respectively.
[0066] In embodiments of this application, the assembly equipment 100 may further include a positioning device 107. Figure 3 (As shown in the diagram). The positioning device 107 can cooperate with the processor 105, the fixture 104, and the moving device 102 to determine the origin of the three-dimensional coordinate system on which the moving device 102 operates. The processor 105 can establish three-dimensional coordinates based on the position of the origin and the known extension directions of the X-axis, Y-axis, and Z-axis.
[0067] Please refer to the following: Figure 3 and Figure 4 In some embodiments, the positioning device 107 may include a positioning component 10 and a positioning component 20. The positioning component 10 may be fixedly mounted on one side of the fixture 104. The positioning component 10 has a positioning hole 111 along the height direction. The positioning component 20 may include a positioning connector 21, a first detection element 22, and a mating pin 23. The positioning connector 21 is detachably connected to the moving device 102. The mating pin 23 may be fixedly mounted to the positioning connector 21. The moving device 102 may drive the positioning component 20 to rotate and move, so that the mating pin 23 can enter the positioning hole 111 along the height direction. The first detection element 22 may be communicatively connected to the processor 105. The first detection element 22 may detect the height of the mating pin 23, generate a detection height, and output the detection height to the processor 105.
[0068] It is understood that the positioning connector 21 can be installed on the moving device 102 after the gripper is removed from the moving device 102. When the assembly equipment 100 needs to establish a three-dimensional coordinate system, the moving device 102 is connected to the positioning connector 21, and the operator can remotely control the moving device 102 through electronic devices and a processor 105 to move the docking pin 23 to a position aligned with the positioning hole 111 in the height direction, and to allow the docking pin 23 to enter the positioning hole 111. After the docking pin 23 moves to the preset positioning point in the height direction, the moving device 102 stops driving the docking pin 23 to move, and at this time, the height of the docking pin 23 can be the position of the origin in the three-dimensional coordinate system in the height direction.
[0069] The preset positioning point is a point on the machine tool 101 whose position in the length and width directions coincides with the position of the positioning hole 111. The preset positioning point can be obtained by the operator based on experience or experimentation. The preset positioning point has a distance between it and the machine tool 101 in the height direction, and is located within the three-dimensional range within which the moving device 102 can drive the docking pin 23 and the gripper to move.
[0070] The operator can mark a preset positioning point on the positioning component 10 and stop operating the moving device 102 when the docking pin 23 moves to cover the mark, thereby stopping the docking pin 23 at the preset positioning point. Alternatively, the operator can use other detection devices to detect whether the docking pin 23 has reached the preset positioning point. When the docking pin 23 reaches the preset positioning point, the processor 105 can trigger the moving device 102 to stop working, causing the docking pin 23 to stop at the preset positioning point.
[0071] It can be understood that the pin 23 being located at the preset positioning point means that a specified position on the pin 23 coincides with the position of the preset positioning point. For example, when the end of the pin 23 closest to the machine 101 coincides with the preset positioning point, it can be determined that the pin 23 is located at the preset positioning point.
[0072] It is understood that the positioning component 10 is fixedly mounted on the fixture 104, and the preset area in which the fixture 104 remains stationary on the machine tool 101 is fixed. Therefore, when the fixture 104 is located in the preset area, the positions of the positioning component 10 and the positioning hole 111 on the machine tool 101 are fixed. When establishing the three-dimensional coordinate system, the position of the origin in the length and width directions of the fixture 104 can be determined to be the same as the position of the positioning hole 111 in the length and width directions of the fixture 104, and recorded in the electronic device or processor 105. Then, the operator can determine the position of the origin in the height direction by using the detection height obtained by the first detection element 22, thereby determining the specific position of the origin of the three-dimensional coordinate system, and establishing the three-dimensional coordinate system based on this origin.
[0073] In the embodiments of this application, the type of the first detection element 22 is not specifically limited. For example, the first detection element 22 may be, but is not limited to, a distance sensor.
[0074] In the embodiments of this application, the installation position of the first detection element 22 is not specifically limited. For example, in some cases, the first detection element 22 can be installed on the positioning connector 21 or the docking pin 23. When the positioning component 20 moves to the point where its projection in the height direction coincides with the projection of the positioning component 10 in the height direction, the first detection element 22 can detect the distance between the docking pin 23 and the positioning component 10 or the machine tool 101 in the height direction to obtain the detection height.
[0075] For example, in other cases, the first detection element 22 can be installed on the positioning component 10 or the machine tool 101. When the positioning component 20 moves to the point where its projection in the height direction coincides with the projection of the positioning component 10 in the height direction, the first detection element 22 can detect the distance between the docking pin 23 and the positioning component 10 or the machine tool 101 in the height direction to obtain the detection height.
[0076] It is understood that after obtaining the detected height, the first detection element 22 can display and / or output the detected height. For example, the first detection element 22 may be a sensor without a display function, and the first detection element is communicatively connected to the processor 105. The first detection element 22 can output the detected height to the processor 105, and the processor 105 can record the detected height.
[0077] For example, the first detection element 22 can be a sensor with a display function. The first detection element 22 can display the detected height, which can be viewed by personnel and output to the processor 105 via electronic equipment. For example, Figure 3 As shown, the first detection element 22 is a digital display edge finder, and the docking pin 23 is a probe corresponding to the digital display edge finder. The first detection element 22 is fixedly installed on the positioning connector 21, and the docking pin 23 is fixedly installed on the side of the first detection element 22 that is away from the positioning connector 21 in the height direction; the first detection element 22 can detect the height of the docking pin 23.
[0078] It is understandable that after establishing a three-dimensional coordinate system, the processor 105 can calculate the coordinates of the assembly position on the Z-axis based on the difference between the detection height and the height of the assembly position. Similarly, the processor 105 can calculate the coordinates of the assembly position on the X-axis and Y-axis by calculating the distance between the assembly position and the positioning hole 111 in the length and width directions of the machine tool 101. Combining the coordinates of the assembly position on the X-axis, Y-axis, and Z-axis obtained by the processor 105, i.e., obtaining the coordinate point of the assembly position, the processor 105 can control the moving device 102 to move the gripper to the corresponding coordinate point during the assembly process of the assembly equipment 100, thereby moving the part to the assembly position.
[0079] By aligning the docking pin 23 with the positioning hole 111, and recording the detection height of the docking pin 23 after it moves to the preset positioning point, the processor 105 can establish the three-dimensional coordinate system upon which the moving device 102 is based by obtaining the origin position of the three-dimensional coordinate system. Furthermore, each time the product to be assembled is changed, the operator can output the updated assembly position's distance from the origin position of the three-dimensional coordinate system in the length, width, and height directions of the machine tool 101 to the processor 105 via electronic equipment. The processor 105 can then update the coordinate points of the assembly position in the three-dimensional coordinate system and control the moving device 102 to move the gripper and parts to the updated coordinate points for product assembly.
[0080] Thus, without changing the various devices on the assembly equipment 100 or their installation positions, the operator can assemble the updated product by simply operating the electronic equipment each time the product to be assembled is changed. Compared to the common approach in related fields where the operator remotely controls the moving device 102 after the assembly equipment 100 is powered on to move the gripper to the corresponding assembly position, and then the processor 105 of the assembly equipment 100 records the assembly position so that the moving device 102 can automatically move each part to the assembly position after the product assembly begins, the assembly equipment 100 provided in this application eliminates the need for the operator to operate the moving device 102 to position the assembly position each time the product to be assembled is updated. The operator only needs to output the distance between the assembly position and the origin in each direction to the processor 105, and the assembly equipment 100 can then begin assembling the product. This improves the efficiency of the assembly equipment 100 in assembling products and reduces the workload of the operator.
[0081] In some embodiments, the positioning assembly 10 may include a first base 11, a connecting plate 12, a second base 13, and a positioning connecting seat 14. The positioning connecting seat 14 may be fixedly connected to one side of the fixture 104 in the width direction. The connecting plate 12 is fixedly mounted on the positioning connecting seat 14 and extends along the height direction of the fixture 104. The first base 11 is fixedly mounted on the connecting plate 12. A positioning hole 111 is formed in the first base 11 and extends through the first base 11 in the height direction. The second base 13 is fixedly mounted on the connecting plate 12 and is spaced apart from the first base 11 in the height direction. A through hole 131 is formed on the second base 13 and extends through the second base 13 in the height direction. The through hole 131 and the positioning hole 111 are correspondingly arranged in the height direction.
[0082] The positioning device 107 may further include a second detection element 30, a positioning rod 40, and an elastic element 50. The second detection element 30 is fixedly mounted on the connecting plate 12 and located on the side of the second base 13 opposite to the first base 11. The length direction of the positioning rod 40 coincides with the height direction of the machine base 101. Part of the structure of the positioning rod 40 extends from the side of the first base 11 near the second base 13 into the positioning hole 111, and part of the structure extends through the through hole 131. The positioning rod 40 can move along its own length direction within the through hole 131 and the positioning hole 111. The second detection element 30 can detect the movement of the positioning rod 40. The elastic element 50 is connected to the second base 13 and the positioning rod 40. The elastic element 50 can support the positioning rod 40 on the second base 13.
[0083] In the embodiments of this application, the type of elastic element 50 is not specifically limited. For example, the elastic element 50 can be a spring, and it can be sleeved on the positioning rod 40. One end of the elastic element 50 can abut against the side of the second seat 13 facing the first seat 11, and the other end can abut against the nut threaded onto the positioning rod 40. Thus, when the positioning rod 40 moves along the direction from the first seat 11 to the second seat 13, the elastic element 50 is compressed; when the force driving the positioning rod 40 to move along the direction from the first seat 11 to the second seat 13 is released, the elastically deformed elastic element 50 can drive the positioning rod 40 to move along the direction from the second seat 13 to the first seat 11 through its own elastic force.
[0084] It is understood that when determining the origin of the three-dimensional coordinate system, the operator remotely controls the moving device 102 to operate, causing the docking pin 23 to enter the positioning hole 111 from the side of the first base 11 away from the second base 13. The docking pin 23, entering the positioning hole 111, can abut against the positioning rod 40. As the depth of the docking pin 23 into the positioning hole 111 increases, the docking pin 23 pushes the positioning rod 40 to move along the first base 11 towards the second base 13, bringing the positioning rod 40 closer to the detection position of the second detection element 30. When the positioning rod 40 moves to the detection position of the second detection element 30, the second detection element 30 detects that the positioning rod 40 has moved into place and outputs a position detection signal to the processor 105. After receiving the position detection signal, the processor 105 can control the moving device 102 to stop operating, keeping the docking pin 23 stationary.
[0085] It is understandable that when assembling the positioning component 10 and the positioning component 20, the workers can determine the installation position of the second detection component 30 on the connecting plate 12 based on the length of the docking pin 23 and the positioning rod 40, as well as the location of the preset positioning point. This ensures that when the positioning rod 40 moves to the detection position of the second detection component 30, the docking pin 23 is located at the preset positioning point. The second detection component 30 can determine whether the positioning rod 40 has moved into its detection position, thereby determining whether the docking pin 23 has moved into its preset positioning point.
[0086] In the embodiments of this application, the type of the second detection element 30 is not specifically limited. For example, the second detection element 30 may be, but is not limited to, an infrared sensor, a proximity switch, etc. For example, the second detection element 30 may be an infrared sensor, and the location of the light emitted by the second detection element 30 is the detection position of the second detection element 30. When the positioning rod 40 moves to block the light emitted by the second detection element 30, the second detection element 30 can determine that the positioning rod 40 has moved into place.
[0087] It is understood that when the processor 105 controls the mobile device 102 to stop working, the mobile device 102 no longer responds to the operator's remote control and moves. At this time, the detection height obtained by the first detection element 22 corresponds to the position of the origin of the three-dimensional coordinate system.
[0088] When the first detection element 22 is connected to the processor 105, the processor 105 can obtain the detection height from the first detection element 22 after the control moving device 102 stops working, and determine the position of the origin based on the detection height and the known position of the positioning hole 111 on the horizontal plane, and then establish a three-dimensional coordinate system in combination with the known X-axis direction, Y-axis direction and Z-axis direction.
[0089] When the first detection element 22 displays the detection height, the operator can read the detection height displayed by the first detection element 22 after confirming that the mobile device 102 cannot be remotely controlled, and output the detection height to the processor 105 through the electronic device, so that the processor 105 can establish a three-dimensional coordinate system based on the known origin position, X-axis direction, Y-axis direction and Z-axis direction.
[0090] Please refer to the following: Figure 5 It is understood that the number of positioning components 10, second detection elements 30, positioning rods 40, and elastic elements 50 can be one or more, and the embodiments of this application do not limit this. Figure 5 As shown, when there are multiple positioning components 10, second detection components 30, positioning rods 40 and elastic components 50, the moving device 102 can make the positioning component 20 dock with any positioning component 10 to determine the origin position of the triangular coordinate system.
[0091] Alternatively, the moving device 102 can sequentially dock the positioning component 20 with each positioning component 10, allowing the processor 105 to obtain multiple detection heights. This enables the processor 105 to establish a three-dimensional coordinate system and determine the working boundary based on the positions of the multiple positioning components 10 on the horizontal plane and their corresponding detection heights. When setting the assembly position, the operator can determine whether the assembly position is within the working boundary, allowing them to check for errors in the assembly position setting.
[0092] In other embodiments, the positioning component 10 may not be mounted on the fixture 104. The positioning component 10 may be fixedly mounted on the machine tool 101. When the positioning component 10 is mounted on the machine tool 101, the way in which the positioning component 20 cooperates with the positioning component 10 to determine the origin position of the three-dimensional coordinate system is the same as when the positioning component 10 is mounted on the fixture 104, and will not be described again here.
[0093] It is understood that the assembly equipment 100 provided in the embodiments of this application can obtain the origin position of the three-dimensional coordinate system on which the moving device 102 is based by using the docking of the docking pin 23 and the positioning hole 111. Then the processor 105 can establish the three-dimensional coordinate system. Moreover, each time the product to be assembled is changed, the operator can output the distance between the updated assembly position and the origin position of the three-dimensional coordinate system in the length, width and height directions of the machine table 101 to the processor 105 through electronic equipment. Then the processor 105 can update the coordinate point of the assembly position in the three-dimensional coordinate system and control the moving device 102 to move the gripper and parts to the updated coordinate point to assemble the product.
[0094] Thus, without changing any of the devices on the assembly equipment 100 or their installation positions, when changing the product to be assembled, the operator can use electronic devices to assemble the updated product, reducing the operator's workload in manipulating the moving device 102 to position the assembly location. The operator only needs to output the distance between the assembly position and the origin in each direction to the processor 105, and the assembly equipment 100 can begin assembling the product, improving the efficiency of the assembly equipment 100 in assembling products and reducing the workload of the operator.
[0095] Please refer to the following: Figure 6 , Figure 6 A flowchart illustrating a positioning method provided by an embodiment of this application is shown. The positioning method can be executed on a processor 105. When the processor 105 executes the positioning method, such as... Figures 1 to 5 The assembly equipment 100 shown can determine the position of the origin in the three-dimensional coordinate system on which the moving device 102 operates.
[0096] The positioning method can be performed after the assembly equipment 100 is powered on and the operator remotely controls the moving device 102 to engage the mating pin 23 into the positioning hole 111. The positioning method may include the following steps:
[0097] Step S61: Determine whether the connecting pin 23 has been moved into place.
[0098] When the docking pin 23 is moved into place, step S62 is initiated; when the docking pin 23 is not moved into place, step S61 is resumed to continue determining whether the docking pin 23 has been moved into place.
[0099] It is understood that when the docking pin 23 moves to the preset positioning point, it is considered to be in place. The processor 105 can determine whether the positioning rod 40 has moved to the detection position of the second detection element 30 through the second detection element 30, thereby determining whether the docking pin 23 has been moved into place.
[0100] Specifically, the method by which the processor 105 determines whether the docking pin 23 has been moved into place may include: determining whether a position detection signal output by the second detection element 30 is received; in response to receiving the position detection signal, determining that the docking pin 23 has been moved into place; in response to not receiving the detection signal, determining that the docking pin 23 has not been moved into place, and returning to the step of determining whether the position detection signal has been received to continue determining whether the docking pin 23 has been moved into place.
[0101] It is understandable that the principle of determining whether the docking pin 23 has moved into place through the second detection component 30 can be referred to... Figures 1 to 5 The details and related descriptions will not be repeated here.
[0102] Step S62: Obtain the detection height through the first detection element 22.
[0103] It is understandable that the processor 105 can obtain the detection height directly from the first detection element 22, or by having an operator check the detection height and then output the detection height to the processor 105 via electronic equipment. The method by which the first detection element 22 obtains the detection height can be referred to... Figures 1 to 5 The relevant statements will not be repeated here.
[0104] It is understood that while step S62 is being executed, or after step S61 has determined that the docking pin 23 has moved into place, and before step S62 is being executed, the processor 105 may also control the moving device 102 to stop working, thereby keeping the docking pin 23 stationary, so that the processor 105 can obtain a stable detection height.
[0105] Understandable. Figure 6 The beneficial effects of the positioning method shown are Figures 1 to 5 The assembly equipment 100 shown has the same beneficial effects, which can be referred to in detail. Figures 1 to 5 The details and related descriptions will not be repeated here.
[0106] Embodiments of this application also provide a computer-readable storage medium. The computer-readable storage medium can store a computer program. When the assembly equipment 100 executes the computer program, the assembly equipment 100 can perform actions such as... Figure 6 The positioning method shown.
[0107] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments described above should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application.
Claims
1. A positioning device applied to an assembly equipment, the assembly equipment being used to move parts to an assembly position, the assembly equipment further comprising a machine base, a moving device, and a processor, the moving device being disposed on the machine base, and the processor being connected to the moving device, characterized in that, The positioning device includes: A positioning component is provided on the machine base, and the positioning component has a positioning hole. A positioning component is provided, which is connected to the moving device and driven to move in multiple directions. The positioning component includes a first detection element and a docking pin. The docking pin is used to enter the positioning hole along the height direction. The first detection element is used to acquire the detection height and output and / or display the detection height. Wherein, the detection height is the height of the docking pin, the processor is used to record the detection height, and is used to control the moving device to work according to the difference between the height of the assembly position and the detection height, so that the moving device drives the part to move to the assembly position, the assembly position is the position where the part needs to be assembled.
2. The positioning device as described in claim 1, characterized in that, The positioning device further includes: The second detection element is connected to the processor and installed on the positioning assembly. The second detection element is used to detect the movement of the docking pin into position in the height direction and to output a position detection signal to the processor. The processor is used to receive the position detection signal and trigger the moving device to stop working.
3. The positioning device as described in claim 2, characterized in that, The positioning device further includes: A positioning rod passes through the positioning hole and is movably connected to the positioning assembly in the height direction. The positioning rod is used to abut against the docking pin. The second detection element is used to detect that the positioning rod has moved into place in the height direction, so as to detect that the docking pin has moved into place in the height direction. An elastic element is connected to the positioning rod and the positioning assembly. The elastic element supports the positioning rod and drives the positioning rod to move closer to the positioning assembly.
4. The positioning device as described in claim 3, characterized in that, The positioning component includes: The first base body, wherein the positioning hole is formed in the first base body and passes through the first base body along the height direction; A connecting plate is fixed relative to the base body, and the second detection element is installed on the connecting plate, with the second detection element and the first base body spaced apart in the height direction; The second seat is mounted on the connecting plate and is spaced apart from the first seat in the height direction. A through hole is formed on the second seat, through which the second seat passes in the height direction. The positioning rod passes through the through hole. The elastic member abuts against the second seat to support part of the structure of the positioning rod on the second seat.
5. The positioning device as described in claim 4, characterized in that, The positioning component also includes: A positioning connector is provided, which is connected to the first base body and the connecting plate. The positioning connector is used to install on a fixture, wherein the assembly position is located on the fixture, and the fixture is movably mounted on the machine base.
6. The positioning device as described in claim 1, characterized in that, The positioning component further includes a positioning connector for connecting to the mobile device, and the mating pin is fixed relative to the positioning connector.
7. The positioning device as described in claim 1, characterized in that, The first detection component is a digital edge finder, and the docking pin is a probe corresponding to the digital edge finder. The first detection component is connected to the docking pin.
8. An assembly device, characterized in that, The assembly equipment includes: Machine tool; A mobile device, the mobile device being mounted on the machine base; A processor, the processor being connected to the mobile device; A positioning device includes a positioning component, a positioning seeker component, and a processor. The positioning component is disposed on the machine base and has a positioning hole. The positioning seeker component is detachably connected to a moving device, which drives the positioning seeker component to move in multiple directions. The positioning seeker component includes a first detection element and a docking pin. The docking pin is used to enter the positioning hole along the height direction. The first detection element is connected to the processor and is used to acquire a detection height and output and / or display the detection height, which is the height of the docking pin. The processor is used to record the detection height and to trigger the moving device to work based on the difference between the height of the assembly position and the detection height, so that the moving device drives the part to move to the assembly position, which is the position where the part needs to be assembled.
9. A positioning method, applied to the positioning device as described in any one of claims 1 to 7, characterized in that, The positioning method includes: When the docking pin of the positioning component enters the positioning hole of the positioning device, it is determined whether the docking pin has moved into place; In response to the docking pin moving into place, a detection height is obtained through a first detection element, wherein the detection height is the height at which the docking pin is located.
10. The positioning method as described in claim 9, characterized in that, The method for determining whether the connecting pin has moved into place includes: Determine whether to receive the position detection signal output by the second detection element; Upon receiving the positioning detection signal, it is determined that the docking pin has moved into place; In response to the absence of the positioning detection signal, it is determined that the docking pin has not been moved into place, and the process returns to the step of determining whether to receive the positioning detection signal output by the second detection element.