Assembling equipment

Abstract

An embodiment of the present application provides an assembly device, which includes: a first jig library, a controller, a first transfer device and a first conveying device; the first jig library is provided with a first jig, a plurality of second jigs and a plurality of third jigs; the controller is used to control the first transfer device to dock with the first jig based on a received mode switching instruction, control the first transfer device to drive the first jig, transfer the second jig corresponding to the mode switching instruction to the first conveying device, and control the first transfer device to put the first jig back into the first jig library; control the first transfer device to dock with the third jig corresponding to the mode switching instruction; wherein the first transfer device docked with the third jig is used to set the body to be assembled on the second jig located in the material receiving area of ​​the first conveying device, and the first conveying device is used to drive the second jig to switch between the material receiving area of ​​the first conveying device and the material feeding area of ​​the first conveying device.

Description

Technical Field

[0001] The present application relates to the technical field of assembly equipment design, and in particular to an assembly equipment. Background Art

[0002] For some products, different customers may have some specific technical requirements, so customers will make some targeted modifications to the products according to their own needs. For example, for a certain type of circuit board, the length and width of the circuit board A designed by customer A are A1 and A2 respectively; the length and width of the circuit board B designed by customer B are B1 and B2 respectively; ... In this way, there are different versions of this type of circuit board.

[0003] In the prior art, a set of assembly equipment can only assemble one version of a product. For example, when assembling the circuit board of customer A, it is necessary to use the first assembly equipment equipped with a fixture that matches the circuit board of customer A; when assembling the circuit board of customer B, it is necessary to use the second assembly equipment equipped with a fixture that matches the circuit board of customer B; ... It can be seen that for a type of product, different assembly equipment needs to be developed for different versions, which makes the cost of assembly equipment high. Summary of the invention

[0004] The embodiment of the present application provides an assembly device to solve the problem of how to improve the use range of the assembly device.

[0005] In order to solve the above technical problems, this application is implemented as follows:

[0006] The assembly equipment provided by the embodiment of the present application includes: a first jig library, a controller, a first transfer device and a first conveying device; the first jig library is provided with a first jig, a plurality of second jigs and a plurality of third jigs; the controller is used to control the first transfer device to dock with the first jig based on the received mode switching instruction, control the first transfer device to drive the first jig, transfer the second jig corresponding to the mode switching instruction to the first conveying device, and control the first transfer device to put the first jig back into the first jig library; control the first transfer device to dock with the third jig corresponding to the mode switching instruction; wherein the first transfer device docked with the third jig is used to set the body to be assembled on the second jig located in the material receiving area of ​​the first conveying device, and the first conveying device is used to drive the second jig to switch between the material receiving area of ​​the first conveying device and the material feeding area of ​​the first conveying device.

[0007] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0008] In an embodiment of the present application, the first fixture library of the assembly equipment includes a first fixture, a plurality of second fixtures, and a plurality of third fixtures, wherein each second fixture is used to limit a subject to be assembled of a certain size, and each third fixture is used to take and place a subject to be assembled of a certain size.

[0009] Therefore, after receiving the mode switching instruction, the first transfer device and the first jig are docked, so that the first transfer device drives the first jig to transfer the second jig corresponding to the mode switching instruction to the receiving area of ​​the first conveying device, so that the second jig can receive the body to be assembled. After the second jig is set in place, the first transfer device can put the first jig back into the first jig library, and then dock with the third jig corresponding to the mode switching instruction in the first jig library, so that the first transfer device can take and place the body to be assembled through the third jig. Specifically, the first transfer device can obtain the body to be assembled from the first feeding area through the third jig, so as to set the body to be assembled on the second jig. Furthermore, the first conveying device can transport the body to be assembled to other subsequent devices.

[0010] It can be seen that, by adopting the solution provided in the embodiment of the present application, the assembly equipment can switch the assembly mode based on the mode switching instruction, so that the assembly equipment is suitable for assembling different bodies to be assembled, which can improve the use range of the assembly equipment. Therefore, compared with the solution in the related art that different assembly equipment needs to be set for different products, the cost of the assembly equipment can be reduced.

[0011] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0013] Figure 1 A schematic diagram of an assembly device provided in an embodiment of the present application;

[0014] Figure 2 A top view of an assembly device provided in an embodiment of the present application;

[0015] Figure 3 A schematic diagram of a human-machine interaction interface of an assembly device provided in an embodiment of the present application;

[0016] Figure 4 A schematic diagram of a first sub-library of a first fixture library provided in an embodiment of the present application;

[0017] Figure 5 A schematic diagram of a second sub-library of a first fixture library provided in an embodiment of the present application;

[0018] Figure 6 A schematic diagram of a first transfer device, a docking device and a third fixture provided in an embodiment of the present application;

[0019] Figure 7 An exploded schematic diagram of a docking device provided in an embodiment of the present application;

[0020] Figure 8 A partial schematic diagram of a first transfer device and a first docking body of a docking device provided in an embodiment of the present application;

[0021] Fig. 9 A schematic diagram of a first fixture and a second docking body of a docking device provided in an embodiment of the present application;

[0022] Fig.10 A schematic diagram of a third fixture and a second docking body of a docking device provided in an embodiment of the present application;

[0023] Fig.11 An exploded schematic diagram of a first bearing seat and a second fixture provided in an embodiment of the present application;

[0024] Fig.12 A partial top view of a first bearing seat and a second fixture provided in an embodiment of the present application;

[0025] Fig.13 A partial schematic diagram of a first bearing seat provided in an embodiment of the present application;

[0026] Fig.14 A schematic diagram of an assembly component provided in an embodiment of the present application;

[0027] Fig.15 A schematic diagram of a second fixture library provided in an embodiment of the present application;

[0028] Fig.16 A schematic diagram of a mounting base and a fourth fixture of a second transfer device provided in an embodiment of the present application;

[0029] Fig.17 An exploded schematic diagram of a mounting base and a fourth fixture of a second transfer device provided in an embodiment of the present application;

[0030] Fig.18A schematic diagram of a third transfer device, a seventh fixture, a fourth transfer device, a tenth fixture, a second conveying device and a fixed connection device provided in an embodiment of the present application;

[0031] Fig.19 for Fig.18 A partial schematic diagram of the third transfer device, the seventh fixture, the fourth transfer device, the tenth fixture, the second conveying device and the fixed connection device shown in FIG.

[0032] Fig. 20 for Fig.19 A partial schematic diagram of the third transfer device, the seventh fixture, the fourth transfer device, the tenth fixture, the second conveying device and the fixed connection device shown in FIG.

[0033] Fig.21 A schematic diagram of a third conveying device and a size detection device provided in an embodiment of the present application;

[0034] Fig. 22 A schematic diagram of a first sub-conveyor, a second supporting seat, a ninth fixture and a first camera module provided in an embodiment of the present application;

[0035] Fig.23 A schematic diagram of a second sub-conveyor, a third supporting seat, a ninth fixture and a second camera module provided in an embodiment of the present application;

[0036] Fig.24 A schematic diagram of a continuity test device, a probe module, a fourth conveying device and a twelfth fixture provided in an embodiment of the present application;

[0037] Fig.25 for Fig.24 A partial schematic diagram of a continuity test device, a probe module, a fourth conveying device and a twelfth fixture is provided;

[0038] Fig.26 A schematic diagram of a probe module provided in an embodiment of the present application;

[0039] Fig. 27 for Fig.24 A partial exploded schematic diagram of the provided continuity test device and probe module;

[0040] Fig.28 A schematic diagram of a fifth transfer device and a fourteenth fixture provided in an embodiment of the present application.

[0041] Description of reference numerals:

[0042] 1-Assemble the equipment;

[0043] 110-first fixture library; 110a-first sub-library; 110b-second sub-library; 111-first fixture; 112-second fixture; 1121-detection mark unit; 113-third fixture; 120-second fixture library; 121-fourth fixture; 130-third fixture library; 131-sixth fixture; 132-seventh fixture; 140-fourth fixture library; 141-ninth fixture; 142-tenth fixture; 150-fifth fixture library; 151-twelfth fixture; 152-fourteenth fixture; 160-probe module library; 161-probe module;

[0044] 200-controller;

[0045] 310-first transfer device; 311-docking device; 311a-first docking body; 311b-second docking body; 320-second transfer device; 321-mounting seat; 330-third transfer device; 340-fourth transfer device; 350-fifth transfer device;

[0046] 410-first conveying device; 411-first bearing seat; 4111-first sensor; 420-second conveying device; 430-third conveying device; 431-first sub-conveyor; 432-second bearing seat; 433-second sub-conveyor; 434-third bearing seat; 440-fourth conveying device;

[0047] 510-fixed connection device; 511-punching head; 520-size detection device; 521-first camera module; 522-second camera module; 530-conductivity test device;

[0048] 610 - a first feeding area of ​​the assembly equipment; 620 - a second feeding area of ​​the assembly equipment; 630 - a discharging area of ​​the assembly equipment;

[0049] 2-assembly components; 21-main body to be assembled; 22-additional parts. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0051] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In addition, although the terms used in this application are selected from well-known and commonly used terms, some terms mentioned in the specification of this application may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description of this article.

[0053] Furthermore, it is required that the present application be understood not only by the actual terms used but also by the meanings connoted by each term.

[0054] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0055] The present application embodiment provides an assembly device. Figures 1 to 28 The assembly equipment 1 provided in the embodiment of the present application includes: a first fixture library 110, a controller 200, a first transfer device 310 and a first conveying device 410. The first fixture library 110 is provided with a first fixture 111, a plurality of second fixtures 112 and a plurality of third fixtures 113.

[0056] The controller 200 is used to control the first transfer device 310 to dock with the first fixture 111 based on the received mode switching instruction, control the first transfer device 310 to drive the first fixture 111, transfer the second fixture 112 corresponding to the mode switching instruction to the first conveying device 410, control the first transfer device 310 to put the first fixture 111 back to the first fixture library 110; control the first transfer device 310 to dock with the third fixture 113 corresponding to the mode switching instruction.

[0057] refer to Figure 3 , exemplarily, the assembly device 1 may have a first assembly mode, a second assembly mode, a third assembly mode, a fourth assembly mode, a fifth assembly mode, and a sixth assembly mode. For example, the product of customer A needs to be assembled using the assembly device 1 switched to the first assembly mode; the product of customer B needs to be assembled using the assembly device 1 switched to the second assembly mode; ...

[0058] For example, at the current stage, assembly device 1 is in the first assembly mode. In the next stage, it is necessary to produce the product of customer B. Therefore, before producing the product of customer B, assembly device 1 needs to be switched from the first assembly mode to the second assembly mode. Exemplarily, the operator can send a mode switching instruction to the controller 200 of assembly device 1 by triggering a control button corresponding to the "second assembly mode" on the human-computer interaction interface of assembly device 1. Specifically, the instruction sent is a mode switching instruction to switch to the "second assembly mode".

[0059] After receiving the switching instruction to switch to the "second assembly mode", the controller can control the assembly equipment 1 to execute the switching process, so that each fixture corresponding to the mode switching instruction in the first fixture library 110 is set on the corresponding device, so that the assembly equipment 1 switches to the second assembly mode.

[0060] In the embodiment of the present application, the first transfer device 310 connected to the third fixture 113 is used to place the main body 21 to be assembled on the second fixture 112 located in the material receiving area of ​​the first conveying device 410. In other words, the second fixture 112 is used to limit the position of the main body 21 to be assembled during the assembly process. When the first conveying device 410 conveys the second fixture 112 to the material receiving area of ​​the first conveying device 410, the main body 21 to be assembled can be placed on the second fixture 112, so that the second fixture 112 is used to limit the position of the main body 21 to be assembled, so as to facilitate the subsequent assembly process.

[0061] The first conveying device 410 is used to drive the second fixture 112 to switch between the material receiving area of ​​the first conveying device 410 and the material supplying area of ​​the first conveying device 410 .

[0062] In this way, in the embodiment of the present application, the first fixture library 110 of the assembly device 1 includes a first fixture 111, a plurality of second fixtures 112, and a plurality of third fixtures 113. Among them, each second fixture 112 is used to limit the position of a body 21 to be assembled of a certain size, and each third fixture 113 is used to take and place a body 21 to be assembled of a certain size.

[0063] Therefore, after receiving the mode switching instruction, the first transfer device 310 and the first fixture 111 are docked, so that the first transfer device 310 drives the first fixture 111 to transfer the second fixture 112 corresponding to the mode switching instruction to the material receiving area of ​​the first conveying device 410, so that the second fixture 112 can receive the main body 21 to be assembled. After the second fixture 112 is set in place, the first transfer device 310 can put the first fixture 111 back to the first fixture library 110, and then dock with the third fixture 113 corresponding to the mode switching instruction in the first fixture library 110, so that the first transfer device 310 can take and place the main body 21 to be assembled through the third fixture 113. Specifically, the first transfer device 310 can obtain the main body 21 to be assembled from the first material supply area 610 of the assembly equipment 1 through the third fixture 113, so as to set the main body 21 to be assembled on the second fixture 112. Furthermore, the first conveying device 410 can convey the to-be-assembled body 21 to other subsequent devices.

[0064] It can be seen that, by adopting the solution provided in the embodiment of the present application, the assembly device 1 can switch the assembly mode based on the mode switching instruction, so that the assembly device 1 is suitable for assembling different bodies 21 to be assembled, which can improve the use range of the assembly device 1. Therefore, compared with the solution in the related art that different assembly devices need to be set for different products, the cost of the assembly device can be reduced.

[0065] In order to enable those skilled in the art to better understand the solution provided by the embodiment of the present application, the purpose of the assembly device 1 is explained below with reference to specific examples.

[0066] Exemplarily, the main body 21 to be assembled is a circuit board, and the first transfer device 310 is a first manipulator. The main body 21 to be assembled specifically includes a circuit board of a first size specification, a circuit board of a second size specification, and a circuit board of a third size specification. When the circuit board of the second size specification needs to be assembled, the operator can trigger the control button corresponding to the assembly mode of the circuit board of the second size specification through the human-machine interface of the assembly device 1.

[0067] After the controller 200 receives the assembly mode switching instruction to switch to assembling circuit boards of the second size, the first manipulator and the first fixture 111 are docked, so that the first manipulator drives the first fixture 111 to transfer the second fixture 112 corresponding to the mode switching instruction to the material receiving area of ​​the first conveying device 410, so that the second fixture 112 can receive circuit boards of the second size.

[0068] After the second fixture 112 is set in place, the first manipulator can put the first fixture 111 back into the first fixture library 110, and then dock with the third fixture 113 corresponding to the mode switching instruction in the first fixture library 110, so that the first manipulator can take and place the circuit board of the second size specification through the third fixture 113. Specifically, the first manipulator can obtain the circuit board of the second size specification from the first feeding area 610 of the assembly device 1 through the third fixture 113, so as to set the circuit board of the second size specification on the second fixture 112.

[0069] Further, for example, the first conveying device 410 conveys the circuit board of the second size specification to the patch device, so that each electronic component is soldered to the circuit board of the second size specification. For another example, the first conveying device 410 conveys the circuit board of the second size specification to the spring clip installation device, so that the spring clip can be installed on the circuit board of the second size specification by using the spring clip installation device. This is not listed one by one here.

[0070] In order to facilitate those skilled in the art to better implement the solutions provided in the embodiments of the present application, a more detailed embodiment is provided below for reference by those skilled in the art.

[0071] refer to Figure 2 , Figure 4 and Figure 5 In some embodiments, the first fixture library 110 includes a first sub-library 110a and a second sub-library 110b. The first sub-library 110a is used to set the first fixture 111 and the third fixture 113. The first sub-library 110a is provided with a first positioning structure and a second positioning structure. The first fixture 111 provided in the first sub-library 110a is connected with the first positioning structure in a positioning and matching manner, so that the first transfer device 310 is convenient for docking with the first fixture 111. The third fixture 113 provided in the first sub-library 110a is connected with the second positioning structure in a positioning and matching manner, so that the first transfer device 310 is convenient for docking with the third fixture 113.

[0072] The second sub-library 110b is used to set the second fixture 112. The second sub-library 110b is provided with a third positioning structure. The second fixture 112 provided in the second sub-library 110b is positioned and connected with the third positioning structure, so that it is convenient to dock the first transfer device 310 with the third fixture 113 to pick up and place the second fixture 112.

[0073] Exemplarily, the first positioning structure is a positioning protrusion, and the first fixture 111 is provided with a positioning recess, and the positioning protrusion can be inserted into the positioning recess. Thus, the first fixture 111 can be positioned by inserting the positioning protrusion into the positioning recess. In addition, the second positioning structure and the third positioning structure can be set with reference to the first positioning structure, and other subsequent fixtures can also be positioned by positioning structures similar to the first positioning structure, which will not be described in detail here.

[0074] refer to Figures 6 to 10 , the first transfer device 310 is docked with the first fixture 111 or the third fixture 113 through the docking device 311. The docking device 311 includes a first docking body 311a and a second docking body 311b. The first docking body 311a is installed on the first transfer device 310. The first fixture 111 and each third fixture 113 are installed with a second docking body 311b. Therefore, the first fixture 111 or the third fixture 113 can be docked with the first transfer device 310 through the docking device 311 by docking the second docking body 311b with the first docking body 311a. It should be noted that since the docking device 311 can be purchased from the corresponding supplier, the specific structure and working principle of the docking device 311 will not be described in detail in the embodiment of the present application. It should also be noted that in subsequent embodiments, if the fixture is also docked with the transfer device, this solution can also be referred to for docking, and no further description will be given later.

[0075] refer to Figures 11 to 13 In some embodiments, the first conveying device 410 includes a first bearing seat 411, and the first bearing seat 411 is used to carry the second fixture 112. Exemplarily, the first conveying device 410 also includes a first linear drive, and the first linear drive is drivingly connected to the first bearing seat 411, so as to drive the second fixture 112 to move.

[0076] The first supporting base 411 is provided with a plurality of first sensors 4111 , and each second fixture 112 is provided with a detection mark portion 1121 . The detection mark portion 1121 of each second fixture 112 is used to trigger the corresponding first sensor 4111 .

[0077] Exemplarily, the first sensor 4111 is a photoelectric sensor. The detection mark portion 1121 is a perforation provided in the second fixture 112. When a perforation is provided at a portion of the second fixture 112 opposite to the photoelectric sensor, the photoelectric sensor is in a non-triggered state. When a perforation is not provided at a portion of the second fixture 112 opposite to the photoelectric sensor, the photoelectric sensor is in a triggered state.

[0078] Further, for example, the number of photoelectric sensors is 4, and the 4 photoelectric sensors are respectively a first photoelectric sensor, a second photoelectric sensor, a third photoelectric sensor, and a fourth photoelectric sensor. When the second jig 112 for carrying a circuit board of the first size specification is arranged on the first bearing seat 411, the first photoelectric sensor and the second photoelectric sensor are in a triggered state, and the third photoelectric sensor and the fourth photoelectric sensor are in a non-triggered state. When the second jig 112 for carrying a circuit board of the second size specification is arranged on the first bearing seat 411, the first photoelectric sensor is in a triggered state, and the second photoelectric sensor, the third photoelectric sensor, and the fourth photoelectric sensor are in a non-triggered state. In this way, the specific type arranged on the first bearing seat 411 can be determined based on the signal fed back by the photoelectric sensor. Thus, it can be determined whether the second jig 112 carried on the first bearing seat 411 matches the mode switching instruction.

[0079] refer to Figure 2 , Figures 15 to 17 In some embodiments, the assembly equipment 1 further includes a second fixture library 120 and a second transfer device 320. The second fixture library 120 is provided with a plurality of fourth fixtures 121. The controller 200 is also used to control the second transfer device 320 to dock with the fourth fixture 121 corresponding to the mode switching instruction based on the received mode switching instruction. The second transfer device 320 docked with the fourth fixture 121 is used to place the attachment 22 on the main body 21 to be assembled between the receiving area of ​​the first conveying device 410 and the feeding area of ​​the first conveying device 410.

[0080] Exemplarily, the second transfer device 320 includes a mounting seat 321, and the mounting seat 321 is used to selectively connect with one of the plurality of fourth fixtures 121. For example, a clamping mechanism is provided below the mounting seat 321. The clamping mechanism can be clamped and connected with the fourth fixture 121.

[0081] Exemplarily, the second transfer device 320 is a second manipulator, the main body 21 to be assembled is a circuit board, the attachment 22 is a spring, and the fourth fixture 121 is a vacuum absorber. The second manipulator connected with the vacuum absorber is used to place the spring in the spring setting area of ​​the circuit board.

[0082] In some embodiments, the assembly device 1 is provided with a first feeding area 610 and a second feeding area 620. The first feeding area 610 of the assembly device 1 is used to carry the main body 21 to be assembled, and the second feeding area 620 of the assembly device 1 is used to carry the additional parts 22. The first transfer device 310 docked with the third fixture 113 is used to obtain the main body 21 to be assembled from the first feeding area 610 of the assembly device 1, and to place the main body 21 to be assembled on the second fixture 112 located in the receiving area of ​​the first conveying device 410. The second transfer device 320 docked with the fourth fixture 121 is used to obtain the additional parts 22 from the second feeding area 620 of the assembly device 1, and to place the additional parts 22 on the main body 21 to be assembled.

[0083] refer to Figure 2 , Figures 18 to 20 In some embodiments, the assembly device 1 further includes a fixing connection device 510. The fixing connection device 510 is used to fix the additional component 22 to the main body 21 to be assembled, so that the main body 21 to be assembled and the additional component 22 are combined into an assembly component 2. Exemplarily, the main body 21 to be assembled is a circuit board, and a boss is provided on the circuit board. The additional component 22 is a spring sheet, and the spring sheet is provided with a connection hole, and the connection hole is sleeved outside the boss; the fixing connection device 510 is a riveting device, and the riveting device includes a punching head 511. The punching head 511 flattens the end of the boss by hitting the end of the boss, thereby connecting the spring sheet to the boss.

[0084] In some embodiments, the assembly equipment 1 further includes a third jig warehouse 130, a third transfer device 330 and a second conveying device 420. The third jig warehouse 130 is provided with a fifth jig, a plurality of sixth jigs 131 and a plurality of seventh jigs 132. The controller 200 is also used to control the third transfer device 330 to dock with the fifth jig based on the received mode switching instruction, control the third transfer device 330 to drive the fifth jig, transfer the sixth jig 131 corresponding to the mode switching instruction to the material receiving area of ​​the second conveying device 420, control the third transfer device 330 to put the fifth jig back to the third jig warehouse 130; control the third transfer device 330 to dock with the seventh jig 132 corresponding to the mode switching instruction.

[0085] The third transfer device 330 docked with the seventh fixture 132 is used to transfer the main body 21 to be assembled and the additional part 22 located in the feeding area of ​​the first conveying device 410 to the sixth fixture 131 located in the receiving area of ​​the second conveying device 420. The second conveying device 420 is used to drive the sixth fixture 131 to switch between the receiving area of ​​the second conveying device 420 and the feeding area of ​​the second conveying device 420. The fixed connection device 510 is used to fix the additional part 22 to the main body 21 to be assembled in the feeding area of ​​the second conveying device 420, so that the main body 21 to be assembled and the additional part 22 are combined into an assembly component 2.

[0086] In other words, the second conveying device 420 is used to convey the sixth jig 131, the main body 21 to be assembled, and the additional component 22 to the bottom of the fixing and connecting device 510 (i.e., the feeding area of ​​the second conveying device 420), so as to fix the additional component 22 to the main body 21 to be assembled by using the fixing and connecting device 510. In addition, the second conveying device 420 also has a discharge area. The subsequent transfer device can move the assembly component 2 out of the second conveying device 420 through the discharge area of ​​the second conveying device 420.

[0087] refer to Figure 2 , Figure 21 to Figure 23 In some embodiments, the assembly device 1 further includes a size detection device 520 , and the size detection device 520 is used to perform size detection on the assembly component 2 .

[0088] In some embodiments, the assembly equipment 1 also includes a fourth jig warehouse 140, a fourth transfer device 340 and a third conveying device 430. The fourth jig warehouse 140 is provided with an eighth jig, a plurality of ninth jigs 141 and a plurality of tenth jigs 142. The controller 200 is also used to control the fourth transfer device 340 to dock with the eighth jig based on the received mode switching instruction, control the fourth transfer device 340 to drive the eighth jig, transfer the ninth jig 141 corresponding to the mode switching instruction to the material receiving area of ​​the third conveying device 430, control the fourth transfer device 340 to put the eighth jig back to the fourth jig warehouse 140; control the fourth transfer device 340 to dock with the tenth jig 142 corresponding to the mode switching instruction;

[0089] The fourth transfer device 340 docked with the tenth fixture 142 is used to transfer the assembly component 2 to the ninth fixture 141 located in the material receiving area of ​​the third conveying device 430. The third conveying device 430 is used to drive the ninth fixture 141 to switch between the material receiving area of ​​the third conveying device 430 and the material feeding area of ​​the third conveying device 430.

[0090] In some embodiments, the third conveying device 430 includes a first sub-conveyor 431, a second bearing seat 432, a second sub-conveyor 433 and a third bearing seat 434. The first sub-conveyor 431 is drivingly connected to the second bearing seat 432, the second bearing seat 432 is used to carry the ninth fixture 141 corresponding to the mode switching instruction, and the first sub-conveyor 431 is used to drive the second bearing seat 432 and the ninth fixture 141 to switch between the receiving area of ​​the first sub-conveyor 431 and the feeding area of ​​the first sub-conveyor 431.

[0091] The second sub-conveyor 433 is drivingly connected to the third supporting seat 434, and the third supporting seat 434 is used to carry the ninth fixture 141 corresponding to the mode switching instruction. The second sub-conveyor 433 is used to drive the third supporting seat 434 and the ninth fixture 141 to switch between the material receiving area of ​​the second sub-conveyor 433 and the material feeding area of ​​the second sub-conveyor 433.

[0092] The size detection device 520 includes a first camera module 521 and a second camera module 522. The second bearing seat 432 can rotate around a vertical axis, and when the second bearing seat 432 and the ninth fixture 141 are located in the feeding area of ​​the first sub-conveyor 431, the vertical axis is perpendicular to the optical axis of the first camera module 521. When the third bearing seat 434 and the ninth fixture 141 are located in the feeding area of ​​the second sub-conveyor 433, the optical axis of the second camera module 522 faces the top of the ninth fixture 141.

[0093] In some embodiments, the ninth jig 141 corresponding to the mode switching instruction may be respectively arranged on the second bearing seat 432 and the third bearing seat 434. Thus, for example, the fourth transfer device 340 docked with the tenth jig 142 may first transfer the assembly component 2 to the ninth jig 141 of the second bearing seat 432. Then, the third conveying device 430 conveys the ninth jig 141 and the assembly component 2 located in the receiving area of ​​the third conveying device 430 to a position opposite to the first camera module 521, so as to perform a size detection on the front side of the assembly component 2.

[0094] Furthermore, the second bearing seat 432 can drive the assembly component 2 to rotate 90 degrees around the vertical axis so that the left side of the assembly component 2 faces the first camera module 521. Then, the size of the left side of the assembly component 2 can be detected.

[0095] After the size detection device 520 completes the size detection of the front and left sides of the assembly component 2, the fourth transfer device 340 docked with the tenth fixture 142 can be used to transfer the assembly component 2 to the ninth fixture 141 located on the third bearing seat 434. Furthermore, the size detection device 520 can be used to perform size detection on the top side of the assembly component 2.

[0096] For example, the size detection can be performed on the front side, the left side and the top side of the assembly component 2 based on image recognition. Since the size detection based on image recognition can refer to the prior art, the scheme of performing size detection on the assembly component 2 will not be described here.

[0097] In some embodiments, the additional component 22 fixed to the main body 21 to be assembled is used to be electrically connected to the electrical connection portion of the main body 21 to be assembled. Figure 2 , Figure 24 to Figure 28The assembly device 1 further includes a conduction test device 530, which is used to detect whether the additional component 22 is in conduction with the electrical connection portion.

[0098] In some embodiments, the assembly equipment 1 further includes a fifth fixture library 150, a fifth transfer device 350, a probe module library 160 and a fourth conveying device 440. The fifth fixture library 150 is provided with an eleventh fixture, a plurality of twelfth fixtures 151, a thirteenth fixture and a plurality of fourteenth fixtures 152, and the probe module library 160 is provided with a plurality of probe modules 161.

[0099] The controller 200 is also used to control the fifth transfer device 350 to dock with the eleventh jig based on the received mode switching instruction, control the fifth transfer device 350 to drive the eleventh jig, transfer the twelfth jig 151 corresponding to the mode switching instruction to the material receiving area of ​​the fourth conveying device 440, and control the fifth transfer device 350 to put the eleventh jig back to the fifth jig warehouse 150; control the fifth transfer device 350 to dock with the thirteenth jig, control the fifth transfer device 350 to drive the thirteenth jig, install the probe module 161 corresponding to the mode switching instruction on the conduction test device 530, and control the fifth transfer device 350 to put the thirteenth jig back to the fifth jig warehouse 150; control the fifth transfer device 350 to dock with the fourteenth jig 152 corresponding to the mode switching instruction.

[0100] The fifth transfer device 350 docked with the fourteenth fixture 152 is used to transfer the assembly component 2 to be tested for conduction to the twelfth fixture 151 located in the receiving area of ​​the fourth conveying device 440. The fourth conveying device 440 is used to drive the twelfth fixture 151 to switch between the receiving area of ​​the fourth conveying device 440 and the feeding area of ​​the fourth conveying device 440.

[0101] In other words, in the embodiment of the present application, the fifth transfer device 350 docked with the eleventh fixture can transfer the twelfth fixture 151 corresponding to the mode switching instruction to the fourth conveying device 440. The twelfth fixture 151 is used to limit the assembly component 2. The fifth transfer device 350 docked with the thirteenth fixture can install the probe module 161 corresponding to the mode switching instruction on the conduction test device 530.

[0102] After the setting of the twelfth jig 151 and the setting of the probe module 161 are completed, the fifth transfer device 350 can be docked with the fourteenth jig 152. Thus, the fifth transfer device 350 docked with the fourteenth jig 152 can be used to transfer the assembly component 2 to the twelfth jig 151 located at the fourth conveying device 440. Furthermore, the fourth conveying device 440 can supply the twelfth jig 151 and the assembly component 2 to the conduction test position of the conduction test device 530 (i.e., the position below the probe module 161), so that the conduction test device 530 can be used to perform a conduction test on the assembly component 2.

[0103] After the test of the assembly component 2 is completed, the fourth conveying device 440 can convey the twelfth fixture 151 and the assembly component 2 to the output position of the fourth conveying device 440. Therefore, the fifth transfer device 350 docked with the fourteenth fixture 152 can move the assembly component 2 to the discharge area 630 of the assembly equipment 1.

[0104] To facilitate those skilled in the art to understand the solution provided by the embodiment of the present application, the working principle of the assembly device 1 is briefly introduced below.

[0105] After receiving the mode switching instruction, the first transfer device 310 docks with the first jig 111, and transfers the second jig 112 corresponding to the mode switching instruction to the first conveying device 410. The third transfer device 330 docks with the fifth jig, and transfers the sixth jig 131 corresponding to the mode switching instruction to the second conveying device 420. The fourth transfer device 340 docks with the eighth jig, and transfers the ninth jig 141 corresponding to the mode switching instruction to the first sub-conveyor 431 and the second sub-conveyor 433, respectively. The fifth transfer device 350 docks with the eleventh jig, and transfers the twelfth jig 151 corresponding to the mode switching instruction to the fourth conveying device 440. Among them, the second jig 112, the sixth jig 131, the ninth jig 141, and the twelfth jig 151 are all positioning jigs, which are used to position the workpiece.

[0106] After the positioning fixture is ready, the first transfer device 310 is docked with the third fixture 113 corresponding to the mode switching instruction, so that the first transfer device 310 docked with the third fixture 113 can perform the loading operation of the main body 21 to be assembled.

[0107] The second transfer device 320 is docked with the fourth fixture 121 corresponding to the mode switching instruction, so that the second transfer device 320 docked with the fourth fixture 121 can perform the loading operation of the additional component 22.

[0108] The third transfer device 330 is docked with the seventh fixture 132 corresponding to the mode switching instruction. In this way, the third transfer device 330 docked with the seventh fixture 132 can transfer the main body 21 to be assembled carrying the additional component 22 to the sixth fixture 131 located at the second conveying device 420. Furthermore, the additional component 22 can be fixed to the main body 21 to be assembled by using the fixed connection device 510, so that the main body 21 to be assembled and the additional component 22 are combined into an assembly component 2.

[0109] The fourth transfer device 340 is docked with the tenth fixture 142 corresponding to the mode switching instruction, so that the fourth transfer device 340 docked with the tenth fixture 142 can transfer the assembly component 2 to the ninth fixture 141 located on the first sub-conveyor 431. Further, the first camera module 521 can obtain an image of the assembly component 2, thereby performing a size detection on the front and left sides of the assembly component 2 based on image recognition. Further, the fourth transfer device 340 docked with the tenth fixture 142 can transfer the assembly component 2 to the ninth fixture 141 located on the second sub-conveyor 433. Further, the second camera module 522 can obtain an image of the assembly component 2, thereby performing a size detection on the top side of the assembly component 2 based on image recognition.

[0110] The fifth transfer device 350 is docked with the fourteenth fixture 152 corresponding to the mode switching instruction, so that the fifth transfer device 350 docked with the fourteenth fixture 152 can transfer the assembly component 2 to the twelfth fixture 151 located at the fourth conveying device 440. Further, the conduction test device 530 can perform a conduction test on the assembly component 2. In addition, the fifth transfer device 350 docked with the fourteenth fixture 152 can also transfer the assembly component 2 that has completed the conduction test to the discharge area 630 of the assembly device 1.

[0111] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0112] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the embodiments of the present application, and the scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. An assembly device (1), characterized in that: include: A first fixture library (110), a controller (200), a first transfer device (310) and a first conveying device (410); The first fixture library (110) is provided with a first fixture (111), a plurality of second fixtures (112) and a plurality of third fixtures (113); The controller (200) is used to control the first transfer device (310) to dock with the first fixture (111) based on the received mode switching instruction, control the first transfer device (310) to drive the first fixture (111), transfer the second fixture (112) corresponding to the mode switching instruction to the first conveying device (410), and control the first transfer device (310) to put the first fixture (111) back into the first fixture library (110); Controlling the first transfer device (310) to dock with the third fixture (113) corresponding to the mode switching instruction; Wherein, the first transfer device (310) docked with the third fixture (113) is used to place the main body (21) to be assembled on the second fixture (112) located in the material receiving area of ​​the first conveying device (410), and the first conveying device (410) is used to drive the second fixture (112) to switch between the material receiving area of ​​the first conveying device (410) and the material feeding area of ​​the first conveying device (410).

2. The assembly device (1) according to claim 1, characterized in that The first conveying device (410) comprises a first bearing seat (411), and the first bearing seat (411) is used to bear the second fixture (112); The first bearing seat (411) is provided with a plurality of first sensors (4111), and each of the second fixtures (112) is provided with a detection mark portion (1121), and the detection mark portion (1121) of each of the second fixtures (112) is used to trigger the first sensor (4111) corresponding thereto.

3. The assembly device (1) according to claim 1, characterized in that: The assembly equipment (1) further comprises a second fixture library (120) and a second transfer device (320), wherein the second fixture library (120) is provided with a plurality of fourth fixtures (121); The controller (200) is further used to control the second transfer device (320) to dock with the fourth fixture (121) corresponding to the mode switching instruction based on the received mode switching instruction; Wherein, the second transfer device (320) docked with the fourth fixture (121) is used to place the additional part (22) on the main body (21) to be assembled between the material receiving area of ​​the first conveying device (410) and the material supply area of ​​the first conveying device (410).

4. The assembly device (1) according to claim 3, characterized in that The assembly device (1) further comprises a fixing connection device (510), wherein the fixing connection device (510) is used to fix the additional component (22) to the main body (21) to be assembled, so that the main body (21) to be assembled and the additional component (22) are combined into an assembly component (2).

5. The assembly device (1) according to claim 4, characterized in that The assembly equipment (1) further comprises a third fixture library (130), a third transfer device (330) and a second conveying device (420); The third fixture library (130) is provided with a fifth fixture, a plurality of sixth fixtures (131) and a plurality of seventh fixtures (132); The controller (200) is further configured to, based on the received mode switching instruction, control the third transfer device (330) to dock with the fifth fixture, control the third transfer device (330) to drive the fifth fixture, transfer the sixth fixture (131) corresponding to the mode switching instruction to the material receiving area of ​​the second conveying device (420), and control the third transfer device (330) to put the fifth fixture back into the third fixture library (130); Controlling the third transfer device (330) to dock with the seventh fixture (132) corresponding to the mode switching instruction; The third transfer device (330) docked with the seventh jig (132) is used to transfer the main body (21) to be assembled and the additional part (22) located in the feeding area of ​​the first conveying device (410) to the sixth jig (131) located in the receiving area of ​​the second conveying device (420); the second conveying device (420) is used to drive the sixth jig (131) to switch between the receiving area of ​​the second conveying device (420) and the feeding area of ​​the second conveying device (420); The fixed connection device (510) is used to fix the additional component (22) to the main body (21) to be assembled in the feeding area of ​​the second conveying device (420).

6. The assembly device (1) according to claim 4, characterized in that The assembly equipment (1) further comprises a dimension detection device (520), wherein the dimension detection device (520) is used to perform dimension detection on the assembly component (2).

7. The assembly device (1) according to claim 6, characterized in that The assembly equipment (1) further comprises a fourth fixture library (140), a fourth transfer device (340) and a third conveying device (430); The fourth fixture library (140) is provided with an eighth fixture, a plurality of ninth fixtures (141) and a plurality of tenth fixtures (142); The controller (200) is further configured to, based on the received mode switching instruction, control the fourth transfer device (340) to dock with the eighth fixture, control the fourth transfer device (340) to drive the eighth fixture, transfer the ninth fixture (141) corresponding to the mode switching instruction to the material receiving area of ​​the third conveying device (430), and control the fourth transfer device (340) to put the eighth fixture back into the fourth fixture library (140); Controlling the fourth transfer device (340) to dock with the tenth fixture (142) corresponding to the mode switching instruction; Among them, the fourth transfer device (340) docked with the tenth fixture (142) is used to transfer the assembly component (2) to the ninth fixture (141) located in the material receiving area of ​​the third conveying device (430), and the third conveying device (430) is used to drive the ninth fixture (141) to switch between the material receiving area of ​​the third conveying device (430) and the material feeding area of ​​the third conveying device (430).

8. The assembly device (1) according to claim 7, characterized in that The third conveying device (430) comprises a first sub-conveyor (431), a second bearing seat (432), a second sub-conveyor (433) and a third bearing seat (434); The first sub-conveyor (431) is drivingly connected to the second bearing seat (432), the second bearing seat (432) is used to bear the ninth fixture (141) corresponding to the mode switching instruction, and the first sub-conveyor (431) is used to drive the second bearing seat (432) and the ninth fixture (141) to switch between the material receiving area of ​​the first sub-conveyor (431) and the material feeding area of ​​the first sub-conveyor (431); The second sub-conveyor (433) is drivingly connected to the third bearing seat (434), the third bearing seat (434) is used to bear the ninth fixture (141) corresponding to the mode switching instruction, and the second sub-conveyor (433) is used to drive the third bearing seat (434) and the ninth fixture (141) to switch between the material receiving area of ​​the second sub-conveyor (433) and the material feeding area of ​​the second sub-conveyor (433); The size detection device (520) comprises a first camera module (521) and a second camera module (522); The second bearing seat (432) is capable of rotating around a vertical axis, and when the second bearing seat (432) and the ninth fixture (141) are located in a feeding area of ​​the first sub-conveyor (431), the vertical axis is perpendicular to the optical axis of the first camera module (521); When the third supporting seat (434) and the ninth fixture (141) are located in the feeding area of ​​the second sub-conveyor (433), the optical axis of the second camera module (522) is toward the top of the ninth fixture (141).

9. The assembly device (1) according to claim 4, characterized in that The additional component (22) fixed to the main body (21) to be assembled is used to be electrically connected to the electrical connection part of the main body (21) to be assembled; The assembly equipment (1) further comprises a conduction testing device (530), wherein the conduction testing device (530) is used to detect whether the additional component (22) is in conduction with the electrical connection portion.

10. The assembly device (1) according to claim 9, characterized in that The assembly equipment (1) further comprises a fifth fixture library (150), a fifth transfer device (350), a probe module library (160) and a fourth conveying device (440); The fifth fixture library (150) is provided with an eleventh fixture, a plurality of twelfth fixtures (151), a thirteenth fixture and a plurality of fourteenth fixtures (152), and the probe module library (160) is provided with a plurality of probe modules (161); The controller (200) is further configured to, based on the received mode switching instruction, control the fifth transfer device (350) to dock with the eleventh jig, control the fifth transfer device (350) to drive the eleventh jig, transfer the twelfth jig (151) corresponding to the mode switching instruction to a material receiving area of ​​the fourth conveying device (440), and control the fifth transfer device (350) to put the eleventh jig back into the fifth jig library (150); Controlling the fifth transfer device (350) to dock with the thirteenth fixture, controlling the fifth transfer device (350) to drive the thirteenth fixture, installing the probe module (161) corresponding to the mode switching instruction on the conduction test device (530), and controlling the fifth transfer device (350) to put the thirteenth fixture back into the fifth fixture library (150); Controlling the fifth transfer device (350) to dock with the fourteenth fixture (152) corresponding to the mode switching instruction; Among them, the fifth transfer device (350) docked with the fourteenth fixture (152) is used to transfer the assembly component (2) that needs to be tested for conductivity to the twelfth fixture (151) located in the material receiving area of ​​the fourth conveying device (440), and the fourth conveying device (440) is used to drive the twelfth fixture (151) to switch between the material receiving area of ​​the fourth conveying device (440) and the material feeding area of ​​the fourth conveying device (440).

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