Material processing and assembling equipment, control method and production line with material processing and assembling equipment

Abstract

The material processing and assembling equipment is provided to improve the assembling effect and the assembling efficiency. The equipment comprises a discharging assembly (1), a conveying assembly (2) and a conveying assembly (2), wherein the discharging assembly (1) is used for pushing out materials forming all parts of a preset workpiece according to a preset sequence; the conveying assembly (2) is connected with the discharging assembly (1) in series, receives the materials pushed out by the discharging assembly (1), drives the materials to move and completes automatic assembly of at least one part of the materials in the moving process; the assembling assembly (3) is used for assembling at least one part of materials; and the control assembly (4) is used for controlling the discharging assembly (1), the conveying assembly (2) and the assembling assembly (3) to complete assembling of preset workpieces according to preset procedures.

Description

Technical Field

[0001] The present application relates to material assembly equipment, and more specifically to a material processing and assembly equipment, a control method, and a production line equipped with the equipment. Background Art

[0002] In modern manufacturing, the widespread use of automated assembly equipment has significantly improved production efficiency and product quality. However, there are still certain limitations in the material transmission, alignment assembly and combination processes. For example, since the material may be affected by vibration or center of gravity shift during the transmission process, the material position will deviate, making it difficult to accurately align the assembly components, thereby reducing the assembly accuracy. Most current assembly systems rely on rigid alignment mechanisms, and the materials must be accurately positioned before they can be assembled, and the positioning process is time-consuming. For container-type workpieces that need to be combined (such as cup bodies and cup lids), the containers are prone to displacement due to rolling or external forces during the transmission process, resulting in the inability to accurately complete subsequent assembly steps. Summary of the invention

[0003] The purpose of the present application is to provide a material processing and assembly equipment, a control method and a production line equipped with the equipment, so as to improve the assembly effect and assembly efficiency.

[0004] In order to achieve the above-mentioned purpose, one aspect of the present application provides a material processing and assembly equipment, including: a discharging component, which is used to push out materials that constitute various parts of a preset workpiece in a preset order; a conveying component, which is connected in series with the discharging component, receives the materials pushed out by the discharging component and drives the materials to move, and completes automatic assembly of at least a part of the materials during the movement; an assembling component, which is arranged on one side of the conveying component, and is used to assemble at least a part of the materials; and a control component, which is used to control the discharging component, the conveying component and the assembly component to complete the assembly of the preset workpiece according to a preset process.

[0005] Preferably, the discharging component includes: a first discharging module, which is arranged at the feeding end of the conveying component and is used to push out the first material constituting the preset workpiece; a second discharging module, which is arranged at the middle of the conveying component and is used to push out the second material constituting the preset workpiece; and a third discharging module, which is arranged at the discharging end of the conveying component and is used to push out the third material constituting the preset workpiece.

[0006] Preferably, the first discharging module includes: a first silo, which is used to store the first material; a first pushing unit, which is arranged at the discharging end of the first silo and is used to push the first material onto the conveying component; and a first driving unit, which is connected to the first pushing unit and is used to drive the first pushing unit to push the first material.

[0007] Preferably, the second discharging module includes: a second silo, which is used to store the second material; a second pushing unit, which is arranged at the discharging end of the second silo and is used to push the second material onto the conveying component; and a second driving unit, which is connected to the second pushing unit and is used to drive the second pushing unit to push the second material.

[0008] Preferably, the third discharging module includes: a third silo, which is used to store the third material; a third pushing unit, which is arranged at the discharging end of the second silo and is used to push the third material to the assembly area of ​​the assembly component; and a third driving unit, which is connected to the third pushing unit and is used to drive the third pushing unit to push the third material.

[0009] Preferably, the equipment also includes a storage component, which is arranged at the discharge end of the conveying component and is used to store assembled preset workpieces; the storage component includes: a sliding bin, which is arranged at an angle and its feed end is connected to the conveying component; a baffle, which is arranged at the discharge end of the sliding bin, and a bracket, which is connected to the sliding bin and is used to adjust the inclination angle of the sliding bin.

[0010] Preferably, the conveying component includes: a first sensor, which is arranged opposite to the first discharging module and is used to detect that the first material has entered the conveying component; a second sensor, which is arranged opposite to the second discharging module and is used to detect that the first material has reached a first preset position; and a third sensor, which is arranged opposite to the third discharging module and is used to detect that the first material has reached a second preset position.

[0011] Preferably, the assembly component comprises: a suction member, which is used to suck the second material; and a moving member, which is connected to the suction member and is used to drive the suction member to move the second material.

[0012] On the other hand, the present application provides a control method, including: the discharging component pushes out the first material, and the conveying component conveys the first material to a first preset position; the discharging component pushes out the second material, the second material is automatically combined with the first material, and the conveying component conveys the combination of the first material and the second material to a second preset position; the discharging component pushes out the third material, and the assembling component assembles the third material with the combination.

[0013] On the other hand, the present application provides a production line, which includes the material processing and assembly equipment described in any one of the above items.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0016] Figure 1 It is a structural schematic diagram of the material processing and assembly equipment provided in an embodiment of the present application;

[0017] Figure 2 It is a schematic diagram of the structure of a preset workpiece provided in an embodiment of the present application;

[0018] Figure 3 It is a schematic diagram of the structure of the discharging assembly provided in the embodiment of the present application;

[0019] Figure 4 is a structural schematic diagram of the first discharging module provided in an embodiment of the present application;

[0020] Figure 5 is a structural schematic diagram of a second discharging module provided in an embodiment of the present application;

[0021] Figure 6 is a schematic structural diagram of a third discharging module provided in an embodiment of the present application;

[0022] Figure 7 is a schematic diagram of the structure of a transmission component provided in an embodiment of the present application;

[0023] Figure 8 is a detection schematic diagram of a fourth sensor provided in an embodiment of the present application;

[0024] Fig. 9 is a detection schematic diagram of the seventh sensor provided in an embodiment of the present application;

[0025] Fig.10 is a schematic diagram of the structure of an assembly component provided in an embodiment of the present application;

[0026] Fig.11 is a schematic diagram of the structure of a storage component provided in an embodiment of the present application;

[0027] Fig.12 is a working schematic diagram of the guide plate provided in an embodiment of the present application;

[0028] Fig.13 It is a flow chart of the material processing and assembly method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments will be described with reference to the drawings.

[0030] It should be noted that the disclosed content is only an example, and the invention is not limited by the content described in the following embodiments. Deformations that are easy for a person skilled in the art to think of are of course included in the scope of the disclosure. In order to make the description clearer, in the drawings, there are also cases where the size, shape, etc. of each part are changed relative to the actual implementation form and schematically represented. In multiple drawings, there are also cases where the same reference numerals are marked on corresponding elements and detailed descriptions are omitted.

[0031] This example provides a material processing and assembly equipment, such as Figure 1 As shown, the material processing and assembly equipment includes a discharging component 1, a conveying component 2, an assembly component 3 and a control component 4. The discharging component 1 is used to push out materials constituting various parts of a preset workpiece in a preset order. The conveying component 2 is connected in series with the discharging component 1, receives the materials pushed out by the discharging component 1 and drives the materials to move, and completes automatic assembly of at least a part of the materials during the movement. The assembly component 3 is arranged on one side of the conveying component 2, and is used to assemble at least a part of the materials. The control component 4 is used to control the discharging component 1, the conveying component 2 and the assembly component 3 to complete the assembly of the preset workpiece according to the preset process.

[0032] Specifically, in this example, Figure 2 As shown, the preset workpiece consists of three parts, namely the first material 01 (cup body), the second material 02 (ball bearing) and the third material 03 (cup cover). It is possible that the composition of each part of the preset workpiece can be replaced according to actual production requirements. Figure 3As shown, the discharging component 1 includes a first discharging module 11, a second discharging module 12 and a third discharging module 13. The first discharging module 11 is arranged at the feeding end of the conveying component 2, and is used to push out the first material 01 constituting a preset workpiece, and the first material 01 is the cup body. The second discharging module 12 is arranged in the middle of the conveying component 2, and is used to push out the second material 02 constituting the preset workpiece, and the second material 02 is the ball. The third discharging module 13 is arranged at the discharging end of the conveying component 2, and is used to push out the third material 03 constituting the preset workpiece, and the third material 03 is the cup cover.

[0033] Furthermore, if Figure 4 As shown, the first discharging module 11 includes a first silo 111, a first pushing unit 112 and a first driving unit 113. The first silo 111 is a vertical cylindrical structure, and its top and bottom are respectively provided with openings, and a first storage area is formed therein, and its top is a feeding end, and its bottom is a discharging end. The first material 01 is put in from the top and stored in the first storage area, and the first material 01 can fall freely; the first pushing unit 112 is arranged below the first silo 111, and is connected with the discharging end of the first silo 111, receives the first material 01 and pushes it toward the conveying component 2, and the first pushing unit 113 ... Unit 112 specifically includes a first material receiving plate and a first material pushing tongue block. The first material receiving plate is arranged below the first material bin 111. The distance between the first material receiving plate and the first material bin 111 is smaller than the height of the first material 01, so that a single first material 01 can be pushed out at a time. A notch is provided at one end of the first material pushing tongue block, and the notch can be fitted with one end of the first material 01 to play a role of limiting and protecting. The output end of the first driving unit 113 is connected to the first material pushing tongue block, and the first driving unit 113 drives the first material pushing tongue block to move and push the first material 01 toward the conveying component 2.

[0034] In one example, the first driving unit 113 can be a double-acting cylinder. The first discharging module 11 is adjacent to the conveying assembly 2. The push rod of the double-acting cylinder is arranged at one end away from the conveying assembly 2. The push rod is connected to the tail end of the first push tongue block.

[0035] When the push rod is extended, the first push tongue block is driven to move backward, and when the push rod is retracted, the first push tongue block is driven to move forward.

[0036] like Figure 5As shown, the second discharging module 12 includes a second silo 121, a second pushing unit 122 and a second driving unit 123. The second silo 121 is a vertical cylindrical structure with an opening at the top and a first discharging hole at the bottom, forming a second storage area therein. The top is a feeding end and the bottom is a discharging end. The second material 02 is fed in from the top and stored in the second storage area, and the second material 02 passes through the discharging hole. The second pushing unit 122 is arranged below the second silo 121, and is connected to the discharging hole of the second silo 121, receives the second material 02 and pushes it toward the conveying component 2. The second pushing unit 122 specifically includes a second receiving plate, a second pushing plate, and a second pushing plate. The tongue block and the first end cover, the second material receiving plate is arranged below the second material bin 121, a through hole is formed on the second material receiving plate, and the through hole is connected with the first discharge hole, the second pushing tongue block is arranged below the second material receiving plate, and a second discharge hole is formed on the second pushing tongue block, the first end cover is arranged at the bottom of the second pushing tongue block, and a through hole is formed on the first end cover, when the second pushing tongue block is located at different positions, the through hole on the second material receiving plate and the through hole on the baffle 52 can be respectively connected with the second discharge hole, the output end of the second driving unit 123 is connected with the second pushing tongue block, and the second driving unit 123 drives the second pushing tongue block to move and pushes the second material 02 to the conveying component 2.

[0037] In one example, the second drive unit 123 can adopt a double-acting cylinder. When the push rod of the second drive unit 123 is in a retracted state, the second discharge hole of the second push tongue block is connected with the first discharge hole on the second material bin 121, and the balls in the second material bin 121 fall into the second discharge hole, and the first end cover temporarily seals the balls in the second discharge hole. When the push rod is extended, the second push tongue block carries the balls to move toward the conveying component 2. When the second discharge hole is connected with the through hole on the first end cover, the balls in the second discharge hole fall into the first material 01 below.

[0038] In one example, the second discharging module 12 also includes a rotating unit, which is used to rotate the balls in the second material bin 121. The rotating unit includes a brush disk and a DC reduction motor. The motor is mounted on the top of the second material bin 121 through a mounting plate. The brush disk is close to the first discharging hole and is connected to the extension shaft of the motor. The brush disk is driven by the motor to rotate and the balls in the second material bin 121 are transported from the second material bin 121 to the first discharging hole in sequence.

[0039] like Figure 6As shown, the third discharging module 13 includes a third material bin 131, a third pushing unit 132 and a third driving unit 133. The third material bin 131 is a vertical cylindrical structure, and its top and bottom are respectively provided with openings, and a third storage area is formed therein, and its top is a feeding end, and its bottom is a discharging end. The third material 03 is put in from the top and stored in the third storage area, and the third material 03 can fall freely; the third pushing unit 132 is arranged at the bottom of the third material bin 131, and is connected with the discharging end of the third material bin 131, receives the third material 03 and pushes it forward, and the third pushing unit 132 specifically includes a third receiving plate, a third pushing tongue block and the second end cover, the third material receiving plate is arranged at the bottom of the third material bin 131, the distance between the third material receiving plate and the third material bin 131 is smaller than the height of the third material 03, so that a single third material 03 can be pushed out at a time, and a notch is provided at one end of the third pushing tongue block, which can be fitted with one end of the third material 03 to play a role of limiting and protecting, and the second end cover is arranged at one end of the third material receiving plate to prevent the third material 03 from falling directly into the conveying component 2, and the output end of the third driving unit 133 is connected to the third pushing tongue block, and the third driving unit 133 drives the third pushing tongue block to move and push the third material 03 to the inner side of the second end cover.

[0040] In one example, the third driving unit 133 can be a double-acting cylinder. The third discharging module 13 is adjacent to the conveying assembly 2. The push rod of the double-acting cylinder is arranged at one end away from the conveying assembly 2. The push rod is connected to the tail end of the third push tongue block.

[0041] When the push rod is extended, the third push tongue block is driven to move backward, and when the push rod is retracted, the third push tongue block is driven to move forward.

[0042] like Figure 7As shown, the conveying component 2 includes a first sensor 21, a second sensor 22 and a third sensor 23. The first sensor 21 is arranged opposite to the first discharging module 11. When the first discharging module 11 pushes the first material 01 into the conveying unit, the first material 01 enters the monitoring range of the first sensor 21. The first sensor 21 detects the existence of the first material 01, indicating that the first discharging module 11 is in a normal operating state; the second sensor 22 is arranged opposite to the second discharging module 12. When the conveying component 2 conveys the first material 01 to the first preset position, the first material 01 enters the monitoring range of the second sensor 22. The second sensor 22 detects the existence of the first material 01, and starts the third sensor 23. Two discharging devices, the second discharging device outputs the second material 02, and the second material 02 is combined with the first material 01; the third sensor 23 is arranged opposite to the third discharging module 13, when the conveying component 2 conveys the first material 01 and the second material 02 to the second preset position, the first material 01 enters the monitoring range of the third sensor 23, and the third sensor 23 detects the existence of the first material 01, and starts the third discharging module 13, and the third discharging module 13 outputs the third material 03, and starts the assembly component 3, and the assembly component 3 combines the third material 03 and the first material 01; it can be imagined that the first sensor 21, the second sensor 22 and the third sensor 23 can all adopt photoelectric sensors.

[0043] In one example, if Figure 8 As shown, in order to monitor the working status of the discharge component 1, a fourth sensor 114 is arranged in the first discharge module 11. The fourth sensor 114 is arranged below the first silo 111, and its height is greater than the height of the first push tongue block. When the first material 01 falls from the first silo 111, the first material 01 enters the monitoring range of the fourth sensor 114. The fourth sensor 114 detects the presence of the first material 01 and starts the first driving unit 113. The first driving unit 113 drives the first push tongue block to push the first material 01 out to the conveying component 2.

[0044] A fifth sensor and a sixth sensor are arranged in the second discharging module 12. Specifically, the fifth sensor is arranged in the second silo 121. The fifth sensor adopts a beam sensor, and its transmitting end and receiving end are respectively located at the left and right ends of the second silo 121, and are on a horizontal straight line. When the second material 02 blocks the light, the signal at the receiving end changes, indicating that the second material 02 exists. The fifth sensor is used to detect the remaining amount of the second material 02 in the second silo 121. When the second material 02 is not enough to block the light, it indicates that the remaining amount of the second material 02 is insufficient, reminding the operator to replenish the second material 02; the sixth sensor is arranged below the first end cover. When the second material 02 falls from the through hole of the first end cover, it enters the monitoring range of the sixth sensor, and the sixth sensor detects the passage of the second material 02.

[0045] like Fig. 9 As shown, a seventh sensor 134 is provided in the third discharging module 13. The seventh sensor 134 is provided below the third discharging module 13, and its height is greater than the height of the third pushing tongue block. When the third material 03 falls from the third silo 131, the third material 03 enters the monitoring range of the seventh sensor 134. The seventh sensor 134 detects the presence of the third material 03 and starts the third driving unit 133. The third driving unit 133 drives the third pushing tongue block to push the third material 03 out.

[0046] like Fig.10 As shown, the assembly component 3 includes a suction piece 31 and a moving piece. The suction piece 31 includes a multi-layer suction cup, a vacuum generator and a vacuum sensor. Each layer of the suction cup of the multi-layer suction cup structure is connected to the main body through a flexible connector, which can adapt to material surfaces of different heights and shapes. The suction cup is made of flexible rubber or silicone to form a good seal on the surface of the material. The vacuum generator is connected to the suction cup using a vacuum hose, which is responsible for generating negative pressure to extract the gas between the suction cup and the material so that the suction cup generates sufficient adsorption force, so that the material is stable and does not fall off during transportation. The vacuum degree can be adjusted according to the material characteristics. The vacuum sensor is arranged on the vacuum hose to detect the change of negative pressure during transmission and obtain the negative pressure value in the pipeline. When the adsorption force of the suction cup is not When an abnormal situation occurs in the foot or vacuum generator, an alarm signal is sent in time to remind the operator or the machine is automatically shut down. The moving parts include a linear cylinder 32 and a double-rod cylinder 33. The linear cylinder 32 is arranged vertically, and the end of its push rod is connected to the suction piece 31, which is used to control the movement of the suction piece 31 in the vertical direction. The double-rod cylinder 33 is arranged horizontally, and the end of its push rod is connected to a cylinder bracket 53, which is connected to the linear cylinder 32. The double-rod cylinder 33 is used to control the movement of the suction piece 31 and the linear cylinder 32 in the horizontal direction; the push rods on both sides of the double-rod cylinder 33 are synchronously extended and retracted. It can be understood that the strokes of the double-rod cylinder 33 and the linear cylinder 32 can be adjusted according to actual needs to adapt to materials and working areas of different sizes.

[0047] In one example, the suction cup is configured as a replaceable structure so that suction cups of different specifications can be selected according to the shape and weight of the material, thereby improving the versatility of the equipment.

[0048] In one implementation, the linear cylinder 32 receives a control signal, and its push rod extends to drive the suction cup to move downward to the surface of the third material 03, and the vacuum generator starts working to adsorb the third material 03 through the suction cup; after the adsorption is completed, the push rod of the linear cylinder 32 retracts, and the suction cup is lifted upward to above the second end cover; the double-rod cylinder 33 receives a control signal, and its push rods act at the same time, pushing the linear cylinder 32 and the suction cup to move horizontally, and the suction cup moves to above the first material 01; the vacuum generator stops working, releases the adsorption, the suction cup releases the material, the push rod of the linear cylinder 32 retracts, and the suction cup is lifted upward; the double-rod cylinder 33 acts in the opposite direction, the push rod retracts, the linear cylinder 32 and the suction cup return to the initial position, and prepares for the next adsorption and transportation of the third material 03.

[0049] In one example, the assembly component 3 also includes a speed regulating valve and a pressure reducing valve. The speed regulating valve is arranged at the input end of the vacuum generator to adjust the flow rate of compressed air to control the working speed of the vacuum generator, thereby adjusting the adsorption force of the suction cup; the pressure reducing valve is installed at the inlet of the air source to adjust the air source pressure before the speed regulating valve to prevent damage to the suction cup or unstable adsorption due to excessive pressure.

[0050] like Fig.11 As shown, the material processing and assembly equipment also includes a storage component 5, which is arranged at the discharge end of the conveying component 2 and is used to store the assembled preset workpieces; the storage component 5 includes a sliding bin 51, a baffle 52 and a bracket 53, the sliding bin 51 is arranged in an inclined manner, and the sliding bin 51 is arranged in a concave structure, and a slideway is formed therein, and the height of the two side plates of the sliding bin 51 is at least greater than half of the height of the preset workpiece, and the bottom plate surface of the sliding bin 51 is a smooth plate; the feeding end of the sliding bin 51 is connected to the conveying component 2, and the height of the feeding end of the sliding bin 51 is consistent with the height of the conveying component 2 or slightly lower than the height of the conveying component The height of the component 2 allows the preset workpiece to enter the sliding bin 51 smoothly. The baffle 52 is arranged at the discharge end of the sliding bin 51. The height of the baffle 52 is greater than the height of the preset workpiece, and is used to intercept the preset workpiece in the sliding bin 51. The bottom of the bracket 53 is fixed on the working platform, and its top is connected to the sliding bin 51. A slide groove is opened on the side plate of the sliding bin 51. The bracket 53 is fastened to the slide groove by bolts. The width of the slide groove is greater than the diameter of the bolt. When the bolt head is embedded in the groove, the bottom plane of the groove is in close contact with the bolt head to increase stability. The slide groove can be set to a T-slot, a rectangular groove or a step groove.

[0051] In one example, if Fig.12 As shown, a guide plate 24 is provided at the discharge end of the conveying component 2. The guide plate 24 is an arc-shaped curved plate. The arc-shaped surface of the guide plate 24 extends to the feed end of the sliding bin 51. When the preset workpiece is conveyed to the guide plate 24, the guide plate 24 guides the preset workpiece into the sliding bin 51 through the arc-shaped surface.

[0052] In one example, the slide groove runs through the side of the sliding bin 51, and the bracket 53 can be fastened to any part of the slide groove. By adjusting the position of the bracket 53 in the slide groove, the center of gravity of the sliding bin 51 can be changed, thereby adjusting the inclination angle of the sliding bin 51. For scenarios where the sliding bin 51 is required to discharge materials or assemble at different angles, the structure can be quickly adjusted; in addition, the adjustment of the inclination angle can also optimize the discharge effect according to the characteristics of the material.

[0053] In one example, if Fig.11 As shown, the storage component 5 also includes an eighth sensor 54, which is arranged at the feed end of the sliding bin 51. When the preset workpiece enters the sliding bin 51, it enters the detection range of the eighth sensor 54, and the eighth sensor 54 detects the passage of the preset workpiece. The eighth sensor 54 can count the number of assembled preset workpieces. The eighth sensor 54 adopts a photoelectric sensor.

[0054] The transmission component 2 also includes: a DC motor, a reducer, a tension adjustment unit, a conveyor belt, a PWM motor controller and a rotating cylinder. The DC motor provides power output and adjusts the speed and start and stop state through the PWM motor controller. The reducer is connected to the output end of the motor to convert the high speed of the motor into low-speed and high-torque motion. The conveyor belt is made of wear-resistant material, its width is set according to the size of the material, and its length is set according to the transmission distance. In this example, the width of the conveyor belt is slightly larger than the width of the first material 01. The surface of the conveyor belt is provided with an anti-slip texture to further prevent the material from sliding or tilting. The tension adjustment unit is arranged at both ends of the conveyor belt to adjust the belt tension to avoid slipping caused by too loose belt or excessive wear caused by too tight belt. The tension adjustment unit is composed of an adjustable screw and a spring. The belt tension is controlled by adjusting the screw position so that the belt is in a suitable state. The PWM motor controller is used to accurately control the speed, start and stop and running direction of the DC motor. The motor input voltage is adjusted by a pulse width modulation (PWM) signal to achieve the adjustability of the belt conveying speed. The rotating cylinder is used to adjust the running direction of the conveyor belt.

[0055] In one example, the assembly component 3 also includes a vibration unit, which uses a micro vibrator. The vibration unit is set at a second preset position. When the suction cup releases the third material 03, the third material 03 is combined with the first material 01. At this time, the vibration unit is started, and the vibration unit directly acts on the first material 01 to generate high-frequency micro-vibration. The vibration is transmitted to the third material 03 through the first material 01. The first material 01 and the third material 03 are slightly displaced by the micro-vibration, prompting the first material 01 and the third material 03 to automatically adjust their directions and find the most suitable position for the two. Since the frequency of the micro-vibration is high and the amplitude is small, the first material 01 and the third material 03 will not move significantly, but will be adjusted to the optimal position through micro-displacement, thereby achieving accurate docking and assembly. It can be imagined that the vibration unit is connected to the control component 4, and the control component 4 is used to adjust the vibration frequency and amplitude of the vibration unit.

[0056] In one example, the vibration unit and the suction cup cooperate to start the vibration unit at the moment when the first material 01 and the third material 03 come into contact, so as to improve the adaptive adjustment ability of the materials. At this time, the suction cup makes the third material 03 initially positioned, while the vibration unit makes the first material 01 and the third material 03 precisely docked through micro-vibration, thereby enhancing the assembly progress. The micro vibrator can adapt to the assembly requirements of different materials by adjusting the vibration parameters. For example, materials made of metal, plastic or other materials can all be precisely positioned through micro-vibration.

[0057] In one example, the assembly equipment also includes a guiding component, which is specifically a flexible clamping structure. It uses a material with a certain elasticity, such as rubber, silicone or spring steel, so that the clamping force is sufficiently stable and does not cause damage to the material. The inner surface of the flexible clamping structure is set to an arc, groove or tooth shape to better adapt to the shape of the first material 01. The guiding component is arranged on both sides of the conveying component 2 and is located before the second preset position, that is, the guiding component is used to correct the position of the first material 01 before the first material 01 reaches the second preset position. Before the first material 01 reaches the guiding component, the clamping structure is in an open state, and its opening spacing is greater than the width of the conveying component 2 and does not interfere with the operation of the conveying component 2. When the first material 01 reaches the guiding component, the clamping structure moves closer to the first material 01, and when it contacts the first material 01, the elastic deformation of the material can automatically adjust the clamping force, so that the first material 01 is restored to the central position of the conveying component 2 without being damaged. After the correction is completed, the clamping structure returns to the initial position, releases the clamping of the first material 01, and the first material 01 continues to move with the conveying component 2.

[0058] In another example, the guiding component can also be a friction structure, the front end of the friction structure is a guide wheel, the diameter of the guide wheel is set according to the size of the third material 03, the guide wheel is made of a material with a high friction coefficient, such as rubber or polyurethane, and sufficient friction is generated when the guide wheel contacts the surface of the third material 03. The surface of the guide wheel is also provided with textures to increase the friction. The friction structure is arranged on one side of the transmission component 2 and is located after the second preset position, that is, the position of the third material 03 is corrected after the preset workpiece is assembled. The height of the guide wheel is greater than the height of the first material 01, and the height of at least a part of it is the same as the height of the first material 01 on the preset workpiece. When the preset workpiece is assembled, it moves to the friction structure with the transmission component 2, and the guide wheel of the friction structure contacts the side surface of the third material 03. The friction between the guide wheel and the third material 03 drives the third material 03 to rotate. If there is a gap between the third material 03 and the first material 01, the gap can be eliminated after the third material 03 rotates.

[0059] This example provides a control method, which is applied to the above-mentioned material processing and assembly equipment, such as Fig.13 As shown, the control method includes the following steps:

[0060] S1: The discharging component 1 pushes out the first material 01, and the conveying component 2 conveys the first material 01 to a first preset position.

[0061] Specifically, the control component 4 issues a conveying instruction, the DC motor of the conveying component 2 drives the conveyor belt to start running, and the conveyor belt moves at a set speed and start-stop frequency; the control component 4 issues a first discharging instruction, and the various components of the first discharging module 11 are started one after another, and the first driving unit 113 drives the first pushing tongue block to push the first material 01 onto the conveying component 2, and the conveying component 2 conveys the first material 01 thereon to the first preset position.

[0062] S2: the discharging component 1 pushes out the second material 02, the second material 02 is automatically combined with the first material 01, and the conveying component 2 conveys the combination of the first material 01 and the second material 02 to the second preset position.

[0063] Specifically, when the first material 01 reaches the first preset position, the control component 4 issues a second discharging instruction, the components of the second discharging module 12 are started one after another, the second driving unit 123 drives the second pushing tongue to push the second material 02 toward the conveying component 2, and the second material 02 falls freely into the first material 01. The first material 01 and the second material 02 are automatically combined, and the conveying component 2 then conveys the combination to the second preset position.

[0064] S3: the discharging component 1 pushes out the third material 03, and the assembling component 3 assembles the third material 03 with the assembly.

[0065] Specifically, when the assembly reaches the second preset position, the control component 4 issues a third discharging instruction, the various components of the third discharging module 13 are started one after another, the third driving unit 133 drives the third pushing tongue to push the third material 03 to the conveying component 2, and the third material 03 stays behind the second end cover. The control component 4 issues an assembly instruction, and the various components of the assembly component 3 are started one after another. The linear cylinder 32 drives the suction cup to move downward. When the suction cup contacts the third material 03, the vacuum generator is started to generate negative pressure, and the third material 03 is grabbed by vacuum adsorption. The cylinder 32 drives the suction cup to move upward, and lifts the adsorbed third material 03 from the material picking position to the transportation position. The double-rod cylinder 33 drives the suction cup together with the linear cylinder 32 to move from the transportation position to the assembly position. The linear cylinder 32 drives the suction cup to move downward, and places the third material 03 at the predetermined assembly point of the assembly. The vacuum is released by the vacuum generator and the third material 03 is unloaded to complete the assembly operation. After the suction cup releases the third material 03, the linear cylinder 32 and the double-rod cylinder 33 respectively perform reverse actions to move the suction cup to the initial position and perform the next assembly action.

[0066] Based on the above steps S1 to S3, this example provides an optimization method corresponding to the control method, which optimizes the discharging method of the discharging component. The discharging optimization method is used to optimize the speed and interval time of the discharging component to achieve efficient and stable discharging. The discharging time T1 is optimized by the following formula:

[0067]

[0068] Among them, L m Indicates the current material length, V f Indicates the conveying speed of the discharge component, T n It indicates the minimum interval time between the current step and the next discharging step. α is the dynamic adjustment factor. By dynamically adjusting α, the discharging speed and time interval are regulated.

[0069] In one implementation, assuming L m =500mm, V f =200mm / s, T n =3s, α = 0.2, then calculate T 1,1 =2,5s, the material discharge time is 2.5 seconds, which can not only meet the material movement speed, but also avoid long waiting time in subsequent steps.

[0070] Optimize the path planning of assembly transmission. This path optimization method is used to optimize the shortest path and optimal speed of the transmission component to improve the transmission efficiency of the assembly. The transmission path length D t And time T2 is optimized by the following formula:

[0071]

[0072] Where (x i ,y i ) represents the node coordinates of the transmission path, V b It represents the conveying speed of the conveying component, β is the dynamic adjustment factor, and γ is the path optimization weight, which is used to balance speed and accuracy. The path is optimized by using a path planning algorithm (such as Dijkstra) combined with real-time sensor data.

[0073] In one implementation, assuming the node coordinates are (0,0), (300,400) and (600,0) (unit: mm), V b =500mm / s, β=0.5, γ=1.2, then calculate D t =1000mm, T2=2+0.42=2.42s, the transmission component will complete the path transmission within 2.4 seconds.

[0074] The assembly method of the assembly component is optimized. The assembly optimization method is used to improve the operation progress and speed of the assembly component. The assembly position adjustment P and the assembly time T3 are optimized by the following formula:

[0075] P=P t +ΔP;

[0076]

[0077] T3=T m +T a +T p ;

[0078] Among them, P t represents the target assembly position, ΔP represents the position error correction value, E represents the contact surface error of the assembly, κ is the correction factor, P1 represents the current assembly position, T m represents the moving time, T a represents the alignment time, T p Indicates the assembly pressurization time.

[0079] In one implementation, assuming P t =150mm, E=(P1-150) 2 ,κ=0.05,T m =1.2s, T a =0.8s, T p =1.0s, P1=152mm, then calculate ΔP=0.2mm, P=150+0.2=150.2mm, T3=3.0s, the total assembly operation after the assembly components are fully calibrated takes 3 seconds, and the assembly progress is 0.2mm.

[0080] Several embodiments of the present invention have been described, but these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the invention. These embodiments and their variations are included in the scope and spirit of the invention, and are also included in the invention described in the claims and their equivalents.

[0081] List of reference numerals:

[0082] 01 First Material

[0083] 02 Second Material

[0084] 03 Third Material

[0085] 1 Discharging assembly

[0086] 11. First discharging module

[0087] 111 First Silo

[0088] 112 First push unit

[0089] 113 First drive unit

[0090] 114 Fourth Sensor

[0091] 12. Second discharging module

[0092] 121 Second Silo

[0093] 122 Second push unit

[0094] 123 Second drive unit

[0095] 13 The third discharging module

[0096] 131 Third Silo

[0097] 132 The third pusher unit

[0098] 133 Third drive unit

[0099] 134 Seventh Sensor

[0100] 2 Transport components

[0101] 21 First Sensor

[0102] 22 Second sensor

[0103] 23 Third sensor

[0104] 24 Guide plate

[0105] 3 Assembling components

[0106] 31 suction piece

[0107] 32 Linear Cylinder

[0108] 33 Double rod cylinder

[0109] 4 Control components

[0110] 5 Storage Components

[0111] 51 Sliding Position

[0112] 52 Baffle

[0113] 53 Bracket

[0114] 54 Eighth Sensor

Claims

1. A material processing and assembly equipment, characterized in that: include: A discharging assembly, the discharging assembly is used to push out the materials constituting various parts of a preset workpiece in a preset order; A conveying assembly, the conveying assembly is connected in series with the discharging assembly, receives the material pushed out by the discharging assembly and drives the material to move, and completes automatic assembly of at least a part of the material during the movement; An assembly component, which is disposed on one side of the conveying component and is used to assemble at least a portion of the material; as well as A control component is used to control the discharging component, the conveying component and the assembling component to complete the assembly of the preset workpiece according to the preset process.

2. The device according to claim 1, characterized in that The discharging assembly comprises: A first discharging module, which is disposed at the feeding end of the conveying assembly and is used to push out a first material constituting a preset workpiece; A second discharging module, which is disposed in the middle of the conveying assembly and is used to push out a second material constituting a preset workpiece; and The third discharging module is arranged at the discharging end of the conveying component and is used for pushing out the third material constituting the preset workpiece.

3. The device according to claim 2, characterized in that The first discharging module comprises: A first silo, wherein the first silo is used to store a first material; a first pushing unit, which is disposed at a discharge end of the first silo and is used to push the first material onto a conveying assembly; and A first driving unit is connected to the first pushing unit and is used to drive the first pushing unit to push out the first material.

4. The device according to claim 2, characterized in that The second discharging module comprises: A second silo, the second silo is used to store a second material; a second pushing unit, which is disposed at a discharge end of the second silo and is used to push the second material onto a conveying assembly; and A second driving unit, wherein the second driving unit is connected to the second pushing unit and is used to drive the second pushing unit to push out the second material.

5. The device according to claim 2, characterized in that The third discharging module comprises: A third material bin, the third material bin is used to store a third material; a third pushing unit, which is disposed at a discharge end of the second silo and is used to push the third material to an assembly area of ​​an assembly component; and A third driving unit is connected to the third pushing unit and is used to drive the third pushing unit to push out the third material.

6. The device according to claim 1, characterized in that The device also includes a storage component, which is arranged at the discharge end of the conveying component and is used to store the assembled preset workpieces; the storage component includes: A sliding bin, the sliding bin is arranged in an inclined manner, and its feed end is connected to the conveying assembly; a baffle, the baffle being arranged at the discharge end of the sliding bin, and The bracket is connected to the sliding bin and is used to adjust the inclination angle of the sliding bin.

7. The device according to claim 1, characterized in that The transmission component comprises: A first sensor, the first sensor is arranged opposite to the first discharging module and is used to detect that the first material has entered the conveying component; a second sensor, which is disposed opposite to the second discharging module and is used to detect that the first material has reached a first preset position; and A third sensor is disposed opposite to the third discharging module and is used for detecting that the first material has reached a second preset position.

8. The device according to claim 1, characterized in that The assembly components include: A suction member, the suction member is used to suck the second material; The moving member is connected to the suction member and is used to drive the suction member to move the second material.

9. A control method, characterized in that: include: The discharging component pushes out the first material, and the conveying component conveys the first material to a first preset position; The discharging component pushes out the second material, the second material is automatically combined with the first material, and the conveying component conveys the combination of the first material and the second material to a second preset position; The discharging component pushes out the third material, and the assembling component assembles the third material with the combination body.

10. A production line, characterized in that: The production line includes the material processing and assembly equipment according to any one of claims 1-8.

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