Workpiece assembly system and method

Abstract

This invention discloses a workpiece assembly system and method, belonging to the field of workpiece processing. It utilizes a gantry moving mechanism, a gripper mechanism, and a rotating mechanism to move the workpiece and sub-tooling structure from their corresponding positions to the workpiece assembly position. After placing the workpiece onto the sub-tooling structure, a servo electric screwdriver mechanism is used to quickly lock the workpiece onto the sub-tooling structure, achieving rapid assembly of the workpiece and sub-tooling structure, significantly improving the assembly efficiency between the workpiece and the tooling. The workpiece assembly system and method of this invention have a compact overall structure and a reasonable layout. Not only can it achieve rapid assembly of the workpiece and the tooling, but through the optimized design of the clamping structure on the sub-tooling structure, the workpiece can be clamped more quickly and stably, demonstrating good practical value and application prospects.

Description

Technical Field

[0001] This invention belongs to the field of workpiece processing, and specifically relates to a workpiece assembly system and method. Background Technology

[0002] With the rapid development of technology, new challenges have been posed to the efficiency of workpiece processing. In the field of traditional machining, the setup process before processing the blank workpiece is one of the most important links affecting its processing efficiency. Before processing, the operator needs to assemble the workpiece onto the tooling plate, and then put the tooling plate and the workpiece together into the lathe for processing.

[0003] Currently, the process of assembling workpieces onto tooling plates is mostly done manually, which is very cumbersome and inefficient. Therefore, we designed a workpiece assembly system and method to solve the above problems. Summary of the Invention

[0004] To address one or more of the above-mentioned defects or improvement needs in the prior art, this invention provides a workpiece assembly system and method. The system utilizes a gantry moving mechanism, a gripper mechanism, and a rotating mechanism to move the workpiece and sub-tooling structure from their corresponding positions to the workpiece assembly position. After placing the workpiece onto the sub-tooling structure, a servo electric screwdriver mechanism is used to achieve rapid locking of the workpiece on the sub-tooling structure, thereby realizing rapid assembly of the workpiece and sub-tooling structure. This replaces the traditional manual assembly method and significantly improves the assembly efficiency between the workpiece and the tooling.

[0005] To achieve the above objectives, the present invention provides a workpiece assembly system, comprising a gantry moving mechanism, a servo electric screwdriver mechanism, a gripper mechanism, a rotating mechanism, and a sub-tooling structure. The gantry moving mechanism includes a frame and a three-axis moving module. A workpiece loading position and a workpiece assembly position are formed on both sides of the frame, respectively. The three-axis moving module is mounted on the frame, and the gripper mechanism and the servo electric screwdriver mechanism are mounted on the three-axis moving module for clamping the workpiece from the workpiece loading position to the workpiece assembly position. A shelf is also provided on the frame, and the rotating mechanism is mounted on the shelf. The rotating mechanism includes a rotary motor and a rotating plate, and the rotating plate is drivenly connected to the output shaft of the rotary motor. The sub-tooling structure is detachably connected to the rotating plate. After the sub-tooling structure is assembled with the rotating plate at the workpiece loading position, it can rotate with the rotating mechanism to the workpiece assembly position to assemble with the workpiece, and the workpiece is locked by the servo electric screwdriver mechanism.

[0006] As a further improvement of the present invention, the servo electric screwdriver mechanism includes a Z-axis cylinder, a fixed plate, an electric screwdriver structure, and an elastic pressure rod; The fixed plate is disposed on the movable end of the Z-axis cylinder, and the Z-axis cylinder is connected to the Z-axis moving module in the three-axis moving module. The electric screwdriver structure and the elastic pressure rod are both disposed vertically on the fixed plate, and the bottoms of the two are at the same height plane.

[0007] As a further improvement of the present invention, the gripper mechanism includes a first mounting plate, a first motor, a first rotating shaft, a second rotating shaft, two translation blocks, and two gripper bodies; The first mounting plate is assembled onto the Z-axis moving module of the three-axis moving module; The first motor is mounted on the first mounting plate, and its output end is connected to the first rotating shaft via a drive. The second rotating shaft is rotatably connected to the first mounting plate, and the first rotating shaft and the second rotating shaft are driven by a belt. The two translation blocks are spaced apart along the direction of the sub-tooling structure and are slidably connected to the first mounting plate and connected to the belt. The two claws are respectively mounted on the two translation blocks.

[0008] As a further improvement of the present invention, the gripper mechanism further includes a proximity switch, which is disposed on the first mounting plate and its detection direction is set corresponding to the gripper body, for detecting the position of the gripper body.

[0009] As a further improvement of the present invention, the sub-tooling structure includes a base plate, and at least two workpiece clamping structures are provided on the base plate; The workpiece clamping structure includes at least one lateral limiting structure and a longitudinal limiting structure disposed on the base plate. The base plate is provided with a boss, and the longitudinal limiting structure is provided on the boss, which includes a compression cylinder and a positioning component. The compression cylinder and the positioning component are arranged longitudinally and oppositely on the boss. The lateral limiting structure includes a wedge locking structure and a baffle, which are arranged on the base plate at lateral intervals.

[0010] As a further improvement of the present invention, the wedge locking structure includes a housing, a threaded rod, a wedge block, a wedge locking tongue, and a jaw structure; The threaded rod is vertically threaded into the housing, the wedge block is mounted on the threaded rod, the oblique wedge locking tongue is horizontally slidably connected into the housing, and one end of the tongue abuts against the wedge block. The jaw structure is located at the end of the oblique wedge locking tongue away from the wedge block.

[0011] As a further improvement of the present invention, a flipping mechanism is also included, which is disposed on the frame and includes a lateral clamping component and a flipping component; The lateral clamping assembly includes a second mounting plate, a second motor, a first rotating shaft, a second rotating shaft, two movable blocks, and a connecting plate; The second motor is mounted on the second mounting plate and is connected to the first rotating shaft. The second rotating shaft is rotatably connected to the second mounting plate and is connected to the first rotating shaft via a belt drive. The two movable blocks are slidably connected to the second mounting plate and are connected to the belt. The two connecting plates are mounted on the two movable blocks. The flipping component is disposed on the connecting plate and is used to drive the workpiece to flip after the two connecting plates come close to each other.

[0012] As a further improvement of the present invention, the flipping assembly includes a flipping motor, a flipping shaft, and a clamping plate; The flipping motor is mounted on the connecting plate, and one end of the flipping shaft passes through the connecting plate and is connected to the clamping plate; the output shaft of the flipping motor is connected to the flipping shaft for transmission.

[0013] As a further improvement of the present invention, it also includes an air supply mechanism, which is disposed on the shelf and includes a support, a rodless cylinder and an air inlet. The rodless cylinder is mounted on the support, and the air inlet is mounted on the rodless cylinder via an air inlet mounting plate, for supplying air to the sub-tooling structure after it has been adjusted by the rotating mechanism.

[0014] Based on this, the present invention also provides a workpiece assembly method, which utilizes the above-mentioned assembly system and includes the following steps; Place the workpiece to be assembled at the workpiece loading position, and use the three-axis moving module to drive the gripper mechanism to move to the workpiece loading position to grab the workpiece. The sub-tooling structure is assembled onto the rotating plate, and the sub-tooling structure is rotated to the workpiece assembly position using a rotary motor. The workpiece is clamped and moved to the workpiece assembly position using a three-axis moving module, and then placed on the sub-tooling structure. The clamping state of the sub-tooling structure is adjusted by using a servo electric screwdriver mechanism to clamp the workpiece and realize the assembly operation between the workpiece and the sub-tooling structure.

[0015] The aforementioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0016] In summary, the beneficial effects of the above-described technical solutions conceived by this invention compared with the prior art include: (1) The workpiece assembly system and method of the present invention utilizes a gantry moving mechanism, a gripper mechanism, and a rotating mechanism to move the workpiece and the sub-tooling structure from their corresponding positions to the workpiece assembly position. After placing the workpiece on the sub-tooling structure, a servo electric screwdriver mechanism is used to achieve rapid locking of the workpiece on the sub-tooling structure, thereby realizing rapid assembly of the workpiece and the sub-tooling structure. This replaces the traditional manual assembly method and significantly improves the assembly efficiency between the workpiece and the tooling. (2) The workpiece assembly system and method of the present invention have a compact overall structure and a reasonable arrangement. They can not only realize the rapid assembly operation between the workpiece and the workpiece, but also make the workpiece more quick and stable when clamped by the optimized design of the clamping structure on the sub-tooling structure. Furthermore, the assembly system can also be used for the disassembly operation between the workpiece and the tooling plate after the subsequent workpiece processing is completed. It has good use value and application prospects. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the workpiece assembly system in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall three-dimensional structure of the gantry moving mechanism in the workpiece assembly system of this invention. Figure 3 This is a three-dimensional structural schematic diagram of the gantry moving mechanism in the workpiece assembly system of this invention from another perspective; Figure 4 This is a three-dimensional structural diagram of the gantry moving mechanism and the AGV trolley in an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall three-dimensional structure of the servo electric screwdriver mechanism in the workpiece assembly system of this invention. Figure 6 This is a schematic diagram of the overall three-dimensional structure of the gripper mechanism in the workpiece assembly system of this invention. Figure 7 This is a schematic diagram of the overall three-dimensional structure of the flipping mechanism in the workpiece assembly system of this invention. Figure 8 This is a schematic diagram of the overall three-dimensional structure of the rotating mechanism in the workpiece assembly system in an embodiment of the present invention; Figure 9 This is a schematic diagram of the overall three-dimensional structure of the air supply mechanism in the workpiece assembly system of this invention. Figure 10 This is a three-dimensional structural diagram of the sub-tooling structure in the workpiece assembly system of this invention. Figure 11 yes Figure 10 A schematic diagram of the overall three-dimensional structure of the workpiece clamping structure in the image; In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 100. Gantry moving mechanism; 101. Frame; 102. Three-axis moving module; 103. Shelf; 104. Workpiece loading position; 105. Guide structure; 106. Workpiece assembly position; 200. Servo electric screwdriver mechanism; 201. Z-axis cylinder; 202. Fixing plate; 203. Electric screwdriver structure; 204. Elastic pressure bar; 300. Gripper mechanism; 301. First mounting plate; 302. First motor; 303. First rotating shaft; 304. Second rotating shaft; 305. Translation block; 306. Gripper body; 307. Proximity switch; 400. Rotating mechanism; 401. Rotating plate; 402. Rotating motor; 500. Air supply mechanism; 501. Rodless cylinder; 502. Support; 503. Air nozzle assembly plate; 504. Air inlet nozzle; 600. Tilting mechanism; 601. Second mounting plate; 602. Second motor; 603. First rotating shaft; 604. Movable block; 605. Connecting plate; 606. Tilting motor; 607. Tilting shaft; 608. Clamping plate; 700. Sub-tooling structure; 701. Base plate; 702. Extrusion cylinder; 703. Positioning component; 704. Baffle; 705. Housing; 706. Threaded rod; 707. Wedge block; 708. Angled wedge lock tongue; 709. Jaw structure; 710. Guide rail; 711. Tooling plate. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0019] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the technical features involved in the various embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

[0020] Please see Figures 1-11 In the preferred embodiment of the present invention, the workpiece assembly system uses a gantry moving mechanism 100, a gripper mechanism 300, and a rotating mechanism 400 to move the workpiece and the sub-tooling structure 700 from their corresponding positions to the workpiece assembly position 106. After the workpiece is placed on the sub-tooling structure 700, a servo electric screwdriver mechanism 200 is used to realize the rapid locking operation of the workpiece on the sub-tooling structure 700, so as to realize the rapid assembly operation of the workpiece and the sub-tooling structure 700, replacing the traditional manual assembly method and greatly improving the assembly efficiency between the workpiece and the tooling.

[0021] Specifically, the workpiece assembly system in the preferred embodiment of the present invention includes a gantry moving mechanism 100, a servo electric screwdriver mechanism 200, a gripper mechanism 300, a rotating mechanism 400, and a sub-tooling structure 700. The gantry moving mechanism 100 includes a frame 101 and a three-axis moving module 102. A workpiece loading position 104 and a workpiece assembly position 106 are formed on both sides of the frame 101, respectively. The three-axis moving module 102 is mounted on the frame 101, and the gripper mechanism 300 and the servo electric screwdriver mechanism 200 are mounted on the three-axis moving module 102 for moving the workpiece from the workpiece loading position 104. The workpiece is clamped to the workpiece assembly position 106. A shelf 103 is also provided on the frame 101, and a rotating mechanism 400 is mounted on the shelf 103. The rotating mechanism 400 includes a rotary motor 402 and a rotating plate 401, with the rotating plate 401 being drively connected to the output shaft of the rotary motor 402. A sub-tooling structure 700 is detachably connected to the rotating plate 401. After the sub-tooling structure 700 is assembled with the rotating plate 401 at the workpiece loading position 104, it can rotate with the rotating mechanism 400 to the workpiece assembly position 106 to assemble with the workpiece, and the workpiece is locked by a servo electric screwdriver mechanism 200.

[0022] In actual use, such as Figure 2 and Figure 3 As shown, the operator can use an AGV (Automated Guided Vehicle) to move a workpiece storage rack containing workpieces, moving the rack and workpieces together to the workpiece loading position 104 on the frame 101. Then, the operator controls the gripper mechanism 300 under the three-axis moving module 102 to clamp the workpiece at the loading position 104, and then moves the workpiece to the workpiece assembly position 106. Simultaneously, the operator assembles the sub-tooling structure 700 onto the rotating plate 401. The rotating plate 401 rotates the sub-tooling structure 700, moving it to the workpiece assembly position 106. The gripper mechanism 300 then places the workpiece onto the sub-tooling structure 700. The operator then controls the servo electric screwdriver mechanism 200 to adjust the state of the workpiece clamping structure on the sub-tooling structure 700, thereby clamping the workpiece and achieving rapid assembly between the workpiece and the sub-tooling structure 700.

[0023] It is worth noting that the assembly between the rotating plate 401 and the sub-tooling structure 700 can be achieved through a zero-point positioning system, which will not be elaborated further here; and in order to further improve the loading efficiency of the sub-tooling structure 700, the sub-tooling structure 700 can be clamped by a robotic arm. As those skilled in the art will know, the zero-point positioning system and the clamping of the sub-tooling structure 700 by the robotic arm are conventional technical means, which will not be elaborated further here.

[0024] For more details, please refer to Figure 5The servo electric screwdriver mechanism 200 in the preferred embodiment of the present invention includes a Z-axis cylinder 201, a fixed plate 202, an electric screwdriver structure 203, and an elastic pressure rod 204. The fixed plate 202 is disposed on the movable end of the Z-axis cylinder 201, and the Z-axis cylinder 201 is connected to the Z-axis moving module in the three-axis moving module 102. The electric screwdriver structure 203 and the elastic pressure rod 204 are both disposed vertically on the fixed plate 202, and their bottoms are at the same height plane.

[0025] When the workpiece needs to be clamped, the Z-axis cylinder 201 drives the electric screwdriver structure 203 to move downward along the Z-axis, and the elastic pressure rod 204 presses the workpiece. The Z-axis cylinder 201 drives the electric screwdriver structure 203 to continue moving downward in a small range. Then, the screwdriver bit of the electric screwdriver structure 203 drives the threaded rod 706 on the sub-tooling structure 700 to rotate clockwise according to a specified direction, causing the jaw structure 709 to close, thereby achieving the clamping operation of the workpiece. When the electric screwdriver structure 203 reaches the specified torque and angle range, the workpiece is clamped. The screwdriver bit in the electric screwdriver structure 203 rotates in the opposite direction, creating a gap between the threaded rod 706 and the screwdriver bit, reducing the friction between the threaded rod 706 and the screwdriver bit.

[0026] Further, please refer to Figure 6 The gripper mechanism 300 in a preferred embodiment of the present invention includes a first mounting plate 301, a first motor 302, a first rotating shaft 303, a second rotating shaft 304, two translation blocks 305, and two gripper bodies 306. The first mounting plate 301 is mounted on the Z-axis moving module of the three-axis moving module 102. The first motor 302 is mounted on the first mounting plate 301, and its output end is connected to the first rotating shaft 303. The second rotating shaft 304 is rotatably connected to the first mounting plate 301, and the first rotating shaft 303 and the second rotating shaft 304 are driven by a belt. The two translation blocks 305 are spaced apart along the arrangement direction of the sub-tooling structure 700, and are slidably connected to the first mounting plate 301 and connected to the belt. The two gripper bodies 306 are respectively mounted on the two translation blocks 305.

[0027] More preferably, the gripper mechanism 300 further includes a proximity switch 307, which is disposed on the first mounting plate 301 and its detection direction is set corresponding to the gripper body 306, for detecting the position of the gripper body 306.

[0028] Furthermore, please refer to Figure 10 and Figure 11In a preferred embodiment of the present invention, the sub-tooling structure 700 includes a base plate 701, on which at least two workpiece clamping structures are provided. The workpiece clamping structures include at least one lateral limiting structure and a longitudinal limiting structure provided on the base plate 701. A boss is provided on the base plate 701. The longitudinal limiting structure is provided on the boss and includes a pressing cylinder 702 and a positioning element 703. The pressing cylinder 702 and the positioning element 703 are arranged longitudinally and oppositely on the boss. The lateral limiting structure includes a wedge locking structure and a baffle 704. The wedge locking structure and the baffle 704 are arranged laterally and at intervals on the base plate 701. More specifically, the wedge locking structure includes a housing 705, a threaded rod 706, a wedge block 707, a wedge locking tongue 708, and a jaw structure 709; the threaded rod 706 is vertically threaded into the housing 705, the wedge block 707 is mounted on the threaded rod 706, the wedge locking tongue 708 is laterally slidably connected into the housing 705, and one end of the tongue abuts against the wedge block 707, and the jaw structure 709 is located at the end of the wedge locking tongue 708 away from the wedge block 707.

[0029] More preferably, a guide rail 710 structure is provided for the jaw structure 709 to assist the jaw structure 709 in moving laterally.

[0030] In actual use, after the sub-tooling structure 700 moves to the workpiece assembly position 106, the gripper mechanism 300 places the workpiece on the boss. Then, the servo electric screwdriver mechanism 200 descends, driving the threaded rod 706 to rotate via the screwdriver bit. The rotation of the threaded rod 706 then drives the wedge block 707 to move vertically. The vertical movement of the wedge block 707 drives the inclined wedge locking tongue 708 and the jaw structure 709 to move laterally, thereby adjusting the lateral distance between the jaw structure 709 and the baffle 704 to achieve lateral clamping of the workpiece. At the same time, the compression cylinder 702 in the vertical limiting structure compresses the workpiece longitudinally, causing one end of the workpiece to abut against the positioning member 703. In this way, a stable clamping of the workpiece is achieved through a four-point clamping method. Unlike traditional workpiece clamping methods, the workpiece clamping structure in the preferred embodiment of the present invention does not require continuous supply from a cylinder or electric telescopic rod. The locking function can be achieved by tightening once. In other words, during the subsequent movement of the sub-tooling structure 700 and the workpiece together, the workpiece can be continuously locked without a power source.

[0031] In actual production applications, the above process can also be applied to the disassembly of the workpiece and the tooling plate 711, which is generally carried out after the workpiece has been processed.

[0032] For further details, please refer to Figure 9The air supply mechanism 500 includes a support 502, a rodless cylinder 501, and an air inlet 504. The rodless cylinder 501 is mounted on the support 502, and the air inlet 504 is mounted on the rodless cylinder 501 via an air nozzle mounting plate 503. It is used to supply air to the tooling structure 700 after it has been adjusted by the rotating mechanism 400.

[0033] In actual use, after the sub-tooling structure 700 is rotated to the workpiece assembly position 106, the support 502 and the rodless rod adjust the vertical height and horizontal position of the air nozzle 504 to realize the air supply operation between the air nozzle 504 and the cylinder on the sub-tooling structure 700.

[0034] Furthermore, considering that in actual production applications, the workpiece may have two or more surfaces to be machined; however, after the workpiece is assembled with the sub-tooling structure 700, its bottom surface cannot be machined. Therefore, a flipping mechanism 600 needs to be designed to flip the workpiece.

[0035] Specifically, please refer to Figure 7 The workpiece assembly system in a preferred embodiment of the present invention further includes a flipping mechanism 600, which is mounted on the frame 101 and located between the workpiece loading station and the workpiece assembly station. The flipping mechanism includes a lateral clamping assembly and a flipping assembly. The lateral clamping assembly includes a second mounting plate 601, a second motor 602, a first rotating shaft 603, a second rotating shaft, two movable blocks 604, and a connecting plate 605. The second motor 602 is mounted on the second mounting plate 601 and connected to the first rotating shaft 603. The second rotating shaft is rotatably connected to the second mounting plate 601 and is connected to the first rotating shaft 603 via a belt drive. The two movable blocks 604 are slidably connected to the second mounting plate 601 and connected to a belt. The two connecting plates 605 are mounted on the two movable blocks 604. The flipping assembly is mounted on the connecting plate 605 and is used to flip the workpiece when the two connecting plates 605 approach each other. More specifically, the flipping assembly includes a flipping motor 606, a flipping shaft 607, and a clamping plate 608; the flipping motor 606 is mounted on the connecting plate 605, and one end of the flipping shaft 607 passes through the connecting plate 605 and is connected to the clamping plate 608; the output shaft of the flipping motor 606 is connected to the flipping shaft 607 for transmission.

[0036] In the actual adaptation process, after the workpiece is placed between the two clamping plates 608, the second motor 602 drives the two movable blocks 604 to move closer to each other, and then the flipping motor 606 drives the flipping shaft 607 and the clamping plates 608 to rotate synchronously to realize the flipping operation of the workpiece.

[0037] More specifically, such as Figures 1-4As shown, two guide structures 105 are provided on the frame 101 at the position corresponding to the upper position of the workpiece. The two guide structures 105 are spaced apart along the X direction. Each guide structure includes a positioning cylinder and a positioning plate. The positioning plate is connected to the telescopic end of the positioning cylinder and is used to guide the workpiece when it enters the workpiece loading position 104.

[0038] In general, during actual use, the operator first transports the sub-tooling structure 700 to the gantry clamping mechanism 4 and places it on the rotating plate 401. Driven by the rotary motor 402, the rotating plate 401 rotates 180°, moving the sub-tooling structure 700 to the workpiece assembly station. Simultaneously, the gantry moving mechanism 100 moves the gripper mechanism 300 to pick up the workpiece from the workpiece moving storage rack and place it on the workpiece clamping structure on the sub-tooling structure 700. At the same time, the air supply mechanism 500 feeds and connects with the air inlet on the side of the sub-tooling structure 700 to provide power gas to the extrusion cylinder 702. The extrusion cylinder 702 feeds, pushing the workpiece from the side to the position of the positioning part 703. Then, the gantry moving module moves the servo electric screwdriver mechanism 200 to the workpiece tightening position. With the workpiece clamped, the threaded rod 706 is tightened by the electric screwdriver, thereby clamping the workpiece. Finally, the Z-axis cylinder 201 and the gantry moving mechanism 100 drive the lower electric screwdriver structure 203 to return to its original position and move it to the AGV loading position to grab the next workpiece to be processed from the workpiece moving storage rack. The above process is repeated according to the instructions to complete the automatic clamping of the next workpiece to be processed. Of course, in actual use, if the workpiece needs to be flipped for processing, the gripper mechanism 300 can first move the workpiece to the flipping mechanism 600, and then the flipping mechanism 600 can drive the workpiece to flip.

[0039] Based on this, the present invention also provides a workpiece assembly method, which utilizes the above-mentioned assembly system and includes the following steps; The workpiece to be assembled is placed at the workpiece loading position 104, and the three-axis moving module 102 drives the gripper mechanism 300 to move to the workpiece loading position 104 to grab the workpiece. The sub-tooling structure 700 is assembled onto the rotating plate 401, and the sub-tooling structure 700 is rotated to the workpiece assembly position 106 by the rotary motor 402. The workpiece is clamped and moved to the workpiece assembly position 106 using the three-axis moving module 102, and the workpiece is placed on the sub-tooling structure 700. The servo electric screwdriver mechanism 200 is used to adjust the clamping state of the sub-tooling structure 700 to clamp the workpiece and realize the assembly operation between the workpiece and the sub-tooling structure 700.

[0040] (1) The workpiece assembly system and method of the present invention utilizes a gantry moving mechanism 100, a gripper mechanism 300, and a rotating mechanism 400 to move the workpiece and the sub-tooling structure 700 from their corresponding positions to the workpiece assembly position 106, respectively. After placing the workpiece on the sub-tooling structure 700, a servo electric screwdriver mechanism 200 is used to achieve a rapid locking operation of the workpiece on the sub-tooling structure 700, thereby realizing a rapid assembly operation between the workpiece and the sub-tooling structure 700, replacing the traditional manual assembly method, and greatly improving the assembly efficiency between the workpiece and the tooling. (2) The workpiece assembly system and method of the present invention have a compact overall structure and a reasonable arrangement. They can not only realize the rapid assembly operation between the workpiece and the workpiece, but also make the workpiece more quick and stable when clamped by the optimized design of the clamping structure on the sub-tooling structure 700. Furthermore, the assembly system can also be used for the disassembly between the workpiece and the tooling plate 711 after the subsequent workpiece processing is completed, as well as the flipping operation of the workpiece processing surface. It has good use value and application prospects.

[0041] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A workpiece assembly system, characterized in that, It includes a gantry moving mechanism (100), a servo electric screwdriver mechanism (200), a gripper mechanism (300), a rotating mechanism (400), and a sub-tooling structure (700). The gantry moving mechanism (100) includes a frame (101) and a three-axis moving module (102). A workpiece loading position (104) and a workpiece assembly position (106) are formed on both sides of the frame (101). The three-axis moving module (102) is mounted on the frame (101), and the gripper mechanism (300) and the servo electric screwdriver mechanism (200) are mounted on the three-axis moving module (102) for clamping the workpiece from the workpiece loading position (104) to the workpiece assembly position (106). The frame (101) is also provided with a shelf (103), and the rotating mechanism (400) is provided on the shelf (103); The rotating mechanism (400) includes a rotary motor (402) and a rotating plate (401), wherein the rotating plate (401) is connected to the output shaft of the rotary motor (402) via a transmission connection; and The sub-tooling structure (700) is detachably connected to the rotating plate (401). After the sub-tooling structure (700) is assembled with the rotating plate (401) at the workpiece loading position (104), it can rotate with the rotating mechanism (400) to the workpiece assembly position (106) to assemble with the workpiece, and lock the workpiece through the servo electric screwdriver mechanism (200). The sub-tooling structure (700) includes a base plate (701) and at least two workpiece clamping structures are provided on the base plate (701); The workpiece clamping structure includes at least one lateral limiting structure and a longitudinal limiting structure disposed on the base plate (701); The base plate (701) is provided with a boss, and the longitudinal limiting structure is provided on the boss, which includes a compression cylinder (702) and a positioning member (703). The compression cylinder (702) and the positioning member (703) are arranged longitudinally and facing each other on the boss. The lateral limiting structure includes a wedge locking structure and a baffle (704), which are arranged on the base plate (701) at lateral intervals. The wedge locking structure includes a housing (705), a threaded rod (706), a wedge block (707), a wedge locking tongue (708), and a jaw structure (709). The threaded rod (706) is vertically threaded into the housing (705), the wedge block (707) is mounted on the threaded rod (706), the oblique wedge locking tongue (708) is horizontally slidably connected into the housing (705), and one end of it abuts against the wedge block (707). The jaw structure (709) is disposed at the end of the oblique wedge locking tongue (708) away from the wedge block (707). The workpieces are assembled in the following manner: The workpiece to be assembled is placed at the workpiece loading position (104), and the three-axis moving module (102) drives the gripper mechanism (300) to move to the workpiece loading position (104) to grab the workpiece. The sub-tooling structure (700) is assembled onto the rotating plate (401), and the sub-tooling structure (700) is rotated to the workpiece assembly position (106) using the rotary motor (402). The workpiece is clamped and moved to the workpiece assembly position (106) using a three-axis moving module (102), and the workpiece is placed on the sub-tooling structure (700); The workpiece is clamped by adjusting the clamping state of the sub-tooling structure (700) using the servo electric screwdriver mechanism (200) to realize the assembly operation between the workpiece and the sub-tooling structure (700).

2. The workpiece assembly system according to claim 1, characterized in that, The servo electric screwdriver mechanism (200) includes a Z-axis cylinder (201), a fixed plate (202), an electric screwdriver structure (203), and an elastic pressure rod (204). The fixed plate (202) is set on the movable end of the Z-axis cylinder (201), and the Z-axis cylinder (201) is connected to the Z-axis moving module in the three-axis moving module (102). The electric screwdriver structure (203) and the elastic pressure rod (204) are both set vertically on the fixed plate (202), and the bottoms of the two are on the same height plane.

3. The workpiece assembly system according to claim 1, characterized in that, The gripper mechanism (300) includes a first mounting plate (301), a first motor (302), a first rotating shaft (303), a second rotating shaft (304), two translation blocks (305), and two gripper bodies (306). The first mounting plate (301) is mounted on the Z-axis moving module of the three-axis moving module (102); The first motor (302) is mounted on the first mounting plate (301), and its output end is connected to the first rotating shaft (303) for transmission. The second rotating shaft (304) is rotatably connected to the first mounting plate (301), and the first rotating shaft (303) and the second rotating shaft (304) are driven by a belt. The two translation blocks (305) are spaced apart along the direction of the sub-tooling structure and are slidably connected to the first mounting plate (301) and connected to the belt. The two claws (306) are respectively mounted on the two translation blocks (305).

4. The workpiece assembly system according to claim 3, characterized in that, The gripper mechanism (300) also includes a proximity switch (307), which is disposed on the first mounting plate (301) and its detection direction is set corresponding to the gripper body (306) for detecting the position of the gripper body (306).

5. The workpiece assembly system according to any one of claims 1 to 4, characterized in that, It also includes a flipping mechanism (600) disposed on the frame (101), which includes a lateral clamping assembly and a flipping assembly; The lateral clamping assembly includes a second mounting plate (601), a second motor (602), a first rotating shaft (603), a second rotating shaft, two movable blocks (604), and a connecting plate (605). The second motor (602) is mounted on the second mounting plate (601) and is connected to the first rotating shaft (603). The second rotating shaft is rotatably connected to the second mounting plate (601) and is connected to the first rotating shaft (603) via belt drive. The two movable blocks (604) are slidably connected to the second mounting plate (601) and are connected to the belt. The two connecting plates (605) are mounted on the two movable blocks (604). The flipping component is disposed on the connecting plate (605) and is used to drive the workpiece to flip when the two connecting plates (605) come close to each other.

6. The workpiece assembly system according to claim 5, characterized in that, The flipping assembly includes a flipping motor (606), a flipping shaft (607), and a clamping plate (608). The flip motor (606) is mounted on the connecting plate (605), and one end of the flip shaft (607) passes through the connecting plate (605) and is connected to the clamping plate (608); the output shaft of the flip motor (606) is connected to the flip shaft (607) for transmission.

7. The workpiece assembly system according to claim 1, characterized in that, It also includes an air supply mechanism (500), which is disposed on the shelf (103). The air supply mechanism (500) includes a support (502), a rodless cylinder (501), and an air inlet (504). The rodless cylinder (501) is mounted on the support (502), and the air inlet (504) is mounted on the rodless cylinder (501) through the air inlet mounting plate (503) for supplying air to the sub-tooling structure (700) after it has been adjusted by the rotating mechanism (400).

8. A workpiece assembly method, characterized in that, It is implemented using the assembly system described in any one of claims 1 to 6, and includes the following steps; The workpiece to be assembled is placed at the workpiece loading position (104), and the three-axis moving module (102) drives the gripper mechanism (300) to move to the workpiece loading position (104) to grab the workpiece. The sub-tooling structure (700) is assembled onto the rotating plate (401), and the sub-tooling structure (700) is rotated to the workpiece assembly position (106) using the rotary motor (402). The workpiece is clamped and moved to the workpiece assembly position (106) using a three-axis moving module (102), and the workpiece is placed on the sub-tooling structure (700); The workpiece is clamped by adjusting the clamping state of the sub-tooling structure (700) using the servo electric screwdriver mechanism (200) to realize the assembly operation between the workpiece and the sub-tooling structure (700).

Images