Assembly equipment

Abstract

The assembling equipment comprises a jig and a forcing device, the jig comprises a first placing structure and a pressing structure, the first placing structure is provided with a first placing position, the pressing structure can move between the pressing position and the opening position under the driving of the forcing device, and the pressing structure at the pressing position is opposite to the first placing position; the pressing structure can rotate around the first axis, and the forcing device can move relative to the first placing structure in the axial direction of the first axis. The pressing structure comprises a forced part, the surface of the forcing device comprises a spatial curved surface, and in the process that the forcing device moves from the first position to the second position, the spatial curved surface continuously abuts against the forced part so as to force the pressing structure to rotate from the pressing position to the opening position; the device layout is optimized, the design difficulty is reduced, device interference is avoided, and automation is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of automated manufacturing, and in particular to an assembly device. Background Art

[0002] The thermal print head includes a flexible circuit board, a ceramic sheet and a connector. During the assembly process, the ceramic sheet needs to be welded to the flexible circuit board first, and then the connector needs to be bonded to the ceramic sheet. In the automated assembly equipment of thermal print heads, since the flexible circuit board is difficult to position from all sides, the fixture of the flexible circuit board is generally provided with a placement position and a pressing block. After the flexible circuit board is placed in the placement position, it is pressed by the pressing block to prevent it from loosening during the transfer of the fixture or the processing process.

[0003] On the existing jig, the pressing block is vertically arranged to be lifted and lowered directly above the placement position; correspondingly, on the workstation of the automatic line, the pressing block's forcing device also needs to be arranged above the placement position and adjacent to the pressing block. In fact, the subsequent processing devices for welding ceramic sheets and gluing connectors need to use the space above the placement position, and the pressing block and the pressing block's forcing device occupy the space above, affecting the layout of multiple devices at each subsequent workstation. Summary of the invention

[0004] The present invention mainly provides an assembly device which optimizes device layout, reduces design difficulty, avoids device interference and facilitates automation.

[0005] The assembly equipment provided by the present invention includes a jig and a forcing device. The jig includes a first placement structure and a clamping structure. The first placement structure is provided with a first placement position. Driven by the forcing device, the clamping structure can move between the clamping position and the open position. The clamping structure in the clamping position is opposite to the first placement position. The clamping structure can rotate around a first axis, and the forcing device can move relative to the first placement structure along the axial direction of the first axis. The clamping structure includes a forced portion, and the surface of the forcing device includes a spatial curved surface. During the process of the forcing device moving from the first position to the second position, the spatial curved surface continuously abuts against the forced portion to force the clamping structure to rotate from the clamping position to the open position.

[0006] As can be seen from the above scheme, the present invention first considers the forcing device to move in the horizontal direction. This setting makes the forcing device as a whole and the fixture at approximately the same horizontal height, and no longer occupies the space above the fixture; then, the present invention also considers setting the clamping structure that originally moves up and down to a rotating structure. This setting first makes the clamping structure occupy less space above the fixture when rotating, and the clamping structure can be set as a plate structure, which can further reduce the occupation of the space above the fixture, and its linkage position can be set lower, which is conducive to the transmission with the forcing device in a low position. The above settings and layouts ensure that the layout of various assembly or processing devices in multiple stations passed by the fixture is no longer restricted, optimize the layout of the device, reduce the design difficulty, avoid device interference, and facilitate automation. Based on this setting and layout, it is necessary to further consider how to complete the linkage between the forcing device and the clamping structure. Furthermore, it is necessary to convert the linear movement into a swing. For this reason, the present invention considers setting the surface of the forcing device as a spatial curved surface, and the spatial curved surface extends along the curve between the axis, the second direction and the vertical direction. During the forward movement of the forcing device, the spatial curved surface can continuously abut against the forced part to force the clamping structure to smoothly rotate from the clamping position to the open position. This linkage method is simple in design and ensures smooth rotation of the clamping structure.

[0007] A further solution is that the forced part includes a roller mounted on the clamping structure; and the spatial curved surface is arranged according to a motion trajectory of the wheel surface of the roller relative to the clamping structure under rotation and movement.

[0008] It can be seen from the above that in order to further improve the rotation smoothness of the clamping structure, the friction pair is improved into a rolling pair, and thus a roller is arranged on the forced part; under this setting, the spatial curved surface needs to be more accurately arranged according to the motion trajectory of the wheel surface of the roller to ensure that at any time during the linkage process, the wheel surface of the roller maintains contact and cooperation with the spatial curved surface to the greatest extent.

[0009] A further solution is that the forcing device includes a guiding protrusion, on which is a buffer surface, which is connected to the starting end of the spatial curved surface, and whose inclination relative to the axial direction is slower than that of the spatial curved surface; when the forcing device moves from the first position to the second position, the buffer surface abuts against the wheel surface of the roller before the spatial curved surface.

[0010] As can be seen from the above, the angle between the beginning of the spatial curved surface and the axial direction is relatively large. If the forcing action starts from the beginning of the spatial curved surface abutting against the wheel surface of the roller, the clamping structure that originally clamped the flexible circuit board may suddenly swing upward with a large amplitude and exert a force on the flexible circuit board, causing the flexible circuit board to deviate or even fall out. Therefore, in order to mitigate the initial rotation action of the clamping structure to avoid affecting the flexible circuit board as much as possible, the present invention provides a buffer surface with a more gentle inclination and contacts the roller before the spatial curved surface.

[0011] Another further solution is that the fixture also includes a fourth placement table, and a sixth placement position is arranged on the fourth placement table; the assembly equipment also includes a temporary storage device, and a temporary storage position is arranged on the temporary storage device, and the temporary storage position is directly above the sixth placement position; the assembly equipment also includes a flipping and transferring device that can move axially, and the flipping and transferring device includes a first grasping mechanism that can rotate around a second axis, and the second axis is located between the temporary storage position and the sixth placement position, and the grasping part of the first grasping mechanism can move between the temporary storage position and the sixth placement position.

[0012] As can be seen from the above, the sixth placement position of the fourth placement table and the temporary storage position of the temporary storage device are both used to place the connector. The connector with the convex portion facing upward is easier to realize the loading and grabbing, so the connector after loading is placed in the temporary storage position with its convex portion facing upward. The bonding surface on the connector that needs to be pasted with the ceramic sheet is located on the other side facing away from the convex portion, and the connector needs to be placed in the sixth placement position with the bonding surface facing upward to be able to realize the subsequent bonding process. For this reason, the present invention sets the temporary storage position just above the sixth placement position, and sets a flip transfer device. After the first grabbing mechanism grabs the connector from the temporary storage position, when it rotates 180 degrees to the position opposite to the sixth placement position, the connector is just flipped. Under this setting, based on the improvement of the fixture and the forcing device, the space above the fixture is released, and the temporary storage device and the flip transfer device are reasonably arranged using the upper space. The flip transfer device synchronously completes the flip adjustment during the transfer process, which has the advantages of compact layout, simple design, reduced cost and improved efficiency.

[0013] A further solution is that the first grasping mechanism includes a first pneumatic finger, a first bending arm and a second bending arm, the first pneumatic finger is arranged at the second axis, the starting end of the first bending arm and the starting end of the second bending arm are respectively connected to the two output ends of the first pneumatic finger, and a grasping part is formed between the end of the first bending arm and the end of the second bending arm.

[0014] As can be seen from the above, generally, it is more inclined to consider setting the power source for the tight clamping of the clamping part, such as pneumatic fingers, to the end of the swing arm, because such a design only requires the installation of two conventional clamps at the two output ends of the pneumatic fingers to meet the clamping requirements. However, since the connecting parts to be grasped are relatively small in size, setting them in the above general manner will occupy a larger nearby space and cause interference with other structures on the fixture, and the requirement of compact layout cannot be met. For this reason, the present invention integrates both the rotation power source and the power source for the tight clamping (pneumatic fingers) into the second axis, and only two relatively small curved arms extend from the second axis to the grasping part. This arrangement makes the flipping and transferring device smaller in size, reduces the occupied space, avoids interference, and has a compact layout.

[0015] A further solution is that the assembly equipment also includes a loading and picking device and a material tray, the loading and picking device can be moved between the material tray and the temporary storage position, and at least a part of the workpiece to be picked is placed on the bottom surface of the material tray in a tilted posture; the loading and picking device includes a second grasping mechanism and an upright auxiliary mechanism, the upright auxiliary mechanism includes an upright auxiliary surface located at its bottom, and the upright auxiliary surface forms an angle with the upper surface of the workpiece to be picked in the tilted posture; during the vertical downward movement of the loading and picking device, the upright auxiliary surface abuts against the upper surface and forces the workpiece to be picked to swing until the angle is eliminated and the workpiece to be picked is returned to an upright posture.

[0016] As can be seen from the above, the workpiece to be taken is a connector, and a specific structure of the connector includes a hinged lower part and an upper part, the surface of the lower part is a bonding surface, the surface of the upper part is an upper surface, and the upper part is provided with some protruding structures protruding from the upper surface. First of all, whether the connector is placed in the tray with the lower part at the bottom or the upper part at the bottom, the difficulty of grasping is very large. When the connector is placed in the tray with the upper part at the bottom, under the influence of these protruding structures, the connector will be in a tilted posture that is difficult to determine the grasping point and difficult to grasp. Therefore, only the connector with the lower part at the bottom and the protruding structure facing upward and having a grasping point is considered. Of course, the tray can obtain more connectors with the lower part at the bottom by vibration. Since the upper part and the lower part are hinged, the upper part naturally tilts, that is, the connector presents a tilting posture. In the prior art, for this type of tilted workpiece with special contours, it is generally considered to use CCD to identify the feature points of its special contour, and then adjust the tilt angle and position of the grasping device to grasp it accordingly. The problem is that the connector is placed in a vibrating tray and is not restricted in the tray. When the grasping mechanism tilts forward and reaches the connector, it will push the connector away. Therefore, for the connector placed in the vibrating tray, the means of CCD identification and tilted grasping are not only technically difficult but also unable to complete the grasping. To this end, the present invention considers correcting the connector to an upright position before grasping it, with respect to its specific structure. The present invention adds a downward upright auxiliary surface, and the downward movement of the upright auxiliary surface forces the upper part to swing and correct it. Moreover, due to the downward force, no excessive component force is generated in the process to push the connector away. The present invention effectively realizes the loading and grasping of workpieces in a tilted position, and the device structure is simple and the cost and technical difficulty are low.

[0017] A further solution is that the second gripping mechanism and the uprighting auxiliary mechanism are arranged adjacent to each other in the horizontal direction, and the height of the uprighting auxiliary surface is lower than the height of the second gripping mechanism; the second gripping mechanism is arranged to be controllably movable in the vertical direction, and / or the uprighting auxiliary mechanism is arranged to float vertically or slide vertically under its own weight.

[0018] As can be seen from the above, this setting can ensure that the upright auxiliary mechanism touches the connecting part earlier than the second grasping mechanism, and after the touch, its floating or sliding down under its own weight can form a certain buffering effect to avoid crushing the connecting part, and the second grasping mechanism is independently controllable to rise and fall relative to the upright auxiliary mechanism, ensuring that the feeding and grasping are completed in the manner of first straightening and then grasping, thereby improving the grasping success rate.

[0019] A further solution is that the first placement structure includes a first placement table and a second placement table which are discontinuously arranged along the axial direction, the second placement table is provided with a fourth placement position and a first clamping mechanism corresponding to the fourth placement position, the first placement position includes the fourth placement position, and the discontinuity between the first placement table and the second placement table serves as a movable space for the first clamping mechanism; and / or, the fixture includes a second placement structure, the second placement structure includes a third placement table and a fourth placement table which are discontinuously arranged along the axial direction, and the discontinuity between the third placement table and the fourth placement table serves as a rotation space for the first grasping mechanism.

[0020] As can be seen from the above, the present invention relates to the assembly of a flexible circuit board, a ceramic sheet and a connector, the ceramic sheet is first welded to the end of the flexible circuit board, and then the connector is bonded to the surface of the ceramic sheet, and the third placement position of the first placement structure is used to place the flexible circuit board and the fourth placement position is used to place the ceramic sheet, the flexible circuit board is supported by the first placement table, the ceramic sheet is supported by the second placement table and clamped by the first clamping mechanism, and the end of the flexible circuit board is overlapped with the ceramic sheet in the first placement structure to prepare for subsequent welding at this position, the second placement structure is used to place the flexible circuit board with the ceramic sheet already welded and the connector, wherein the connector is first placed in the sixth placement position of the fourth placement table with the bonding surface facing up, and then the flexible circuit board with the ceramic sheet already welded is placed in the second placement position of the second placement structure, wherein the flexible circuit board will enter the fifth placement position of the third placement table and the ceramic sheet will enter the sixth placement position of the fourth placement table and overlap with the connector. The present invention sets the first placement structure and / or the second placement structure as a discontinuous structure, which is mainly considered to meet the positioning and support requirements, and can also avoid other matching mechanisms. The discontinuity of the first placement structure can avoid the first clamping mechanism, and the discontinuity of the second placement structure can avoid the first grabbing mechanism of the flipping and conveying device. Further, the various structures on the equipment are closely matched and compactly arranged.

[0021] A further solution is that the second placement structure includes a second placement position, and the second placement position includes a sixth placement position; the assembly equipment also includes an adsorption robot, the adsorption robot includes an integrated suction head, and the suction head can be moved between the first placement position and the second placement position; the length direction of the first placement position is axial, and in the axial direction, the middle part of the first placement position is opposite to the clamping structure in the clamping position; the suction head includes two adsorption parts arranged at intervals along the axial direction, and the suction head forms a door-shaped avoidance position at the interval between the two adsorption parts, and when the adsorption robot is docked with the first placement structure, the two adsorption parts are respectively opposite to the two sides of the first placement position in the axial direction, the clamping structure is in the avoidance position and the avoidance position serves as a rotation space for the clamping structure.

[0022] As can be seen from the above, the adsorption manipulator is used to adsorb the flexible circuit board. Since the flexible circuit board in the present invention is in the shape of a strip, the present invention utilizes the strip-shaped characteristics of the flexible circuit board, uses the two sides of its length as the adsorption points and the middle of its length as the clamping point, and the pressure head is provided with an avoidance position to ensure the rotation of the clamping structure. The present invention can completely eliminate the mutual influence between the suction head and the clamping structure. When the flexible circuit board needs to be transferred, it is no longer necessary to loosen the clamping first, but the suction head can control the loosening and clamping after adsorbing the flexible circuit board in the current accurate position, which can avoid the problem of causing the flexible circuit board to deviate when loosening and clamping. In addition, the adsorption at two places on both sides can avoid the problem of the flexible circuit board sagging and shaking during the transfer process, which affects the subsequent placement.

[0023] A further solution is that the first placement table and the third placement table are arranged in sequence along the second direction, the second placement table and the fourth placement table are arranged in sequence along the second direction, the first placement position includes the third placement position arranged on the first placement table, the second placement position includes the fifth placement position arranged on the third placement table, and the second direction is perpendicular to the vertical direction and perpendicular to the axial direction; in the axial direction, the length of the third placement position is greater than the length of the fifth placement position, and the interval between the first placement table and the second placement table is smaller than the interval between the third placement table and the fourth placement table.

[0024] As can be seen from the above, since the flexible circuit board and the ceramic sheet need to be welded on the first placement structure, in order to ensure that the flexible circuit board is supported more stably, the third placement position for positioning and supporting the flexible circuit board is set longer, so as to support the flexible circuit board to be welded over a larger area; and since the second placement structure is mainly used for bonding between the ceramic sheet and the connector, the ceramic sheet can be clamped by the second clamping mechanism on the fourth placement table, and thus the length of the fifth placement position can be set shorter, and such a setting can increase the interval between the third placement table and the fourth placement table, and the interval is used to provide a discontinuity in the rotation space of the first grasping mechanism, and the increase in the interval can provide a larger design space for the first grasping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural diagram of a jig for assembling equipment according to an embodiment of the present invention.

[0026] Figure 2 It is a structural diagram of the jig, the forcing device and the adsorption manipulator of the assembly equipment embodiment of the present invention.

[0027] Figure 3 This is a structural diagram of the jig, temporary storage device, flipping and transferring device, loading and unloading device and material tray of the assembly equipment embodiment of the present invention.

[0028] Figure 4 This is a structural diagram of the first placement table and the clamping structure of the assembly equipment embodiment of the present invention.

[0029] Figure 5 It is a structural diagram of a forcing device of an assembly equipment embodiment of the present invention.

[0030] Figure 6 It is a structural diagram of the forcing head of the forcing device of the assembly equipment embodiment of the present invention.

[0031] Figure 7 It is a schematic diagram of the forcing device of the assembly equipment embodiment of the present invention forcing the pressing structure to rotate.

[0032] Figure 8 for Figure 2 Enlarged view of point A in the middle.

[0033] Fig. 9 It is a structural diagram of a fixture, a temporary storage device and a flipping and transferring device in an embodiment of the assembly equipment of the present invention.

[0034] Fig.10 This is a structural diagram of the connecting parts to be assembled in an embodiment of the assembly equipment of the present invention.

[0035] Fig.11 It is a structural diagram of the loading and unloading device of the assembly equipment embodiment of the present invention.

[0036] Fig.12 It is a schematic diagram of a first state of a loading and unloading device grabbing a connection structure in an embodiment of the assembly equipment of the present invention.

[0037] Fig.13 It is a schematic diagram of the second state of the loading and unloading device grabbing the connection structure of the assembly equipment embodiment of the present invention.

[0038] Fig.14 It is a schematic diagram of the third state of the grabbing connection structure of the loading and unloading device of the assembly equipment embodiment of the present invention. DETAILED DESCRIPTION

[0039] See also Figure 1The assembly equipment of this embodiment is used to assemble a thermal print head. The thermal print head includes a flexible circuit board 91, a ceramic sheet 92 and a connector 93. The ceramic sheet 92 is first welded to the end of the flexible circuit board 91, and then the connector 93 is bonded to the surface of the ceramic sheet 92.

[0040] See also Figures 1 to 3 , the assembly equipment includes a fixture 1, a forcing device 2, an adsorption manipulator 3, a flipping and transferring device 4, a temporary storage device 5, a loading and taking device 6 and a tray 7. Among them, the assembly equipment is provided with an automatic line, and the fixture 1 flows on the automatic line; the assembly equipment includes a plurality of stations arranged at different positions on the automatic line, the forcing device 2 and the adsorption manipulator 3 are arranged at the stations where the flexible circuit board 91 needs to be placed on or taken out of the fixture 1, such as the loading station of the flexible circuit board 91 and the bonding station of the connector 93; and the temporary storage device 5, the loading and taking device 6 and the tray 7 are arranged at the loading station of the connector 93.

[0041] See also Figure 1 The fixture 1 includes a first placement structure 11 and a second placement structure 12 sequentially arranged along the second direction, the first placement structure 11 includes a first placement table 111 and a second placement table 112 intermittently arranged along the axial direction, the second placement structure 12 includes a third placement table 121 and a fourth placement table 122 intermittently arranged along the axial direction, the first placement table 111 and the third placement table 121 are sequentially arranged along the second direction, and the second placement table 112 and the fourth placement table 122 are sequentially arranged along the second direction. The y-axis direction in the figure represents the second direction of the present invention, and the x-axis direction in the figure represents the axial direction of the present invention, and the axial direction refers to the axial direction of the first axis 130 below. In addition, the z-axis direction represents the vertical direction of the present invention.

[0042] The first placement structure 11 is provided with a first placement position 110, and the first placement position 110 includes a third placement position 1110 arranged on the first placement platform 111 and a fourth placement position 1120 arranged on the second placement platform 112; the second placement structure 12 includes a second placement position 120, and the second placement position 120 includes a fifth placement position 1210 arranged on the third placement platform 121 and a sixth placement position 1220 arranged on the fourth placement platform 122. Among them, the first placement platform 111 is installed with a clamping structure 13 arranged corresponding to the third placement position 1110, the second placement platform 112 is installed with a first clamping mechanism 14 arranged corresponding to the fourth placement position 1120, and the fourth placement platform 122 is installed with a second clamping mechanism 15 arranged corresponding to the sixth placement position 1220. Among them, the tightening and loosening direction of the clamping mechanism 14 is axial, and the tightening and loosening direction of the second clamping mechanism 15 is the second direction. A pulley 151 is provided on the clamping member of the second clamping mechanism 15, and the external linear cam structure translates axially and abuts against the pulley 151 to force the second clamping mechanism 15 to loosen the clamping.

[0043] On the first placement structure 11, the third placement position 1110 places the flexible circuit board 91 and the fourth placement position 1120 places the ceramic sheet 92, the flexible circuit board 91 is supported by the first placement platform 111, the ceramic sheet 92 is supported by the second placement platform 112 and clamped by the first clamping mechanism 14, and the end of the flexible circuit board 91 overlaps with the ceramic sheet 92 in the first placement structure 11 and prepares for subsequent welding at this position.

[0044] The second placement structure 12 is used to place the flexible circuit board 91 and the connecting member 93 to which the ceramic sheet 92 has been welded. The connecting member 93 is firstly placed with its bonding surface 9321 ( Fig.10 The flexible circuit board 91 is placed in the fifth placement position 1210 of the third placement table 121 and the ceramic sheet 92 is placed in the sixth placement position 1220 of the fourth placement table 122 and overlapped with the connecting piece 93 coated with the adhesive for bonding.

[0045] Recombination Fig. 9 The discontinuity 113 between the first placement platform 111 and the second placement platform 112 becomes the activity space of the first clamping mechanism 14. Specifically, the clamping part of the first clamping mechanism 14 will move axially and toward the first placement platform 111 when loosening. The discontinuity 113 is set between the first placement platform 111 and the second placement platform 112 to become the activity space of the clamping part of the first clamping mechanism 14.

[0046] The discontinuity 123 between the third placement platform 121 and the fourth placement platform 122 serves as a rotation space for the first gripping mechanism 47 of the flipping and conveying device 4. Further, in the axial direction, the length of the third placement position 1110 is greater than the length of the fifth placement position 1210, and the interval between the first placement platform 111 and the second placement platform 112 is smaller than the interval between the third placement platform 121 and the fourth placement platform 122. Since the flexible circuit board 91 and the ceramic sheet 92 need to be welded on the first placement structure 11, in order to ensure that the flexible circuit board 91 is supported more stably, the third placement position 1110 for positioning and supporting the flexible circuit board 91 is set longer, so as to support the flexible circuit board 91 to be welded over a larger area. However, since the second placement structure 12 is mainly used to bond the ceramic sheet 92 and the connecting piece 93, the ceramic sheet 92 can be clamped by the second clamping mechanism 15 on the fourth placement table 122, and the length of the fifth placement position 1210 can be set shorter. In addition, such a setting can increase the discontinuity 123 between the third placement table 121 and the fourth placement table 122. The increase in the discontinuity 123 can provide a larger design space for the first grasping mechanism 47.

[0047] See also Figure 4The clamping structure 13 includes a clamping plate 131, a roller 132 and a tension spring 133. The clamping plate 131 is rotatably mounted on the first placement platform 111 around the first axis 130, and the tension spring 133 is pulled between the lower side of the clamping plate 131 and the base of the fixture 1, so that the clamping plate 131 can be rotated between the clamping position and the open position, and under the action of the tension spring 133, the clamping plate 131 tends to remain in the clamping position.

[0048] The pressing plate 131 in the clamping position is vertically opposite to the third placement position 1110 and can clamp the flexible circuit board 91 in the third placement position 1110; the pressing plate 131 in the clamping position is horizontal, that is, its thickness direction is consistent with the vertical direction, so that the space above the fixture can be reduced; when the pressing plate 131 is in the clamping position, the roller 132 is at the same height as the pressing plate 131, and the axis of the roller 132 extends along the second direction. The length direction of the first placement position 110 and its third placement position 1110 is axial, and the pressing plate 131 in the clamping position is only opposite to the axial middle part 110a of the first placement position 110, and the two axial side parts 110b of the first placement position 110 are not blocked, so that the two extended ends of the flexible circuit board 91 are exposed to the two axial side parts 110b of the first placement position 110.

[0049] See also Figure 2 , Figure 5 and Figure 6 The forcing device 2 includes a first cylinder 29 and a forcing head 21. The first cylinder 29 drives the forcing head 21 to move axially between a first position away from the first placement platform 111 and a second position close to the first placement platform 111. The surface of the front side of the forcing head 21 is set as a spatial curved surface 20. The spatial curved surface 20 is set according to the movement trajectory of the wheel surface of the roller 132 relative to the clamping structure 13 during rotation and movement. The spatial curved surface 20 is a twisted surface extending along the curve. The direction of the starting end 201 of the spatial curved surface 20 is inclined between the axial direction and the vertical direction, and the direction of the end 202 of the spatial curved surface 21 is inclined between the axial direction and the second direction.

[0050] Furthermore, the forcing device 2 includes a guide tongue 22, and a buffer surface 221 is provided on the guide tongue 22. The buffer surface 221 is connected to the starting end 201 of the spatial curved surface 20, and relative to the axial direction, the inclination of the buffer surface 221 is slower than the inclination of the spatial curved surface 20. Furthermore, the forcing device 2 is also provided with a stabilizing surface 231, which is a plane arranged in the second direction, and the stabilizing surface 231 is connected to the end 202 of the spatial curved surface 20.

[0051] Recombination Figure 7, when the forcing head 21 moves from the first position to the second position along the positive direction of the x-axis shown in the figure, the spatial curved surface 20 continuously contacts the wheel surface of the roller 132 to force the pressure plate 131 to rotate from the clamping position shown by the solid line, pass through the middle position shown by the dotted line b1, and finally reach the open position shown by the dotted line b2. In the process of the forcing head 21 moving to the second position, the buffer surface 221 contacts the wheel surface of the roller 132 before the spatial curved surface 20; in the process of the pressure plate 131 reaching the open position, the wheel surface of the roller 132 cooperates with the stabilizing surface 231. The above-mentioned setting and layout ensure that the layout of various assembly or processing devices of multiple stations passed by the fixture 1 is no longer restricted, optimizes the layout of the device, reduces the design difficulty, avoids device interference, and is conducive to automation. The spatial curved surface 20 can continuously contact the roller 132 to force the pressure plate 131 to rotate smoothly from the clamping position to the open position. The linkage mode is simple in design and ensures smooth rotation of the pressure plate 131.

[0052] See also Figure 2 and Figure 8 The suction manipulator 3 includes an integrated suction head 31, which is driven by the suction manipulator 3 to move between the first placement position 110 and the second placement position 120, so as to transfer the flexible circuit board 91 welded with the ceramic sheet 92 in the first placement position 110 to the second placement position 120 for bonding with the connecting piece 93. In order to cooperate with the pressing plate 131, the suction head 31 includes two suction parts 311 spaced apart in the axial direction, and the suction head 31 forms a door-shaped avoidance position 310 at the interval between the two suction parts 311. When the suction manipulator 3 is docked with the first placement structure 11, the two suction parts 311 are respectively opposite to the two sides of the first placement position 110 in the axial direction, that is, the two side parts 110b, and the pressing structure 13 is in the avoidance position 310 and the avoidance position 310 serves as the rotation space of the pressing structure 13. In some embodiments, it is possible to directly set up two independent and separate adsorption parts 311 and connect them to form negative pressure. The present invention primarily considers the compactness of the device itself and the compactness of the layout. Separate and connected adsorption parts 311 occupy a large space and need to be connected to control separately. The integrated suction head 31 forms a split negative pressure pipeline with a smaller volume, and a single connection is used to uniformly manage and complete the negative pressure control of the two adsorption parts 311.

[0053] See also Figure 3 and Fig. 9A temporary storage position 50 is provided on the temporary storage device 5, and the temporary storage position 50 is located directly above the sixth placement position 1220; the flipping and transferring device 4 includes a first grasping mechanism 47 that can rotate around a second axis 460 extending along the x-axis direction, and in the vertical direction, the second axis 460 is located between the temporary storage position 50 and the sixth placement position 1220, and the grasping portion 40 of the first grasping mechanism 47 can be moved between the temporary storage position 50 and the sixth placement position 1220, and the loading and removing device 6 can be moved between the material tray 7 and the temporary storage position 50, and the material tray 7 is used to place the workpiece to be taken.

[0054] Combination Fig.10 , the workpiece to be taken is a connecting member 93, and a specific structure of the connecting member 93 includes a hinged lower member 932 and an upper member 931, the surface of the lower member 932 is a bonding surface 9321, the surface of the upper member 931 is an upper surface 9311, and the upper member 931 is provided with some protruding structures 933 protruding from the upper surface 9311. Whether the connecting member 93 is placed in the tray 7 with the lower member 932 at the bottom or the upper member 931 at the bottom, the difficulty of grasping is very large. When the connecting member 93 is placed in the tray 7 with the upper member 931 at the bottom, first, under the influence of these protruding structures 933 and the hinged structure, the connecting member 93 will be in a basically lying position, and then, there is no position on the upper side that can be used for grasping, so only the connecting member 93 with the lower member 932 at the bottom and the protruding structure 933 at the top is considered, so that the protruding structure 933 can be used as the grasping position.

[0055] The tray 7 can be vibrated to obtain more connectors 93 with the lower part 932 at the bottom. Since the upper part 931 and the lower part 932 are hinged, the upper part 931 naturally tilts, that is, the connector 93 presents Fig.12 The present invention uses the loading and removing device 6 to grab the connecting piece 93 in the tilted position and put it in the temporary storage position 50, and then the turning and transferring device 4 turns the connecting piece 93 over and transfers it to the sixth placement position 1220 to wait for bonding with the ceramic sheet 92.

[0056] See also Fig.11 and Fig.12The loading and removing device 6 includes a second gripping mechanism 62, an upright auxiliary mechanism 61, a vertical slide rail 67 and a vertical linear module 68. The second gripping mechanism 62 is arranged to be controllably movable vertically through the existing vertical linear module 68; the upright auxiliary mechanism 61 is arranged to be slidable vertically through the vertical slide rail 67. In one setting mode, a spring can be arranged between the slider of the vertical slide rail 67 and the base of the loading and removing device 6 so that the upright auxiliary mechanism 61 is arranged to be vertically floating and maintained in the lower limit position under the elastic force of the spring; in another setting mode, the above-mentioned spring is not arranged, so that the upright auxiliary mechanism 61 is arranged to slide down vertically due to its own weight, that is, the upright auxiliary mechanism 61 naturally slides down to the lower limit position due to its own weight.

[0057] The second gripping mechanism 62 includes a second pneumatic finger 69 and two vertical clamping fingers 621 respectively connected to two output ends of the second pneumatic finger 69; the upright auxiliary mechanism 61 includes an upright plate, the upright plate includes an upright auxiliary surface 611 located at the bottom thereof, the upright auxiliary surface 611 is used to force the upper surface 9311 of the connecting member 93, and since the upper surface 9311 is a plane and the upper surface 9311 is horizontal when the upper member 931 is upright, the upright auxiliary surface 611 is set as a horizontal plane in this embodiment. The second pneumatic finger 69 and the upright auxiliary mechanism 61 are arranged adjacent to each other in the horizontal direction, and when the upright auxiliary mechanism 61 is in the lower limit position and the second gripping mechanism 62 is in the upper limit position, the height of the upright auxiliary surface 611 is lower than the height of the lower end of the second pneumatic finger 69. See also Figure 12 to Figure 14 The loading and removing device 6 grabs the connecting member 93 from the material tray 7. Initially, the connecting member 93 is in a tilted posture with the lower part 932 at the bottom and the upper part 931 at the top. The upright auxiliary mechanism 61 of the loading and removing device 6 is at the lower limit position and the second grabbing mechanism 62 is at the upper limit position. The loading and removing device 6 reaches directly above the connecting member 93 and the thickness direction of the upright plate of the upright auxiliary mechanism 61 is consistent with the extension direction of the hinge axis of the upper part 931 and the lower part 932.

[0058] from Fig.12 The first state shown changes to Fig.13 During the second state, the loading and removing device 6 moves downward until the upright auxiliary surface 611 abuts against the upper surface 931. It can be seen that at this time, an angle is formed between the upright auxiliary surface 611 and the upper surface 931. In addition, when the loading and removing device 6 continues to move downward, since the flat lower surface of the connecting member 93 is relatively stably supported on the bottom surface of the material tray 7, the force generated by the upright auxiliary surface 611 on the upper surface 931 is used as the driving force. Compared with pushing the connecting member 93 away, the driving force is more inclined to first force the upper member 931 to rotate toward the upright posture.

[0059] from Fig.13 The second state shown changes to Fig.14 During the third state, the upright auxiliary surface 611 contacts the upper surface 9311 and forces the upper member 931 to swing until the angle is eliminated and the connecting member 93 is returned to the position as shown in FIG. Fig.14 The upright posture shown. However, at this time, the driving force acts on the horizontal upper surface 9311 without generating a horizontal force component, and thus no force to push the connector 93 away will be generated. Subsequently, the two vertical clamping fingers 621 are inserted between the two protruding structures 933 in a retracted state and then expanded. The two vertical clamping fingers 621 can support the two protruding structures 933 from the inside to achieve clamping, and then the connector 93 can be moved to the temporary storage position 50. It can be seen that, compared with the complex and difficult to implement CCD recognition and tilt grasping, the present invention targets the structural characteristics of the connector 93, and only adds a downward upright auxiliary surface 611. The downward movement of the upright auxiliary surface 611 forces the upper component 931 to swing and correct it, and due to the downward force, no excessive force component is generated in the process to push the connector 93 away. The present invention effectively realizes the loading and grasping of workpieces in a tilted posture, and the device structure is simple and the cost and technical difficulty are low.

[0060] Last seen Figure 3 and Fig. 9 The flipping and transferring device 4 also includes a second cylinder 49 for driving the first grasping mechanism 47 to move axially and a motor 48 for driving the first grasping mechanism 47 to rotate around a second axis 460. The first grasping mechanism 47 includes a first pneumatic finger 46, a first bending arm 41 and a second bending arm 42. The main body of the first pneumatic finger 46 is arranged at the second axis 460. The first bending arm 41 and the second bending arm 42 are both three-section structures in the shape of steps due to two consecutive right-angle bends. The starting end of the first bending arm 41 and the starting end of the second bending arm 42 are respectively connected to the two output ends of the first pneumatic finger 46, and the grasping part 40 of the first grasping mechanism 47 is formed between the end of the first bending arm 41 and the end of the second bending arm 42. Under this setting, based on the improvement of the fixture 1 and the forcing device 2, the space above the fixture 1 is released, and the upper space is used to reasonably arrange the temporary storage device 5 and the flipping and transferring device 4. The flipping and transferring device 4 can simultaneously complete a 180-degree flip adjustment during the transfer process, which has the advantages of compact layout, simple design, reduced cost and improved efficiency.

[0061] In general, the present invention optimizes the spatial layout of each device module of the assembly equipment, and reasonably and effectively utilizes each space so that the device modules of the assembly equipment are compactly arranged and closely linked. Furthermore, after the optimized layout, the linkage design of each device module and each module is further improved to reduce interference, reduce the difficulty of setting up, improve production efficiency and reduce costs.

[0062] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An assembly device, comprising a jig and a forcing device, wherein the jig comprises a first placement structure and a pressing structure, wherein the first placement structure is provided with a first placement position, and driven by the forcing device, the pressing structure can be moved between a pressing position and an open position, and the pressing structure in the pressing position is opposite to the first placement position; Features: The pressing structure can rotate around a first axis, and the forcing device can move relative to the first placement structure along the axial direction of the first axis; The clamping structure includes a forced portion, and the surface of the forcing device includes a spatial curved surface. During the movement of the forcing device from the first position to the second position, the spatial curved surface and the forced portion continuously abut against each other to force the clamping structure to rotate from the clamping position to the open position.

2. The assembly device according to claim 1, characterized in that: The forced portion includes a roller mounted on the pressing structure; The spatial curved surface is arranged according to a motion trajectory of the wheel surface of the roller relative to the pressing structure during the rotation and the movement.

3. The assembly device according to claim 2, characterized in that: The forcing device comprises a guiding protruding tongue, on which a buffer surface is provided, the buffer surface is connected to the starting end of the spatial curved surface, and relative to the axial direction, the inclination of the buffer surface is slower than the inclination of the spatial curved surface; When the pressing structure moves from the first position to the second position, the buffer surface abuts against the wheel surface of the roller before the spatial curved surface.

4. The assembly device according to any one of claims 1 to 3, characterized in that: The fixture further comprises a fourth placement table, and a sixth placement position is arranged on the fourth placement table; The assembly equipment further includes a temporary storage device, on which a temporary storage position is arranged, and the temporary storage position is located directly above the sixth placement position; The assembly equipment also includes a flipping and transferring device that can move along the axial direction, and the flipping and transferring device includes a first grasping mechanism that can rotate around a second axis, and the second axis is located between the temporary storage position and the sixth placement position. The grasping part of the first grasping mechanism can move between the temporary storage position and the sixth placement position.

5. The assembly device according to claim 4, characterized in that: The first grasping mechanism includes a first pneumatic finger, a first bending arm and a second bending arm. The first pneumatic finger is arranged at the second axis. The starting end of the first bending arm and the starting end of the second bending arm are respectively connected to the two output ends of the first pneumatic finger. The grasping part is formed between the end of the first bending arm and the end of the second bending arm.

6. The assembly device according to claim 4, characterized in that: The assembly equipment further comprises a loading and unloading device and a material tray, wherein the loading and unloading device can be moved between the material tray and the temporary storage position, and at least a portion of the workpieces to be unloaded are placed on the bottom surface of the material tray in a tilted posture; The loading and removing device comprises a second grasping mechanism and an upright auxiliary mechanism, wherein the upright auxiliary mechanism comprises an upright auxiliary surface located at the bottom thereof, and the upright auxiliary surface forms an angle with the upper surface of the workpiece to be removed in the tilted posture; During the vertical downward movement of the loading and removing device, the upright auxiliary surface abuts against the upper surface and forces the workpiece to be removed to swing until the angle is eliminated and the workpiece to be removed is returned to an upright posture.

7. The assembly device according to claim 6, characterized in that: The second grasping mechanism and the upright auxiliary mechanism are disposed adjacent to each other along the horizontal direction, and the upright auxiliary surface is located at a height lower than that of the second grasping mechanism; The second gripping mechanism is arranged to be controllably movable in the vertical direction, and / or, The upright auxiliary mechanism is arranged to float vertically or slide vertically under its own weight.

8. The assembly device according to claim 6, characterized in that: The first placement structure includes a first placement platform and a second placement platform that are discontinuously arranged along the axial direction, the second placement platform is provided with a fourth placement position and a first clamping mechanism corresponding to the fourth placement position, the first placement position includes the fourth placement position, and the discontinuity between the first placement platform and the second placement platform serves as an activity space for the first clamping mechanism; and / or, The fixture includes a second placement structure, and the second placement structure includes a third placement platform and a fourth placement platform that are discontinuously arranged along the axial direction, and the discontinuity between the third placement platform and the fourth placement platform serves as a rotation space for the first grasping mechanism.

9. The assembly device according to claim 8, characterized in that: The second placement structure includes a second placement position, and the second placement position includes the sixth placement position; The assembly device further comprises an adsorption manipulator, wherein the adsorption manipulator comprises an integrated suction head, and the suction head is movable between a first placement position and a second placement position; The length direction of the first placement position is the axial direction, and in the axial direction, the middle part of the first placement position is opposite to the clamping structure in the clamping position; The suction head includes two adsorption parts arranged at intervals along the axial direction, and the suction head forms a door-shaped avoidance position at the interval between the two adsorption parts. When the adsorption robot is docked with the first placement structure, the two adsorption parts are respectively opposite to the two sides of the first placement position in the axial direction, and the clamping structure is in the avoidance position and the avoidance position serves as the rotation space of the clamping structure.

10. The assembly device according to claim 8, characterized in that: The first placement table and the third placement table are sequentially arranged along the second direction, the second placement table and the fourth placement table are sequentially arranged along the second direction, the first placement position includes the third placement position arranged on the first placement table, the second placement position includes the fifth placement position arranged on the third placement table, and the second direction is perpendicular to the vertical direction and perpendicular to the axial direction; In the axial direction, the length of the third placement position is greater than the length of the fifth placement position, and the interval between the first placement platform and the second placement platform is smaller than the interval between the third placement platform and the fourth placement platform.

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