Assembly machine for side key type parts of mobile phone shell

Abstract

The invention provides a mobile phone shell side key type part assembling machine, and belongs to the technical field of mobile phone assembling, the mobile phone shell side key type part assembling machine comprises two sets of picking mechanisms, an adsorption mechanism, a transplanting, clamping and side standing mechanism and a control unit, the first set of picking mechanism is used for picking and transferring a middle connecting piece, and the adsorption mechanism is used for receiving the middle connecting piece transferred by the first set of picking mechanism; the first group of picking mechanisms is used for picking up the middle connecting pieces and vertically arranging the middle connecting pieces, the transplanting clamping side-standing mechanism is used for feeding, carrying and transferring the mobile phone shells and clamping the mobile phone shells until key grooves of the mobile phone shells are horizontally arranged, and the second group of picking mechanisms is used for picking up the vertically-arranged middle connecting pieces and vertically inserting the middle connecting pieces into the key grooves of the mobile phone shells; and the control unit is used for controlling the picking mechanism, the adsorption mechanism and the transplanting, clamping and side-standing mechanism to act according to a preset process. According to the mobile phone shell side key assembling machine, through mutual cooperation of the two sets of picking mechanisms, the adsorption mechanism, the transplanting, clamping and side standing mechanism and the control unit, automatic assembling can be conducted on mobile phone shell side key type parts with high assembling efficiency and assembling precision.

Description

Technical Field

[0001] The invention relates to the technical field of mobile phone assembly, and in particular to a mobile phone housing side key component assembly machine. Background Art

[0002] Mobile phone side keys usually refer to physical keys located in the key slot on the middle frame of the mobile phone. These keys can be used to perform a variety of functions, such as adjusting the volume, taking pictures, launching specific applications, etc. The side keys in a mobile phone usually include internal keys, intermediate connectors, and external keys. When assembling the side keys, the assembly accuracy of the intermediate connector plays a major role in the good connection between the internal keys and the external keys.

[0003] In the existing mobile phone side key assembly, in order to ensure high assembly accuracy, the intermediate connector is generally manually inserted vertically into the key slot of the mobile phone middle frame. However, due to the small overall size of the intermediate connector, manual assembly is more difficult, resulting in low assembly efficiency. In addition, due to the decline in the proficiency and sustained concentration of the assemblers, the assembly accuracy deviation distribution is large, which affects the assembly quality of the mobile phone. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a mobile phone shell side key component assembly machine, which aims to realize the automated assembly of mobile phone middle frame side key components to improve assembly efficiency and assembly accuracy.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] The present invention provides a mobile phone shell side key component assembly machine, comprising two groups of picking mechanisms, adsorption mechanisms, transplanting clamping side-standing mechanisms, and control units. The first group of picking mechanisms is used to pick up and transfer intermediate connectors. The adsorption mechanism is used to receive the intermediate connectors transferred by the first group of picking mechanisms and arrange the intermediate connectors vertically. The transplanting clamping side-standing mechanism is used to load, transport and transfer mobile phone shells, clamp and stand the mobile phone shells sideways until the key slots of the mobile phone shells are arranged horizontally. The second group of picking mechanisms is used to pick up the vertically arranged intermediate connectors and vertically plug them into the key slots of the mobile phone shells. The second group of picking mechanisms is used to pick up the vertically arranged intermediate connectors and vertically plug them into the key slots of the mobile phone shells. The control unit is used to control the picking mechanisms, the adsorption mechanisms, and the transplanting clamping side-standing mechanisms to act according to a preset process.

[0007] In addition, the mobile phone housing side key component assembly machine according to the present invention may also have the following additional technical features:

[0008] Furthermore, the picking mechanism includes a robotic arm, a driving mechanism, a first vacuum generator, and a first image acquisition unit. The robotic arm is provided with a vacuum nozzle, and the size of the vacuum nozzle matches the size of the intermediate connector. The control unit is electrically connected to the driving mechanism to control the robotic arm to perform translational movement along the X-axis, Y-axis and Z-axis, and horizontal rotation on the XY plane. The first vacuum generator is connected to the vacuum nozzle, and the control unit is electrically connected to the first vacuum generator to control the opening and closing of the first vacuum generator. The first image acquisition unit is electrically connected to the control unit; wherein the control unit obtains the first image data acquired by the first image acquisition unit, and controls the corresponding driving mechanism, the first vacuum generator and the transplant clamping side standing mechanism to perform corresponding actions according to the first image data.

[0009] Furthermore, the driving mechanism includes a first linear module, a second linear module, a lifting mechanism, and a rotating mechanism. The movement direction of the slide of the first linear module is the X-axis direction, the movement direction of the second linear module is the Y-axis direction, the second linear module is arranged on the slide of the first linear module, the movement direction of the lifting mechanism is the Z-axis direction, the lifting mechanism is arranged on the slide of the second linear module, the rotating mechanism rotates horizontally on the XY plane, and the rotating mechanism is connected to the lifting mechanism.

[0010] Further, the lifting mechanism includes a base, a driving wheel, a driven wheel, a first synchronous belt, and a first driver. The base is fixedly mounted on the slide of the second linear module, the driving wheel is rotatably mounted on the base, the driven wheel is rotatably mounted on the base, the first synchronous belt is closed-loop connected to the driving wheel and the driven wheel, and is arranged along the Z-axis direction, the first driver is transmission-connected to the driving wheel to drive the driving wheel to rotate, and the control unit is electrically connected to the first driver to control the first driver to drive the driving wheel to rotate; wherein, the robotic arm is movably mounted on the base and connected to one side of the first synchronous belt.

[0011] Furthermore, the rotating mechanism includes a second drive and a second synchronous belt. The second drive is fixed on the base. The second drive is transmission-connected to the robotic arm through the second synchronous belt. The control unit is electrically connected to the second drive to control the second drive to drive the second synchronous belt to rotate.

[0012] Furthermore, the adsorption mechanism includes a support block and a second vacuum generator, the support block is provided with a negative pressure groove, the second vacuum generator is connected to the negative pressure groove, and the control unit is electrically connected to the second vacuum generator to control the opening and closing of the second vacuum generator.

[0013] Furthermore, the adsorption mechanism also includes a third driver and an origin proximity switch, the third driver is transmission-connected to the support block to drive the support block to rotate, the control unit is electrically connected to the third driver to control the third driver to drive the support block to rotate, and the origin proximity switch is arranged on one side of the rotation path of the support block; wherein, when the third driver drives the support block to rotate to the working position, the intermediate connecting piece adsorbed by the negative pressure groove is vertically arranged, and triggers the origin proximity switch to generate a trigger signal.

[0014] Furthermore, the transplanting, clamping and side-standing mechanism includes a first stage, a second stage, a conveying mechanism, a flipping mechanism, and a second image acquisition unit. The middle part of the first stage is hollowed out, and the first stage is used to place a mobile phone case to be installed with an intermediate connector. The middle part of the second stage is hollowed out, and the second stage is arranged on one side of the first stage. The control unit is electrically connected to the conveying mechanism to control the conveying mechanism to transfer the mobile phone case on the first stage to the second stage. The control unit is electrically connected to the flipping mechanism to control the flipping mechanism to clamp and lift the mobile phone case on the second stage and arrange the key slot horizontally. The second image acquisition unit is arranged on the second picking mechanism to follow the mechanical arm to perform translational movement along the X-axis and Y-axis. The control unit is electrically connected to the second image acquisition unit; wherein the control unit obtains the second image data collected by the second image acquisition unit, and controls the corresponding driving mechanism and the first vacuum generator to perform corresponding actions according to the second image data.

[0015] Further, the conveying mechanism includes a slide rail module, a first lifting motor, a first conveying mechanism, a second lifting motor, and a second conveying mechanism. The slide rail module extends from the first loading platform to the second loading platform. The slide rail module is provided with two groups of sliders both located below the middle of the first loading platform and the second loading platform. The first lifting motor is provided on the first group of sliders. The first conveying mechanism is provided on one side of the slide rail module and is connected to the first group of sliders. The second lifting motor is provided on the second group of sliders. The second conveying mechanism is provided on the side of the slide rail module opposite to the first drag chain and is connected to the second group of sliders.

[0016] Furthermore, the flipping mechanism includes a rotating arm, a vacuum suction cup, a third vacuum generator, relatively arranged claws, and a fourth driver. The rotating arm is arranged above the second worktable, the vacuum suction cup is arranged on the side of the rotating arm close to the second worktable, the third vacuum generator is connected to the vacuum suction cup, the control unit is electrically connected to the third vacuum generator to control the opening and closing of the third vacuum generator, the claw is arranged on the rotating arm, and the position of the claw corresponds to the middle hollow area of ​​the second worktable, the fourth driver is transmission-connected to the rotating arm to drive the rotating arm to rotate, and the control unit is electrically connected to the fourth driver to control the fourth driver to drive the rotating arm to rotate.

[0017] The beneficial effects of the present invention include at least: picking up scattered intermediate connectors through a first group of picking mechanisms and transferring them to an adsorption mechanism, so that the intermediate connectors in various postures are arranged vertically, and at the same time, the key slots of the mobile phone case are arranged horizontally through a transplanting, clamping and side-standing mechanism, and then picking up the vertically arranged intermediate connectors through a second group of picking mechanisms, and vertically inserting the intermediate connectors into the key slots of the horizontally arranged mobile phone case. In this way, through the mutual cooperation between the two groups of picking mechanisms, the adsorption mechanism, the transplanting, clamping and side-standing mechanism, and the control unit, the side key components of the mobile phone middle frame can be automatically assembled with higher assembly efficiency and assembly accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a mobile phone housing side key component assembly machine from a first perspective in one embodiment of the present invention;

[0019] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0020] Figure 3 It is a structural schematic diagram of a mobile phone housing side key component assembly machine from a second viewing angle in one embodiment of the present invention;

[0021] Figure 4 for Figure 1 A partial enlarged view of point B in the middle;

[0022] Figure 5 is a schematic structural diagram of a driving mechanism in one embodiment of the present invention;

[0023] Figure 6 is a structural schematic diagram of a first set of picking mechanisms in one embodiment of the present invention;

[0024] Figure 7 for Figure 6 A partial enlarged view of point C in the middle;

[0025] Figure 8It is a structural schematic diagram of a transplanting clamping side-standing mechanism in an embodiment of the present invention from a first viewing angle;

[0026] Fig. 9 for Figure 8 A partial enlarged view of point D in the middle;

[0027] Fig.10 It is a structural schematic diagram of a second viewing angle of a transplanting clamping side-standing mechanism in one embodiment of the present invention;

[0028] Description of main component symbols:

[0029] Feeding mechanism 100, material bin 110, vibration plate 120;

[0030] Picking mechanism 200, robot arm 210, vacuum nozzle 211, driving mechanism 220, first linear module 221, second linear module 222, lifting mechanism 223, base 2231, driving wheel 2232, driven wheel 2233, first synchronous belt 2234, first driver 2235, position detector 2236, rotating mechanism 224, second driver 2241, second synchronous belt 2242, first image acquisition unit 230;

[0031] Adsorption mechanism 300, support block 310, negative pressure groove 311, plug-in area 312, third driver 320, origin proximity switch 330,

[0032] Transplanting clamping side standing mechanism 400, first stage 410, second stage 420, conveying mechanism 430, slide rail module 431, slider 4311, first lifting motor 432, first transport mechanism 433, second lifting motor 434, second transport mechanism 435, flipping mechanism 440, rotating arm 441, vacuum suction cup 442, clamping claw 443, fourth driver 444, second image acquisition unit 450;

[0033] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0034] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0035] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0037] Please refer to Figures 1 to 10 , which is a mobile phone shell side key component assembly machine provided by the present invention, including two sets of picking mechanisms 200 (200a, 200b), an adsorption mechanism 300, a transplanting clamping side standing mechanism 400, and a control unit (not shown in the drawings).

[0038] Specifically, the first group of picking mechanisms 100a pick up the intermediate connecting pieces when working, and then transfer the intermediate connecting pieces to the next station. In order to improve the picking efficiency, a feeding mechanism 100 can be provided, and the feeding mechanism 100 continuously conveys the intermediate connecting pieces when working.

[0039] When working, the adsorption mechanism 300 receives the intermediate connecting pieces transferred by the first group of picking mechanisms 100a, and vertically arranges the intermediate connecting pieces in various postures on the first group of picking mechanisms 100a. For example, when the intermediate connecting pieces are cylindrical, the adsorption mechanism 300 transforms the cylindrical intermediate connecting pieces into a vertically arranged state.

[0040] When the transplanting, clamping and side-standing mechanism 400 is working, it loads, transports and transfers the mobile phone case, and clamps the mobile phone case to stand the mobile phone case on its side. When the mobile phone case is in the side-standing position, the key slot of the mobile phone case is arranged horizontally. The second group of picking mechanisms is used to pick up the vertically arranged middle connector and vertically insert it into the key slot of the mobile phone case to clamp the mobile phone case, and then arrange the key slot of the mobile phone case horizontally. When the second group of picking mechanisms 200b is working, it picks up the vertically arranged middle connector and vertically inserts the middle connector into the key slot of the horizontally arranged mobile phone case.

[0041] The control unit is used to control the picking mechanism 200 (200a, 200b), the adsorption mechanism 300 and the transplanting clamping and side-standing mechanism 400 to operate according to a preset process. It should be noted that the control unit can be an integrated control device, such as a PLC control module, or a distributed control device, such as a sub-control device is separately set on the picking mechanism 200, the adsorption mechanism 300 and the transplanting clamping and side-standing mechanism 400, and these sub-control devices communicate with each other.

[0042] In some optional embodiments, such as Figure 1 , Figure 3 As shown, the loading mechanism 100 includes a silo 110 and a vibration plate 120. The silo 110 is connected with the vibration plate 120, so that the intermediate connecting parts in the silo 110 can be discharged into the vibration plate 120, and then the intermediate connecting parts piled together can be vibrated apart by the vibration plate 120, which can facilitate subsequent image recognition positioning and picking operations of the robot arm 210a.

[0043] In some optional embodiments, such as Figure 1 , Figure 3 , Figure 7 As shown, the picking mechanism 200 includes a mechanical arm 210 (210a, 210b), a driving mechanism 220, a first vacuum generator (not shown in the drawings), and a first image acquisition unit 230 (230a, 230b). The mechanical arm 210 is provided with a vacuum suction nozzle 211 (211a, 211b). The vacuum suction nozzle 211 can be provided with one or more. For example, in order to improve the assembly efficiency, multiple rows of vacuum suction nozzles 211 arranged in parallel can be provided. At the same time, in order to ensure that the adsorption mechanism 300 can stably adsorb the vacuum suction nozzle 211, the size of the vacuum suction nozzle 211 matches the size of the intermediate connector.

[0044] During assembly, the control unit is electrically connected to the drive mechanism 220 to control the robot arm 210 to perform translational motion along the X-axis, Y-axis and Z-axis, and to control the robot arm 210 to rotate horizontally on the XY plane, so that the robot arm 210 can pick up the intermediate joint in any posture. The first vacuum generator is connected to the vacuum suction nozzle 211, and the control unit is electrically connected to the first vacuum generator. When picking up the intermediate joint, the control unit controls the first vacuum generator to open, so that the vacuum suction nozzle 211 is in a negative pressure state, so that the vacuum suction nozzle 211a can absorb the intermediate joint transmitted by the feeding mechanism 100 through negative pressure, and when the suction mechanism 300 receives the intermediate joint, the control unit controls the first vacuum generator to close, so that the vacuum suction nozzle 211a is released from the negative pressure state, so that the intermediate joint can be smoothly transferred to the suction mechanism 300.

[0045] The first image acquisition unit 230 is electrically connected to the control unit. When the robot arm 210a picks up the intermediate connection piece transmitted by the feeding mechanism 100, the control unit obtains the image data collected by the first image acquisition unit 230a, and then processes the image data through the image positioning recognition algorithm to obtain the position of the intermediate connection piece to be picked up, and then controls the driving mechanism 220 to move the robot arm 210a to the corresponding position for picking up. When the intermediate connection piece is transferred to the adsorption mechanism 300, the control unit can obtain the image data collected by the first image acquisition unit 230a and / or the first image acquisition unit 230b, and then processes the image data through the image positioning recognition algorithm to obtain the position of the intermediate connection piece to be placed on the adsorption mechanism 300, and then controls the driving mechanism 220 to move the robot arm 210a to the corresponding position for placement. During the placement process, the control unit also controls the first vacuum generator to be closed, so that the vacuum suction nozzle 211a is released from the negative pressure state. When the intermediate connector is vertically inserted into the key slot of the horizontally arranged mobile phone case, the control unit obtains the image data collected by the first image acquisition unit 230b, and then processes the image data through the image positioning recognition algorithm to obtain the position where the mobile phone case needs to be placed, and then controls the transplanting and clamping side-standing mechanism 400 to move the mobile phone case to the corresponding position for placement, and performs precise clamping so that the key slot of the mobile phone case is arranged horizontally. Optionally, the first image acquisition unit 230 can use an image acquisition device such as CCD, CMOS, CID, etc.

[0046] It should be noted that the aforementioned processing of image data through image positioning and recognition algorithms belongs to the existing technology. For example, feature-based methods, region-based methods, and deep learning-based methods can be used.

[0047] In some optional embodiments, such as Figure 5 As shown, the driving mechanism 220 includes a first linear module 221 , a second linear module 222 , a lifting mechanism 223 , and a rotating mechanism 224 .

[0048] The movement direction of the slide 2211 of the first linear module 221 is the X-axis direction, the movement direction of the second linear module 222 is the Y-axis direction, and the movement direction of the lifting mechanism 223 is the Z-axis direction. The lifting mechanism 223 is arranged on the slide 2221 of the second linear module 222, and the rotating mechanism 224 rotates horizontally on the XY plane. The rotating mechanism 224 is connected to the lifting mechanism 223.

[0049] Optionally, the drive mechanism 200a and the drive mechanism 200b can share the first linear module 221, and both the first linear module 221 and the second linear module 222 can adopt linear motion mechanical devices such as ball screw linear modules, belt-driven linear modules, linear motor-driven linear modules, pneumatic linear modules, and electric cylinder linear modules.

[0050] In some optional embodiments, such as Figure 6 As shown, the lifting mechanism 223 includes a base 2231, a driving wheel 2232, a driven wheel 2233, a first synchronous belt 2234, and a first driver 2235. Specifically, the robot arm 210 is movably arranged on the base 2231, the base 2231 is fixedly arranged on the slide 2221 of the second linear module 222, the driving wheel 2232 is rotatably arranged on the base 2231, the driven wheel 2233 is rotatably arranged on the base 2231, the first synchronous belt 2234 is wound around the driving wheel 2232 and the driven wheel 2233 to form a closed-loop rotation transmission path, and the first synchronous belt 2234 is arranged along the Z-axis direction as a whole, and the robot arm 210 is connected to one side of the first synchronous belt 2234. It needs to be understood that What is interesting is that at this time, the connection state between the robot arm 210 and one side of the first synchronous belt 2234 is both a rotational connection and an upper and lower limit connection. In this way, when the robot arm 210 rotates, it will not be interfered by the connected first synchronous belt 2234. For example, a sleeve can be provided, and a bearing is provided in the sleeve. The robot arm 210 is sleeved on the bearing, and the sleeve is connected to one side of the first synchronous belt 2234. In this way, when the first synchronous belt 2234 rotates, it can drive the robot arm 210 to move along the Z-axis direction. At the same time, when the robot arm 210 rotates, the sleeve does not rotate.

[0051] The first driver 2235 is in transmission connection with the driving wheel 2232, and the control unit is electrically connected with the first driver 2235. When the first driver 2235 is in working state, the control unit controls the first driver 2235 to drive the driving wheel 2232 to rotate on the base 2231, thereby driving the first synchronous belt 2234 to rotate, and the rotation of the first synchronous belt 2234 drives the mechanical arm 210 to move up and down. Optionally, the first driver 2235 can adopt a power device such as a rotating motor, a rotating hydraulic cylinder, a rotating cylinder, etc.

[0052] In some optional embodiments, such as Figure 6 As shown, in order to limit the size of the up and down movement of the robot arm 210, a position detector 2236 is provided on the base 2231. When the position detector 2236 is in working state, it detects the position of the robot arm 210 in real time. The position detector 2236 is electrically connected to the control unit. When the robot arm 210 moves to the limit position, the position detector 2236 generates a trigger signal. After the control unit obtains the trigger signal, it controls the drive mechanism 200 to perform corresponding actions to prevent the movement position of the robot arm 210 from exceeding the upper and lower limit positions. Optionally, the position detector 2236 can be a device for detecting the position of an object, such as a contact sensor, a photoelectric position detector, a limit switch, a potential position sensor, a capacitive position sensor, an inductive position sensor, an optical fiber position sensor, an ultrasonic position sensor, etc.

[0053] In some optional embodiments, such as Figure 6As shown, the rotating mechanism 224 includes a second driver 2241 and a second synchronous belt 2242. The second driver 2241 is fixed on the base 2231. The second driver 2241 is connected to the robot 210 through the second synchronous belt 2242. The control unit is electrically connected to the second driver 2241. When the robot 210 needs to rotate on the XY plane, the control unit controls the second driver 2241 to drive the second synchronous belt 2242 to rotate, and the rotation of the second synchronous belt 2242 drives the robot 210 to rotate. Optionally, the second driver 2241 can use a power device such as a rotating motor, a rotating hydraulic cylinder, or a rotating cylinder.

[0054] In some optional embodiments, such as Figure 2 , Figure 4 As shown, the adsorption mechanism 300 includes a support block 310 and a second vacuum generator (not shown in the drawings). The support block 310 is provided with a negative pressure groove 311. The second vacuum generator is connected to the negative pressure groove 311. The control unit is electrically connected to the second vacuum generator. When the intermediate connection piece is transferred to the adsorption mechanism 300, the control unit can obtain the image data collected by the first image acquisition unit 230a or the first image acquisition unit 230b, and then process the image data through the image positioning recognition algorithm to obtain the position of the intermediate connection piece to be placed on the adsorption mechanism 300, and then control the driving mechanism 220 to move the mechanical arm 210a to the corresponding position for placement. During the placement process, the control unit controls the first vacuum generator to close, so that the vacuum suction nozzle 211 is released from the negative pressure state, and at the same time, the control unit controls the second vacuum generator to open, so that the negative pressure groove 311 is in a negative pressure state, and then under the action of negative pressure, the intermediate connection pieces in various postures on the mechanical arm 210a are sucked into the negative pressure groove 311. The shape and size of the negative pressure groove 311 are set accordingly, so that the intermediate connection piece can be placed in a vertical position in the negative pressure groove 311. When the assembly is not performed and the second group of picking mechanisms 200b picks up the intermediate connection piece in the negative pressure groove 311, the control unit controls the second vacuum generator to close, so that the negative pressure groove 311 is released from the negative pressure state.

[0055] In some optional embodiments, such as Figure 2 , Figure 4As shown, the adsorption mechanism 300 also includes a third driver 320 and an origin proximity switch 330. The third driver 320 is transmission-connected to the support block 310, and the control unit is electrically connected to the third driver 320. When the third driver 320 is in working state, the control unit controls the third driver 320 to drive the support block 310 to rotate. The origin proximity switch 330 is arranged on one side of the rotation path of the support block 310. When the third driver 320 drives the support block 310 to rotate to the working position, the robot arm 210 transfers the intermediate connector to the negative pressure groove 311. It should be noted that the aforementioned working position refers to the position in which the intermediate connector can be placed in a vertical position after the negative pressure groove 311 adsorbs the intermediate connector. For example, when the intermediate connector is cylindrical, the plane where the negative pressure groove 311 is located is parallel to the XY plane. At the same time, when the support block 310 rotates and approaches the sensing surface of the origin proximity switch 330 to the action distance, the origin proximity switch 330 generates a trigger signal, and the control unit can control the support block 310 to stop by the trigger signal. At the same time, the position of the origin proximity switch 330 can ensure that the support block 310 can rotate to a fixed working position every time the system is started or reset, thereby improving the accuracy of image positioning recognition, so that the robot arm 210b can be accurately moved to the negative pressure tank 311. Optionally, the third driver 310 can use a power device such as a rotary motor, a rotary hydraulic cylinder, or a rotary cylinder.

[0056] In some optional embodiments, such as Figure 2 As shown, the negative pressure groove 311 is set through the edge of the support block 310, and a plug-in area 312 is provided in the through area. Correspondingly, a plug-in block matching the plug-in area 312 is provided on the vacuum suction nozzle 211b of the robot 210b (not shown in the figure), so that the control unit can first obtain the position of the support block 310 and locate the edge, and then control the drive mechanism 200a to plug the plug-in block from the edge into the plug-in area 312, and then control the second vacuum generator to close so that the negative pressure groove 311 is released from the negative pressure state, and control the first vacuum generator to open so that the vacuum suction nozzle 211b is in a negative pressure state, and then under the action of the negative pressure, the vertically arranged intermediate connector on the negative pressure groove 311 is sucked into the vacuum suction nozzle 211b and maintained in a vertically arranged state. In this embodiment, the accuracy of the robot arm 210b in picking up the intermediate connector can be improved by visual and mechanical coordination positioning.

[0057] In some optional embodiments, such as Figures 8 to 10As shown, the transplanting clamping side-standing mechanism 400 includes a first stage 410, a second stage 420, a conveying mechanism 430, a flipping mechanism 440, and a second image acquisition unit 450. The middle part of the first stage 410 is hollowed out. When in use, the mobile phone case is first placed on the first stage 410. In order to improve the placement accuracy, a cavity adapted to the mobile phone case can be provided on the first stage 410. The middle part of the second stage 420 is also hollowed out, and the second stage 420 is provided on one side of the first stage 410. The control unit is electrically connected to the conveying mechanism 430. When in use, the control unit controls the conveying mechanism 430 to transfer the mobile phone case placed on the first stage 410 to the second stage 420. The control unit is electrically connected to the flip mechanism 440. When in use, the control unit controls the flip mechanism 440 to first clamp the mobile phone case on the second stage 420, then lift the mobile phone case on the second stage 420 to separate the mobile phone case from the cavity on the first stage 410, and then flip the mobile phone case to make the key slots of the side keys of the mobile phone case arranged horizontally. The second image acquisition unit 450 is arranged on the second picking mechanism 200b to follow the mechanical arm 210b to perform translational movement along the X-axis and the Y-axis.

[0058] The control unit is electrically connected to the second image acquisition unit 450. When the mechanical arm 210b vertically inserts the picked-up intermediate connector into the key slot of the horizontally arranged mobile phone shell, the control unit obtains the image data collected by the second image acquisition unit 450, and then processes the image data through an image positioning recognition algorithm to obtain the precise position of the key slot, and then controls the driving mechanism 220 to move the mechanical arm 210b to the corresponding position for placement. Optionally, the second image acquisition unit 450 can use an image acquisition device such as CCD, CMOS, CID, etc.

[0059] In this embodiment, when the robot arm 210a picks up the intermediate connector transmitted by the feeding mechanism 100, the control unit obtains the image data collected by the first image acquisition unit 230a, locates and identifies the precise position of the intermediate connector to be picked up, and picks it up through the robot arm 210a. Then, the control unit obtains the image data collected by the first image acquisition unit 230b, locates and identifies the precise position of the support block 310 where the intermediate connector is to be placed, and transfers the scattered intermediate connectors through the robot arm 210a and vertically places them in the negative pressure groove 311 on the support block 310. Then, the control unit obtains the image data collected by the first image acquisition unit 230a and / or the first image acquisition unit 230b. The image data collected by the acquisition unit 230b is used to locate and identify the precise position of the negative pressure groove 311, and the intermediate connecting piece is picked up by the mechanical arm 210b. Finally, the control unit obtains the image data collected by the second image acquisition unit 450. The control unit can obtain the image data collected by the first image acquisition unit 230a or the first image acquisition unit 230b, locate and identify the precise position of the key slot of the mobile phone case, and move the mechanical arm 210b to the corresponding position for placement by controlling the driving mechanism 220. Since multiple image acquisition units are used for multiple image recognition and positioning, the large error caused by a single image recognition and positioning can be reduced, thereby improving the assembly accuracy.

[0060] In some optional embodiments, such as Figures 8 to 10 As shown, the conveying mechanism 430 includes a slide rail module 431 , a first lifting motor 432 , a first transporting mechanism 433 , a second lifting motor 434 , and a second transporting mechanism 435 .

[0061] The slide rail module 431 extends from the first loading platform 410 to the second loading platform 420. The slide rail module 431 is provided with two sets of sliders 4311 (4311a, 4311b) both located at the lower middle of the first loading platform 410 and the second loading platform 420. The first lifting motor 432 is provided on the slider 4311a.

[0062] When working, the first lifting motor 432 lifts the mobile phone case on the first loading platform 410, the first transport mechanism 433 is arranged on one side of the slide rail module 431, and the first transport mechanism 433 is connected to the slider 4311a. The slider 4311a is moved horizontally by the traction of the first transport mechanism 433, and then the slider 4311a drives the first lifting motor 432 to move horizontally until the first lifting motor 432 is accurately transferred to the second loading platform 420. In this process, the control unit obtains the image data collected by the first image acquisition unit 230b to accurately locate the position, and finally the first lifting motor 432 descends to place the mobile phone case in the cavity on the second loading platform 420. It should be noted that the size of the first lifting motor 432 should match the size of the hollow area in the middle of the first loading platform 410 and the second loading platform 420 to avoid interference between the first lifting motor 432 and the first loading platform 410 and the second loading platform 420. Optionally, the first transport mechanism 433 can adopt a drag chain device.

[0063] After the mobile phone shell is installed with the intermediate connector, the flip mechanism 440 re-places the mobile phone shell in the mold cavity on the second loading platform 420, and then the second lifting motor 434 lifts the mobile phone shell on the second loading platform 420, and the second transport mechanism 435 is arranged on the side of the slide rail module 431 opposite to the first transport mechanism 433, and the second transport mechanism 435 is connected to the slider 4311b, and the slider 4311b is moved horizontally by the traction of the second transport mechanism 435, and then the slider 4311b drives the second lifting motor 434 to move horizontally until the second lifting motor 434 is accurately transferred to the collection station of the mobile phone shell. It should be noted that the size of the second lifting motor 434 should match the size of the hollow area in the middle of the first loading platform 410 and the second loading platform 420, so as to avoid interference between the second lifting motor 434 and the first loading platform 410 and the second loading platform 420. Optionally, the second transport mechanism 435 can adopt a drag chain device.

[0064] In some optional embodiments, such as Figures 8 to 10As shown, the flip mechanism 440 includes a rotating arm 441, a vacuum suction cup 442, a third vacuum generator (not shown in the drawings), a clamping claw 443 arranged opposite to each other, and a fourth driver 444. The rotating arm 441 is arranged above the second stage 420, the vacuum suction cup 442 is arranged on the side of the rotating arm 441 close to the second stage 420, the third vacuum generator is connected to the vacuum suction cup 442, and the control unit is electrically connected to the third vacuum generator. When it is necessary to grab the mobile phone shell on the second stage 420, the control unit controls the third vacuum generator to open, and the vacuum suction cup 442 tightly adsorbs the mobile phone shell under the action of negative pressure. The clamping claw 443 is arranged on the rotating arm 441, and the position of the clamping claw 443 corresponds to the middle hollow area of ​​the second stage 420, and in order to prevent the second stage 420 from interfering with the position of the clamping claw 443, the size of the clamping claw 443 should be adapted to the size of the hollow area of ​​the second stage 420. In addition, the clamp 443 can be set as a telescopic clamp, and the mobile phone case can be clamped or released by the extension and retraction of the telescopic clamp. The telescopic clamp can adopt a clamping device such as a pneumatic telescopic clamp, an electric telescopic clamp, etc.; of course, it can also be set as a rotating clamp, and the mobile phone case can be clamped or released by the rotation of the rotating clamp. The rotating clamp can adopt a clamping device such as a pneumatic rotating clamp, an electric rotating clamp. The fourth driver 444 is connected to the rotating arm 441 in transmission connection, and the control unit is electrically connected to the fourth driver 444. When the fourth driver 444 is in working state, the control unit controls the fourth driver 444 to drive the rotating arm 441 to rotate, so as to flip the mobile phone case fixed by the vacuum suction cup 442 and the clamp 443. Optionally, the fourth driver 444 can adopt a power device such as a rotating motor, a rotating hydraulic cylinder, a rotating cylinder, etc.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0066] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the protection scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A mobile phone housing side key parts assembly machine, characterized in that: The mobile phone housing side key parts assembly machine comprises: Two groups of picking mechanisms, the first group of picking mechanisms is used to pick up and transfer the intermediate joint piece; An adsorption mechanism, used to receive the intermediate connection pieces delivered by the first group of pickup mechanisms and to arrange the intermediate connection pieces vertically; The transfer clamping and side-standing mechanism is used for loading, transporting and transferring the mobile phone case, clamping and side-standing the mobile phone case until the key slot of the mobile phone case is arranged horizontally, and the second group of picking mechanisms is used to pick up the vertically arranged middle connector and vertically insert it into the key slot of the mobile phone case; The control unit is used to control the picking mechanism, the adsorption mechanism and the transplanting clamping and side-standing mechanism to operate according to a preset process.

2. The mobile phone housing side key parts assembly machine according to claim 1, characterized in that: The picking mechanism comprises: A mechanical arm, wherein a vacuum nozzle is provided on the mechanical arm, and the size of the vacuum nozzle matches the size of the intermediate connector; A driving mechanism, wherein the control unit is electrically connected to the driving mechanism to control the robot arm to perform translational motion along the X-axis, the Y-axis and the Z-axis, and to rotate horizontally on the XY plane; A first vacuum generator is connected to the vacuum nozzle, and the control unit is electrically connected to the first vacuum generator to control the first vacuum generator to open and close; A first image acquisition unit, electrically connected to the control unit; The control unit acquires the first image data acquired by the first image acquisition unit, and controls the corresponding driving mechanism, the first vacuum generator and the transplanting clamping and side-standing mechanism to perform corresponding actions according to the first image data.

3. The mobile phone housing side key parts assembly machine according to claim 2, characterized in that: The driving mechanism comprises: A first linear module, wherein the movement direction of the slide of the first linear module is the X-axis direction; A second linear module, the movement direction of which is the Y-axis direction, and the second linear module is arranged on the slide table of the first linear module; A lifting mechanism, the movement direction is the Z-axis direction, and the lifting mechanism is arranged on the slide table of the second linear module; The rotating mechanism rotates horizontally on the XY plane, and the rotating mechanism is connected to the lifting mechanism.

4. The mobile phone housing side key parts assembly machine according to claim 3, characterized in that: The lifting mechanism comprises: A base, fixedly mounted on the slide of the second linear module; A driving wheel rotatably disposed on the base; A driven wheel rotatably disposed on the base; A first synchronous belt is connected to the driving wheel and the driven wheel in a closed loop and arranged along the Z-axis direction; A first driver is drivingly connected to the driving wheel, and the control unit is electrically connected to the first driver to control the first driver to drive the driving wheel to rotate; Wherein, the mechanical arm is movably arranged on the base and connected to one side of the first synchronous belt.

5. The mobile phone housing side key parts assembly machine according to claim 4, characterized in that: The rotating mechanism includes a second driver and a second synchronous belt. The second driver is fixed on the base. The second driver is transmission-connected to the robotic arm via the second synchronous belt. The control unit is electrically connected to the second driver to control the second driver to drive the second synchronous belt to rotate.

6. The mobile phone housing side key parts assembly machine according to claim 5, characterized in that: The adsorption mechanism comprises: A support block is provided with a negative pressure groove; The second vacuum generator is communicated with the negative pressure tank, and the control unit is electrically connected to the second vacuum generator to control the opening and closing of the second vacuum generator.

7. The mobile phone housing side key parts assembly machine according to claim 6, characterized in that: The adsorption mechanism also includes: A third driver is transmission-connected to the support block, and the control unit is electrically connected to the third driver to control the third driver to drive the support block to rotate; An origin proximity switch, arranged on one side of the rotation path of the support block; When the third driver drives the support block to rotate to the working position, the intermediate connector adsorbed by the negative pressure groove is arranged vertically, and triggers the origin proximity switch to generate a trigger signal.

8. The mobile phone housing side key parts assembly machine according to claim 2, characterized in that: The transplanting clamping side-standing mechanism comprises: The first loading platform is hollowed out in the middle and is used to place the mobile phone case to be installed with the intermediate connecting piece; A second loading platform, with a hollowed-out middle portion, is disposed on one side of the first loading platform; A conveying mechanism, wherein the control unit is electrically connected to the conveying mechanism to control the conveying mechanism to transfer the mobile phone case on the first loading platform to the second loading platform; A flipping mechanism, wherein the control unit is electrically connected to the flipping mechanism to control the flipping mechanism to clamp and lift the mobile phone case on the second loading platform and arrange the key slot horizontally; a second image acquisition unit, disposed on the second pickup mechanism, to follow the translational movement of the robot arm along the X-axis and the Y-axis, the control unit being electrically connected to the second image acquisition unit; The control unit acquires the second image data acquired by the second image acquisition unit, and controls the corresponding driving mechanism and the first vacuum generator to perform corresponding actions according to the second image data.

9. The mobile phone housing side key parts assembly machine according to claim 8, characterized in that: The transmission mechanism comprises: A slide rail module extending from the first loading platform to the second loading platform, wherein the slide rail module is provided with two sets of sliding blocks both located below the middle of the first loading platform and the second loading platform; A first lifting motor is provided on the first group of slide blocks; A first transport mechanism is disposed on one side of the slide rail module and is connected to the first group of slide blocks; A second lifting motor is provided on the second group of slide blocks; The second transport mechanism is arranged on a side of the slide rail module opposite to the first drag chain and is connected to the second group of slide blocks.

10. The mobile phone housing side key parts assembly machine according to claim 8 or 9, characterized in that: The flipping mechanism comprises: A rotating arm is arranged above the second loading platform; A vacuum suction cup, arranged on a side of the rotating arm close to the second loading platform; A third vacuum generator is communicated with the vacuum suction cup, and the control unit is electrically connected to the third vacuum generator to control the opening and closing of the third vacuum generator; The clamping jaws are arranged opposite to each other and are arranged on the rotating arm, and the positions of the clamping jaws correspond to the middle hollow area of ​​the second loading platform; The fourth driver is transmission-connected to the rotating arm to drive the rotating arm to rotate. The control unit is electrically connected to the fourth driver to control the fourth driver to drive the rotating arm to rotate.

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