3c product assembly system

Abstract

The application provides a 3C product assembly system, which comprises a workbench, a workpiece assembly unit and a control unit, the workbench is provided with a carrier frame, and the carrier frame is used for carrying a workpiece to be assembled; the workpiece assembly unit is arranged on the workbench, and is used for mounting a matched workpiece on the workpiece to be assembled on the carrier frame; the control unit is electrically connected with the workpiece assembly unit, the control unit comprises a computing component and a controller, the computing component is used for simulating the operation of the workpiece assembly unit, and the controller is used for controlling the workpiece assembly unit according to the operation process in the computing component. The 3C product assembly system disclosed by the application can simulate the assembly process of the workpiece in the computing component to improve the precision of the workpiece assembly unit, and is helpful to improve the assembly efficiency of the workpiece.

Description

TECHNICAL FIELD

[0001] The present application relates to the assembly production line of 3C products, and particularly relates to a 3C product assembly system. BACKGROUND

[0002] In the production process of 3C products, especially in the production process of mobile phones, computers and other products, due to the characteristics of the material such as heterogeneity and easy deformation, the assembly process becomes extremely difficult. And most of the assembly process still adopts manual assembly method, which requires higher skill and experience of workers, and the production speed is greatly affected by the skill level of workers. Moreover, manual assembly is difficult to ensure the stability of assembly quality, which may affect the performance and reliability of products. Therefore, the manual assembly method cannot meet the production demand of large scale and high efficiency. SUMMARY

[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, in the embodiments of the present application, a 3C product assembly system is provided, which can simulate the assembly process of a workpiece in a computing component to improve the precision of a workpiece assembly unit, thereby helping to improve the assembly efficiency of the workpiece.

[0004] The 3C product assembly system disclosed in the embodiments of the present application comprises:

[0005] A workbench, wherein a carrier frame is arranged on the workbench, and the carrier frame is used to carry a workpiece to be assembled;

[0006] A workpiece assembly unit, wherein the workpiece assembly unit is arranged on the workbench, and the workpiece assembly unit is used to install a counterpart workpiece on the workpiece to be assembled of the carrier frame;

[0007] A control unit, wherein the control unit is electrically connected with the workpiece assembly unit, the control unit comprises a computing component and a controller, the computing component is used to simulate the operation of the workpiece assembly unit, and the controller is used to control the work of the workpiece assembly unit according to the operation process in the computing component.

[0008] The 3C product assembly system disclosed in the embodiments of the present application can simulate the assembly process of a workpiece in a simulated assembly environment by constructing a simulated assembly environment in a computing component, thereby providing the assembly precision of a workpiece assembly unit and helping to improve the assembly efficiency of the workpiece.

[0009] In some embodiments, the control unit further comprises a display, and the display is used to display the operation process of the workpiece assembly unit for an operator.

[0010] In some embodiments, the workpiece assembling unit comprises a mechanical arm and an executor arranged at the end of the mechanical arm, the executor comprises a picking assembly for picking and mounting the counterpart workpiece and a vision assembly for monitoring the picking process of the counterpart workpiece and the posture of the counterpart workpiece.

[0011] In some embodiments, the counterpart workpiece comprises at least one of a flexible flat cable, a camera, a SIM card slot and a coaxial cable, the mechanical arm is at least one, and the executor and the mechanical arm are arranged one by one, and the vision assembly comprises an image sensor.

[0012] In some embodiments, the counterpart workpiece is a flexible flat cable, the picking assembly comprises a first suction head, and the workpiece assembling unit further comprises a first adjusting assembly, the first adjusting assembly comprises a first positioning seat and a first offset piece, the first positioning seat is provided with a first slot and a second slot in communication, the first slot is used for accommodating and positioning the flexible flat cable, and the first offset piece is movably arranged in the second slot to push the flexible flat cable in the first slot.

[0013] And / or, the executor further comprises a tactile assembly for monitoring the mounting process of the workpiece to be assembled.

[0014] In some embodiments, the counterpart workpiece is a camera, the picking assembly comprises a second suction head and two positioning claws, the two positioning claws are arranged on opposite sides of the second suction head, the positioning claws have L-shaped ends arranged towards the second suction head.

[0015] In some embodiments, the counterpart workpiece is a SIM card slot, the executor further comprises a mounting seat, a clamping piece and a push rod, the mounting seat is provided with a third slot for accommodating the SIM card slot, the clamping piece is movable relative to the mounting seat along the thickness direction of the SIM card slot, and the push rod is movable relative to the mounting seat along the length direction of the SIM card slot.

[0016] In some embodiments, the picking assembly comprises a third suction head, and the workpiece assembling unit further comprises a second adjusting assembly, the second adjusting assembly comprises a second positioning seat and a second offset piece, the second positioning seat is provided with a fourth slot for accommodating and positioning the SIM card slot, and the second offset piece is movably arranged in the fourth slot.

[0017] In some embodiments, the counterpart workpiece is a coaxial cable, the picking assembly comprises a first clamping jaw and a second clamping jaw arranged opposite to each other, the first clamping jaw and the second clamping jaw are movable relative to each other, the executor further comprises a pressing assembly, the pressing assembly has a pressing head for mounting the coaxial cable onto the workpiece to be assembled.

[0018] In some embodiments, the workpiece assembly unit further comprises a third adjusting assembly, the third adjusting assembly comprises a third positioning seat and a third offset piece, the third positioning seat is provided with a fifth slot, the fifth slot is used for accommodating the coaxial cable, the third offset piece is movable relative to the third positioning seat along the radial direction of the fifth slot, and the third offset piece is rotatable about the axial direction of the fifth slot;

[0019] And / or, the executor further comprises a wire arrangement assembly, the wire arrangement assembly comprises a fixing piece and a separation wheel, the fixing piece has a clamping slot, the clamping slot is used for accommodating the cable in the coaxial cable, and the separation wheel is movable along the length direction of the coaxial cable.

[0020] In some embodiments, the 3C product assembly system further comprises a feeding unit, the feeding unit is electrically connected with the controller, the feeding unit comprises a material rack, a feeding and discharging assembly and a guide rail, the material rack is provided with a plurality of accommodation slots, the accommodation slots are used for placing the carrier frame, the guide rail is arranged on the workbench, the carrier frame is movably arranged on the guide rail, and the feeding and discharging assembly is used for transferring the carrier frame between the guide rail and the material rack.

[0021] In some embodiments, the feeding and discharging assembly comprises a feeding gripper, the feeding gripper comprises a fixing seat, the fixing seat is provided with a third clamping jaw and a fourth clamping jaw, the third clamping jaw and the fourth clamping jaw are oppositely arranged and movable, the fixing seat is further provided with a positioning pin and a magnetic attraction piece, the carrier frame is provided with a socket and a magnetic attraction part, the positioning pin is movably inserted into the socket, and the magnetic attraction piece and the magnetic attraction part are correspondingly arranged.

[0022] And / or, the guide rail is annular, and the guide rail is arranged around the workpiece assembly unit. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 FIG. 1 is a perspective view of a 3C product assembly system provided by an embodiment of the present application.

[0024] Figure 2 FIG. 3 is a perspective view of an executor for soft wire installation in the 3C product assembly system provided by an embodiment of the present application.

[0025] Figure 3 FIG. 4 is a perspective view of the executor shown in FIG. 3 from another angle. Figure 2

[0026] Figure 4 FIG. 6 is a perspective view of a first adjusting assembly in the 3C product assembly system provided by an embodiment of the present application.

[0027] Figure 5 FIG. 7 is a perspective view of a second adjusting assembly in the 3C product assembly system provided by an embodiment of the present application.​Figure 4 A perspective view of the first adjusting assembly from another angle.

[0028] Figure 6 A perspective view of an executor for camera installation in a 3C product assembly system provided by an embodiment of the present application.

[0029] Figure 7 A perspective view of a part of the executor. Figure 6 A perspective view of a part of the executor.

[0030] Figure 8 A perspective view of the executor installing a camera onto a workpiece to be assembled. Figure 6 A perspective view of the executor installing a camera onto a workpiece to be assembled.

[0031] Figure 9 A perspective view of an executor for SIM card slot installation in a 3C product assembly system provided by an embodiment of the present application.

[0032] Figure 10 A perspective view of a part of the executor. Figure 9 A perspective view of the executor from another angle.

[0033] Figure 11 A perspective view of a second adjusting assembly in a 3C product assembly system provided by an embodiment of the present application.

[0034] Figure 12 A perspective view of an executor for coaxial cable installation in a 3C product assembly system provided by an embodiment of the present application.

[0035] Figure 13 A perspective view of a part of the executor. Figure 12 A perspective view of a part of the executor.

[0036] Figure 14 A perspective view of a pressing assembly in an executor for coaxial cable installation in a 3C product assembly system provided by an embodiment of the present application.

[0037] Figure 15 A perspective view of a third adjusting assembly in a 3C product assembly system provided by an embodiment of the present application.

[0038] Figure 16 A perspective view of a part of the third adjusting assembly. Figure 15 A perspective view of a part of the third adjusting assembly.

[0039] Figure 17 A rear view of the third adjusting assembly. Figure 15 A rear view of the third adjusting assembly.

[0040] Figure 18 A perspective view of a material rack in a 3C product assembly system provided by an embodiment of the present application.

[0041] Figure 19 is a combined schematic view of the carrier frame and the guide rail in the 3C product assembly system provided by the embodiment of the present application.

[0042] Figure 20 is a three-dimensional schematic view of the feeding gripper in the 3C product assembly system provided by the embodiment of the present application.

[0043] Reference signs:

[0044] 10, workbench; 11, carrier frame; 112, insertion hole; 113, magnetic attraction part; 20, workpiece assembly unit; 21, mechanical arm; 22, actuator; 23, picking assembly; 24, visual assembly; 30, control unit; 31, display;

[0045] 41, first suction head; 42, first adjusting assembly; 421, first positioning seat; 4211, first groove; 4212, second groove; 422, first offset piece; 423, first driver; 424, mounting plate; 425, stand; 426, fixed block;

[0046] 51, second suction head; 52, positioning claw; 521, L-shaped end; 53, pressing piece;

[0047] 61, mounting seat; 611, third groove; 62, clamping piece; 63, push rod; 64, third suction head; 65, second adjusting assembly; 651, second positioning seat; 6511, fourth groove; 652, second offset piece;

[0048] 71, first clamping jaw; 72, second clamping jaw; 73, pressing assembly; 731, pressing head; 74, picking rod; 75, wire arranging assembly; 751, fixed piece; 7512, clamping groove; 752, separating wheel; 76, third adjusting assembly; 761, third positioning seat; 7611, fifth groove; 7612, opening; 7613, center hole; 7614, first positioning plate; 7615, second positioning plate; 7616, inner ring tooth; 7617, second guide groove; 762, third offset piece; 7622, second guide part; 763, transmission piece; 7631, gear; 7632, first guide groove;

[0049] 80, feeding unit; 81, material rack; 82, guide rail; 83, feeding and discharging assembly; 84, feeding gripper; 841, fixed seat; 842, third clamping jaw; 843, fourth clamping jaw; 844, positioning pin; 845, magnetic attraction piece. DETAILED DESCRIPTION

[0050] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0051] like Figures 1 to 20 As shown, this embodiment of the invention provides a 3C product assembly system, which includes a workbench 10, a workpiece assembly unit 20, and a control unit 30. The workbench 10 is equipped with a carrier frame 11 for supporting workpieces to be assembled. The workpiece assembly unit 20 is disposed on the workbench 10 and is used to install mating workpieces onto the workpieces to be assembled on the carrier frame 11. The control unit 30 and the workpiece assembly unit 20 are electrically connected. The control unit 30 includes a computing component and a controller. The computing component simulates the operation of the workpiece assembly unit 20, and the controller controls the operation of the workpiece assembly unit 20 according to the operating process in the computing component.

[0052] In this embodiment, the computing component can be a central processing unit, a neural network processor, an industrial control computer, or other components. The operator can use digital twin technology to build a simulated assembly environment in the computing component, test and train the workpiece assembly unit 20 in the simulated assembly environment, and transmit the entire training process or the running program of the workpiece assembly unit 20 to the controller. The controller can then control the workpiece assembly unit 20 to assemble the paired workpieces according to the electrical signal. In other words, the running process of the workpiece assembly unit 20 in the simulated assembly environment can be synchronously migrated to the real assembly environment. This can reduce the testing and training process of the workpiece assembly unit 20 in the real environment, help reduce the wear and tear on the product during the debugging and training process of the workpiece assembly unit 20, and improve the assembly accuracy of the workpiece assembly unit 20 through training, thereby helping to improve the assembly efficiency of the workpiece.

[0053] It should be noted that the simulated assembly environment in the computational component is modeled and imported by the operator. The simulated assembly environment in the computational component has the same components as the real assembly environment, achieving a 1:1 consistency. This ensures that the simulated environment is exactly the same as the real assembly environment, including the material, mass, and center of gravity of the components. This guarantees the working accuracy and efficiency of the workpiece assembly unit 20 after migration.

[0054] Furthermore, the control unit 30 also includes a display 31, which is used to display the running progress of the workpiece assembly unit 20 to the operator, so that the operator can view the running progress of the workpiece assembly unit 20 in the simulated assembly environment in real time, which can facilitate the operator to make adjustments.

[0055] like Figures 1 to 20As shown, in some embodiments, the workpiece assembly unit 20 comprises a mechanical arm 21 and an executor 22 arranged at the end of the mechanical arm 21, the executor 22 comprising a picking assembly 23 for picking and mounting the paired workpiece and a vision assembly 24 for monitoring the picking process of the paired workpiece and the posture of the paired workpiece.

[0056] In the present embodiment, the mechanical arm 21 can be a six-degree-of-freedom mechanical arm 21, one end of the mechanical arm 21 being fixed to the workbench 10, and the other end of the mechanical arm 21 being provided with the executor 22 to have greater freedom and greater operating range. Specifically, a plurality of sliding grooves are arranged on the workbench 10, the plurality of sliding grooves being arranged in parallel, the mechanical arm 21 being fixed to the sliding grooves, and the position of the mechanical arm 21 being adjusted according to the installation needs of the mechanical arm 21 to facilitate the use of the operator.

[0057] The paired workpiece can be placed in the material tray, the mechanical arm 21 can drive the executor 22 to move above the material tray, the vision assembly 24 can obtain the depth image of the material tray and transmit the depth image to the controller, the controller can obtain the position of the paired workpiece according to the depth image, and then control the mechanical arm 21 to move to sequentially pick the paired workpiece, and then control the mechanical arm 21 to move above the workpiece to be assembled in the carrier frame 11, to realize the installation of the paired workpiece. In the above process, the mechanical arm 21 can continuously and stably work, can accurately and repeatedly perform the work, which helps to reduce errors and improve product quality.

[0058] Further, the vision assembly 24 can be arranged at the front side of the picking assembly 23, and the vision assembly 24 can comprise an image sensor electrically connected with the controller, which can be a camera, a lens or the like. The image sensor can be arranged towards the picking assembly 23 to facilitate the shooting of the picking process of the paired workpiece and the posture of the paired workpiece.

[0059] For example, the vision assembly 24 can be used to shoot the picking process of the paired workpiece to determine whether the paired workpiece is picked, and can also be used to shoot to identify the installation position of the paired workpiece on the workpiece to be assembled to improve the assembly precision and efficiency, and can even be used to shoot the paired workpiece on the workpiece to be assembled to determine whether the paired workpiece is successfully installed.

[0060] Further, the executor 22 further comprises a tactile assembly, which can be used to detect the installation process of the workpiece to be assembled. The tactile assembly can comprise a tactile sensor electrically connected with the controller, which can be a force-torque sensor, a pressure sensor or a contact sensor. The tactile assembly can be used to monitor whether the paired workpiece is accurately installed during the installation process of the paired workpiece, which helps to improve the installation precision of the paired workpiece.

[0061] In the embodiment, the actuator 22 can be fixed to the end of the mechanical arm 21 by screw connection or ball joint, etc. The workpiece assembly unit 20 further comprises a driver for driving the actuator 22 to work. Optionally, the driver can be provided as a motor or a pneumatic motor, etc. It should be noted that the connection mode of the driver and each component in the actuator 22 is prior art, which will not be described here.

[0062] In some embodiments, the counterpart workpiece comprises at least one of a flexible flat cable, a camera, a SIM card slot and a coaxial cable. The mechanical arm 21 is at least one, and the actuator 22 and the mechanical arm 21 are one-to-one arranged, that is, the mechanical arm 21 has at least the same number as the type of counterpart workpiece to facilitate the assembly of the counterpart workpiece. In addition, it should be noted that the 3C product includes computer, tablet computer, server, mobile phone, small smart, mobile communication device, etc. In this application, a mobile phone is taken as an example for description.

[0063] As shown in Figure 1 , Figures 2 to 5 In some embodiments, the counterpart workpiece is a flexible flat cable, the picking assembly 23 comprises a first suction head 41, and the workpiece assembly unit 20 further comprises a first adjusting assembly 42. The first adjusting assembly 42 comprises a first positioning seat 421 and a first offset piece 422. The first positioning seat 421 is provided with a first slot 4211 and a second slot 4212 in communication. The first slot 4211 is used for accommodating and positioning the flexible flat cable. The first offset piece 422 is movably arranged in the second slot 4212 to push the flexible flat cable in the first slot 4211.

[0064] In the assembly process of the flexible flat cable, the controller can control the mechanical arm 21 to move above the flexible flat cable material tray. The vision assembly 24 can identify and obtain the depth image of the flexible flat cable material tray and transmit the depth image to the controller. The controller can use a target detection algorithm to obtain the position of the flexible flat cable in the flexible flat cable material tray, and then convert the pixel coordinates to the coordinates of the mechanical arm 21 through hand-eye calibration. Then the mechanical arm 21 sucks the flexible flat cable through the first suction head 41 in sequence, and places the flexible flat cable in the first slot 4211 to accurately adjust the posture of the flexible flat cable, so as to improve the installation precision of the flexible flat cable.

[0065] In the embodiment, the first slot 4211 has a first side, a second side, a third side and a fourth side arranged in sequence, the first side and the third side are oppositely arranged, and the second side and the fourth side are oppositely arranged. The distance between the first side and the third side corresponds to the length of the flexible flat cable, and the distance between the second side and the fourth side is greater than the width of the flexible flat cable. The first offset member 422 can move from the second side to the fourth side to push the flexible flat cable to move in the first slot 4211, so that the flexible flat cable abuts against the fourth side, thereby accurately determining the suction position of the first suction head 41 when the first suction head 41 picks up the flexible flat cable from the first slot 4211, and the installation precision of the flexible flat cable can be improved.

[0066] Further, the first adjusting assembly 42 further comprises a first driver 423, which can be a gas cylinder, a motor or a manual screw rod, etc. The first driver 423 is fixedly installed on the first positioning seat 421, and the output end of the first driver 423 is connected to the first offset member 422 to drive the first offset member 422 to move in the first slot 4211.

[0067] Further, the first adjusting assembly 42 further comprises a mounting plate 424 and a column 425. The mounting plate 424 can be installed on the workbench 10, and the first positioning seat 421 can be in a plate shape. The column 425 is arranged between the mounting plate 424 and the first positioning seat 421 to support the first positioning seat 421, so that the height of the first positioning seat 421 can be adjusted. Optionally, the column 425 can be provided as four columns, and the four columns 425 are arranged at the four corners of the first positioning seat 421.

[0068] In the embodiment, the workbench 10 is provided with a plurality of sliding grooves, and the sliding grooves are in a T shape. The mounting plate 424 can be provided with a fixing block 426 matched with the sliding grooves, so that the position of the first adjusting assembly 42 on the workbench 10 can be adjusted as needed, and the operator can use it conveniently.

[0069] Optionally, the fixing block 426 can be in a T shape, and the fixing block 426 can be provided as four fixing blocks. The mounting plate 424 can be provided with a plurality of mounting holes, so that the fixing block 426 can be installed and fixed to the mounting plate 424 by a bolt structure. The mounting and fixing of the first adjusting assembly 42 can be facilitated, and the mounting position of the fixing block 426 can be adjusted.

[0070] In some embodiments, the vision assembly 24 can also capture a visual image of the flexible flat cable on the first suction head 41, and the offset rotation angle of the flexible flat cable can be obtained. The posture of the flexible flat cable can be adjusted by adjusting the robot arm 21 or by adjusting the posture of the flexible flat cable through the first adjusting assembly 42, so as to realize accurate calibration of the installation posture of the flexible flat cable, thereby further improving the installation accuracy of the flexible flat cable. In addition, the tactile assembly can also monitor the force gradient change during the installation of the flexible flat cable, and then the controller can determine whether the flexible flat cable is successfully installed according to the force gradient change.

[0071] As shown in Figure 1 , Figures 6 to 8 In some embodiments, the counterpart workpiece is a camera, and the picking assembly 23 includes a second suction head 51 and two positioning claws 52, which are arranged on opposite sides of the second suction head 51. The positioning claw 52 has an L-shaped end portion 521, which is arranged towards the second suction head 51.

[0072] In this embodiment, the second suction head 51 can be used to suck the camera, so that the camera is stably picked up. The two positioning claws 52 are arranged on the two sides of the second suction head 51, so as to accurately adjust the posture of the camera, thereby improving the installation accuracy of the camera.

[0073] Further, the picking assembly 23 further includes a pressing piece 53, which has a pressing head. The pressing piece 53 is arranged on the front side of the second suction head 51, and the pressing head is used to press the camera to install the camera to the target position. Specifically, after the robot arm 21 moves the camera to the target position, the actuator 22 places the camera at the target position, and the pressing head can be moved towards the workpiece to be assembled to make the camera snap-fit to the target position, thereby realizing the assembly of the camera.

[0074] As shown in Figure 1 , Figures 9 to 11 In some embodiments, the counterpart workpiece is a SIM card slot, and the actuator 22 further includes a mounting seat 61, a clamping piece 62 and a push rod 63. The mounting seat 61 is provided with a third slot 611 for accommodating the SIM card slot. The clamping piece 62 is movable relative to the mounting seat 61 along the thickness direction of the SIM card slot. The push rod 63 is movable relative to the mounting seat 61 along the length direction of the SIM card slot.

[0075] Specifically, the SIM card slot can be partially placed in the third slot 611, and a part of the SIM card slot can be exposed outside the third slot 611, so as to facilitate the executor 22 to install the SIM card slot to the target position. During the movement of the mechanical arm 21, the clamping piece 62 can clamp the SIM card slot, so that the SIM card slot is fixed in the third slot 611, and the SIM card slot is prevented from being deviated. When the mechanical arm 21 moves the SIM card slot to the target position, the SIM card slot can be aligned with the target position, and then the push rod 63 can push the SIM card slot to move towards the target position, so as to install the SIM card slot to the target position.

[0076] Further, the picking assembly 23 comprises a third suction head 64, and the workpiece assembly unit 20 further comprises a second adjusting assembly 65, the second adjusting assembly 65 comprising a second positioning seat 651 and a second deviation piece 652, the second positioning seat 651 being provided with a fourth slot 6511 for accommodating and positioning the SIM card slot, and the second deviation piece 652 being movably arranged in the fourth slot 6511 to push the SIM card slot, so as to adjust the posture of the SIM card slot, thereby improving the installation precision of the SIM card slot.

[0077] In the embodiment, the mechanical arm 21 can drive the third suction head 64 to pick up the SIM card slot and place the SIM card slot in the fourth slot 6511, and then the second deviation piece 652 can move in the fourth slot 6511 to push the SIM card slot, so that the SIM card slot abuts against the side wall of the fourth slot 6511, and a part of the SIM card slot can be accommodated in the fourth slot 6511, so that the end of the SIM card slot can be exposed outside the fourth slot 6511, and then the mechanical arm 21 can drive the mounting seat 61 to move below the SIM card slot, and the clamping piece 62 can move along the thickness direction of the SIM card slot, so that the clamping piece 62 is clamped to the end of the SIM card slot, so that the SIM card slot is transferred to the third slot 611 of the mounting seat 61, and the installation of the SIM card slot is realized.

[0078] Further, the second adjusting assembly 65 further comprises a second driver, which can be a gas cylinder, a motor, a manual screw rod or the like, and the second driver is fixedly installed on the second positioning seat 651, and the output end of the second driver is connected to the second deviation piece 652 to drive the second deviation piece 652 to move in the fourth slot 6511. It should be noted that the fixing mode of the second adjusting assembly 65 on the workbench 10 is the same as that of the first adjusting assembly 42, and will not be described here.

[0079] As Figure 1 , Figures 12 to 17As shown, in some embodiments, the workpiece to be paired is a coaxial cable, the pickup assembly 23 comprises a first jaw 71 and a second jaw 72 arranged oppositely, and the first jaw 71 and the second jaw 72 are relatively movable; the executor 22 further comprises a pressing assembly 73 having a pressing head 731 for mounting the coaxial cable to the workpiece to be assembled.

[0080] In the present embodiment, the pickup assembly 23 further comprises a pickup rod 74, and the first jaw 71 and the second jaw 72 are both rotationally connected to the pickup rod 74. A clamping gap can be formed between the first jaw 71 and the second jaw 72, and the first jaw 71 and the second jaw 72 can rotate relative to the pickup rod 74 to open or close the clamping gap, so that the coaxial cable can be clamped. After the mechanical arm 21 moves to the target position, the pressing head 731 can move towards the workpiece to be assembled to mount the coaxial cable to the workpiece to be assembled.

[0081] Further, the pickup assembly 23 and the pressing assembly 73 can be arranged on different mechanical arms 21 to facilitate the control of the mechanical arms 21 and avoid the occurrence of disordered errors caused by excessive actions of the mechanical arms 21. For example, the pickup assembly 23 is arranged on the mechanical arm 21 on the left side, and the pressing assembly 73 is arranged on the mechanical arm 21 on the right side, and the mechanical arms 21 are both provided with drivers to drive the pickup assembly 23 and the pressing assembly 73 to work.

[0082] In some embodiments, the executor 22 further comprises a wire arranging assembly 75, which comprises a fixing member 751 and a separation wheel 752. The fixing member 751 has a clamping groove 7512 for accommodating a cable in the coaxial cable, and the separation wheel 752 is movable along the length direction of the coaxial cable. After the coaxial cable is mounted to the target position, the clamping groove 7512 of the fixing member 751 can clamp a cable in the coaxial cable, and the clamping groove 7512 and the separation wheel 752 are arranged in a staggered manner. The mechanical arm 21 can drive the separation wheel 752 and the fixing member 751 to move along the length direction of the coaxial cable to arrange the cables and prevent the cables from being twisted or bent.

[0083] Further, the executor 22 further comprises a six-dimensional force sensor, which can control the wire arranging force of the wire arranging assembly 75 to prevent the separation wheel 752 from damaging the coaxial cable.

[0084] As shown in FIG. 1, the executor 22 comprises a mechanical arm 21 and an executor 22. The mechanical arm 21 is arranged on the left side of the executor 22, and the executor 22 is arranged on the right side of the mechanical arm 21. The executor 22 comprises a pickup assembly 23 and a pressing assembly 73. Figure 15 、 Figure 16 and Figure 17As shown, in some embodiments, the workpiece assembly unit 20 further comprises a third adjusting assembly 76, the third adjusting assembly 76 comprising a third positioning seat 761 and a third offset piece 762, the third positioning seat 761 being provided with a fifth slot 7611 for accommodating the coaxial cable, the third offset piece 762 being movable relative to the third positioning seat 761 along the radial direction of the fifth slot 7611 and rotatable about the axial direction of the fifth slot 7611.

[0085] In the present embodiment, the fifth slot 7611 is arranged along the axial direction of the third positioning seat 761, one end of the fifth slot 7611 being an opening 7612 and the other end of the fifth slot 7611 being a central hole 7613, the coaxial cable being capable of entering the central hole 7613 through the opening 7612 of the fifth slot 7611; the third offset piece 762 is provided in plurality, the plurality of third offset pieces 762 moving towards the center of the central hole 7613 along the radial direction of the fifth slot 7611 to clamp the coaxial cable in the central hole 7613, and the third offset piece 762 being further rotatable about the axis of the central hole 7613 to drive the coaxial cable in the central hole 7613 to rotate, so as to adjust the posture of the coaxial cable mounting head and facilitate the installation of the coaxial cable.

[0086] Further, the third adjusting assembly 76 further comprises a third driver, which can be provided as a pneumatic cylinder or a motor, etc., the third driver being fixedly mounted to the third positioning seat 761, the output end of the third driver being correspondingly connected to the third offset piece 762 to drive the third offset piece 762 to move relative to the third positioning seat 761 to clamp and rotate the coaxial cable.

[0087] Still further, a transmission member 763 is arranged between the third driver and the third offset piece 762, the third positioning seat 761 comprising a first positioning plate 7614 and a second positioning plate 7615, the first positioning plate 7614 and the second positioning plate 7615 being oppositely arranged along the axial direction of the coaxial cable. The first positioning plate 7614 can be fixedly mounted to the workbench 10. The transmission member 763 is arranged between the first positioning plate 7614 and the second positioning plate 7615, the transmission member 763 being rotatably connected to the first positioning plate 7614 through a gear 7631 structure. Specifically, the first positioning plate 7614 is provided with an inner ring gear 7616, and the transmission member 763 is provided with the gear 7631 which cooperates with the inner ring gear 7616.

[0088] Moreover, the plurality of third offset pieces 762 are sequentially arranged about the central hole 7613, the transmission member 763 being provided with a first guide slot 7632, the second positioning plate 7615 being correspondingly provided with a second guide slot 7617, the third offset piece 762 being provided with a first guide portion and a second guide portion 7622, the first guide portion being slidingly connected in the first guide slot 7632, and the second guide portion 7622 being slidingly connected in the second guide slot 7617.

[0089] In the process that the third driver drives the transmission member 763 to rotate relative to the first positioning plate 7614, the transmission member 763 drives the third offset member 762 to rotate relative to the third positioning seat 761 through the cooperation of the first guide groove 7632 and the first guide part, and the cooperation of the second guide groove 7617 and the second guide part 7622, and rotates the coaxial cable at the same time to adjust the posture of the coaxial cable to meet the installation requirements; when the posture of the coaxial cable meets the installation requirements, the mechanical arm 21 can drive the first clamping jaw 71 and the second clamping jaw 72 to move to clamp the coaxial cable, and then the third driver drives the transmission member 763 to rotate reversely, so that the third offset member 762 rotates relative to the third positioning seat 761, to facilitate the mechanical arm 21 to drive the coaxial cable to move out from the opening 7612, so as to realize the adjustment of the posture of the coaxial cable.

[0090] In addition, it should be noted that the specific structure of the workpiece assembly unit 20 can be selected as needed, for example, when the matched workpiece is a flexible flat cable, the workpiece assembly unit 20 selects components or units related to the installation of the flexible flat cable; when the matched workpiece is a camera, the workpiece assembly unit 20 selects components or units related to the installation of the camera, which will not be described in detail here.

[0091] As shown in FIGS. 1, 2 and 3, in some embodiments, the 3C product assembly system further comprises a workpiece assembly unit 20, and the workpiece assembly unit 20 is electrically connected with the controller. Figure 1 Figures 18 to 20 As shown in FIGS. 1, 2 and 3, in some embodiments, the 3C product assembly system further comprises a workpiece assembly unit 20, and the workpiece assembly unit 20 is electrically connected with the controller.

[0092] Specifically, the guide rail 82 is arranged along the installation sequence of the matched workpiece, the loading and unloading assembly 83 can take the carrier frame 11 from the material rack 81 and place it on the guide rail 82, and the matched workpiece corresponding to the mechanical arm 21 and the actuator 22 can work correspondingly to install the matched workpiece on the workpiece to be assembled on the carrier frame 11, so as to realize automatic loading and unloading. And the operator can also simulate the operation of the loading and unloading assembly 83 and the guide rail 82 in the calculation component, and work with the workpiece assembly unit 20 to improve the overall working performance of the 3C product assembly system.

[0093] Optionally, the guide rail 82 is annular, and the guide rail 82 is arranged around the workpiece assembly unit 20, so that the loading and unloading can be realized in a cycle, which helps to improve the working efficiency of the 3C product assembly system.

[0094] ​In some embodiments, the feeding and discharging assembly 83 comprises a feeding gripper 84, the feeding gripper 84 comprises a fixing seat 841, the fixing seat 841 is provided with a third gripper jaw 842 and a fourth gripper jaw 843, the third gripper jaw 842 and the fourth gripper jaw 843 are oppositely arranged and oppositely movable. Wherein, a clamping gap is formed between the third gripper jaw 842 and the fourth gripper jaw 843, and the third gripper jaw 842 and the fourth gripper jaw 843 can move relative to each other to open and close the clamping gap, so that the third gripper jaw 842 and the fourth gripper jaw 843 can stably clamp the carrier frame 11.

[0095] In the embodiment, the feeding and discharging assembly 83 further comprises a mechanical arm 21, and the feeding gripper 84 can be arranged at the end of the mechanical arm 21. The controller can drive the feeding gripper 84 to move to the material rack 81 through the mechanical arm 21, and then pick up the carrier frame 11 through cooperation of the third gripper jaw 842 and the fourth gripper jaw 843, and then control the mechanical arm 21 to move to place the material rack 81 on the guide rail 82, thereby completing the feeding of the assembly to be assembled. In addition, the discharging process of the workpiece to be assembled is opposite to the above-mentioned feeding process, which will not be described here.

[0096] Further, the fixing seat 841 is further provided with a positioning pin 844 and a magnetic attraction piece 845, the carrier frame 11 is provided with a plug hole 112 and a magnetic attraction part 113, the positioning pin 844 can be movably inserted into the plug hole 112, and the magnetic attraction piece 845 and the magnetic attraction part 113 are correspondingly arranged, so that the carrier frame 11 can be positioned through the positioning pin 844 and the magnetic attraction, the grasping precision of the feeding gripper 84 on the carrier frame 11 can be improved, the precision of the feeding gripper 84 in installing the carrier frame 11 to the guide rail 82 can be improved, and then the installation precision of the matched workpiece can be improved.

[0097] Optionally, the positioning pin and the magnetic attraction piece are both correspondingly arranged as two to avoid deflection of the carrier frame during the transfer process. And the magnetic attraction piece 845 can be arranged as a magnet or an electromagnetic coil.

[0098] In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0099] In addition, the terms "first", "second", etc. are used only for descriptive purposes and do not connote or imply a relative importance or an ordering between or among the indicated features. Thus, a feature defined with "first", "second", etc. can include at least one of the features, either explicitly or implicitly. In the description of the present application, the meaning of "a plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined.

[0100] In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0101] In the present application, unless otherwise clearly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "on", "above" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0102] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples, without contradiction.

[0103] Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and cannot be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A 3C product assembly system, characterized by, The application relates to a 3C product assembly system, which comprises the following components: a workbench, which is provided with a carrier frame for carrying a workpiece to be assembled; a workpiece assembly unit arranged on the workbench, which is used for mounting a counterpart workpiece on the workpiece to be assembled on the carrier frame, and comprises an executor, which comprises a pickup assembly for picking up and mounting the counterpart workpiece; a control unit electrically connected with the workpiece assembly unit, which comprises a calculation component for simulating the operation of the workpiece assembly unit and a controller for controlling the workpiece assembly unit according to the operation process in the calculation component; the counterpart workpiece comprises a coaxial cable, the pickup assembly comprises oppositely arranged first and second clamping jaws, and the first and second clamping jaws are movable relative to each other; the executor further comprises a pressing assembly and a wire arrangement assembly, the pressing assembly is provided with a pressing head for mounting the coaxial cable on the workpiece to be assembled; the wire arrangement assembly comprises a fixing member and a separation wheel, the fixing member is provided with a clamping groove for accommodating a cable in the coaxial cable, and the separation wheel is movable along the length direction of the coaxial cable; and the clamping groove and the separation wheel are arranged in a staggered mode.

2. The 3C product assembly system of claim 1, wherein, The control unit further comprises a display for displaying the operation process of the workpiece assembly unit for an operator.

3. The 3C product assembly system of claim 1, wherein, The workpiece assembly unit comprises a mechanical arm, the executor is arranged at the end of the mechanical arm, and the executor comprises a vision assembly for monitoring the pickup process of the counterpart workpiece and the posture of the counterpart workpiece.

4. The 3C product assembly system of claim 3, wherein, The mechanical arm is at least one, and the executor and the mechanical arm are arranged in a one-to-one correspondence, and the vision assembly comprises an image sensor.

5. The 3C product assembly system of claim 4, wherein, The executor further comprises a tactile assembly for monitoring the mounting process of the workpiece to be assembled.

6. The 3C product assembly system of claim 4, wherein, The workpiece assembly unit further comprises a third adjusting assembly, which comprises a third positioning seat and a third offset member, the third positioning seat is provided with a fifth groove for accommodating the coaxial cable, the third offset member is movable relative to the third positioning seat along the radial direction of the fifth groove, and the third offset member is rotatable about the axial direction of the fifth groove.

7. The 3C product assembly system of claim 1, wherein, The 3C product assembly system further comprises a feeding unit electrically connected with the controller, the feeding unit comprises a material rack, a feeding and discharging assembly and a guide rail, the material rack is provided with a plurality of accommodating grooves for placing the carrier frame, the guide rail is arranged on the workbench, the carrier frame is movably arranged on the guide rail, and the feeding and discharging assembly is used for transferring the carrier frame between the guide rail and the material rack.

8. The 3C product assembly system of claim 7, wherein, The feeding and discharging assembly comprises a feeding gripper, the feeding gripper comprises a fixing seat, the fixing seat is provided with a third clamping jaw and a fourth clamping jaw, the third clamping jaw and the fourth clamping jaw are oppositely arranged and movable, the fixing seat is further provided with a positioning pin and a magnetic attraction piece, the carrier frame is provided with a socket and a magnetic attraction part, the positioning pin is movably inserted into the socket, and the magnetic attraction piece and the magnetic attraction part are correspondingly arranged. And / or, the guide rail is annular, and the guide rail is arranged around the workpiece assembly unit.

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