Workpiece assembly combination equipment, assembly production line and assembly method

Abstract

The invention discloses a workpiece assembly combination device, an assembly production line and an assembly method, the workpiece assembly combination device comprises a dispensing device, a mounting device and a curing device, the dispensing device is used for dispensing a first workpiece, the mounting device is used for mounting a second workpiece on the first workpiece, and the curing device is used for curing the mounted workpiece. According to the invention, the positions of the dispensing device, the mounting device and the curing device are sequentially arranged according to the mounting characteristics of the magnetic component and the conductive element, each device is an independent device work station, and then each independent device is integrated into a combined device, so that the full-automatic process from feeding to dispensing to mounting to curing is realized, and the production efficiency is improved. The device is suitable for a large-scale production environment, improves the assembly efficiency and precision, reduces the production cost, improves the product quality, guarantees the consistency and stability of each pasting operation, and avoids errors and fluctuations which may occur in manual operation.

Description

Technical Field

[0001] The present invention relates to the technical field of assembly, and in particular to a workpiece assembly and combination device, an assembly production line and an assembly method. Background Art

[0002] For assembly operation systems, assembly efficiency and mounting accuracy are two important indicators. In the production process of chips, magnetic components (such as magnets) need to be accurately connected with conductive elements (such as PIN pins). Since one or more PINs (pins) need to be mounted on a single mounting surface of the magnet, the traditional assembly process usually includes the following key steps: dispensing glue at the mounting position on the surface of the magnet, and then mounting the PIN to the corresponding mounting position after dispensing glue.

[0003] In the prior art, in addition to the glue dispensing process that can use glue dispensing equipment to dispense glue on the magnet, the mounting process usually adopts manual mounting. However, on the one hand, it is difficult to ensure the mounting accuracy and consistency of each PIN by manual operation, and because multiple PINs may need to be mounted on a single mounting surface of the magnet, the mounting process is cumbersome and prone to errors. On the other hand, manual assembly is slow and inefficient, which reduces production efficiency. Especially in a large-scale production environment, manual assembly will become a bottleneck of the production line. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] To this end, the present invention provides a workpiece assembly assembly device, an assembly production line and an assembly method, which can improve assembly efficiency and assembly accuracy.

[0006] According to an embodiment of the present invention, a workpiece assembly combination device is used to complete the mounting of a second workpiece on an assembly surface of a first workpiece, wherein the device includes: a dispensing device, a mounting device and a curing device, wherein the dispensing device is used to perform dispensing on the assembly surface of the first workpiece output by the previous process station, and the dispensing area corresponds to the assembly area where the second workpiece is mounted on the first workpiece, and the first workpiece is placed on a carrier for transportation; the mounting device is used to perform a mounting operation on the first workpiece that has been dispensed with glue and output by the dispensing device, and the mounting device has a three-axis motion mechanism and a mounting mechanism installed on the three-axis motion mechanism, and the mounting mechanism is used to mount the second workpiece on the dispensing area of ​​the assembly surface of the first workpiece; the curing device is used to cure the assembled workpiece output by the mounting device in which the second workpiece has been mounted on the first workpiece, and to transport the cured assembled workpiece to the next process station.

[0007] The beneficial effect of the present invention is that, according to the mounting characteristics of magnetic components and conductive elements, the present invention arranges the positions of dispensing equipment, mounting equipment and curing equipment in sequence, each device is an independent equipment workstation, and then the independent equipment is integrated into a combined device, realizing a fully automated process from dispensing to mounting and then to curing, which is suitable for large-scale production environments, improves assembly efficiency and accuracy, reduces production costs, and improves product quality, ensures the consistency and stability of each mounting operation, and avoids errors and fluctuations that may occur in manual operations.

[0008] According to one embodiment of the present invention, the placement mechanism is equipped with a placement head for picking up the second workpiece, and the placement head places the second workpiece on the dispensing area of ​​the assembly surface of the first workpiece, and the number of the placement heads is the same as the number of the second workpieces that need to be placed on the assembly surface of the first workpiece. Thus, the three-axis motion mechanism and the placement mechanism work together to achieve automated placement, and the number of placement heads is the same as the number of second workpieces to adapt to the placement tasks of second workpieces of different types and sizes, and can efficiently and accurately meet the placement requirements of a large number of identical workpieces or multiple workpieces.

[0009] According to one embodiment of the present invention, the number of the placement heads is multiple, and the multiple placement heads work synchronously or asynchronously. Therefore, the use of multiple placement heads can pick up and place multiple second workpieces (especially PINs of different specifications and types), improves the parallel processing capability of the placement operation, and the multi-head design can shorten the placement cycle, thereby improving the assembly efficiency. In addition, since one placement device can realize the placement of multiple second workpieces on one assembly surface of the first workpiece, the number of required placement devices is reduced, which not only saves site space, but also reduces the equipment purchase and maintenance costs, and improves the overall economic benefits of the production line.

[0010] According to one embodiment of the present invention, each of the placement heads includes: a ZR manipulator and a suction nozzle, wherein the ZR manipulator is mounted on the three-axis motion mechanism, the suction nozzle is connected to the ZR manipulator, the ZR manipulator is used to drive the suction nozzle to move along the z-axis direction and rotate around the z-axis, and the suction nozzle is used to suck the second workpiece. Thus, the fine adjustment or precision control of the second workpiece in the small Z axis + R axis with two degrees of freedom is achieved, and combined with the three-axis motion mechanism, the entire placement mechanism is able to move in a wide range of space with three degrees of freedom in the X, Y, and large Z axes, thereby improving the movement efficiency, accurately adjusting the assembly angle of the second workpiece, and thus improving the assembly quality. The ZR manipulator is fast and accurate, and can drive the suction nozzle to move and rotate at high speed, which can significantly reduce the placement time, thereby improving the overall production efficiency and production accuracy.

[0011] According to one embodiment of the present invention, the curing device includes: a curing furnace and a conveying mechanism, the curing furnace is mounted on the conveying mechanism, the conveying mechanism is connected to the mounting device, and the conveying direction of the conveying mechanism is consistent with the output direction of the mounting device, and the assembled workpiece passes through the conveying mechanism and is cured by the curing furnace at the same time. As a result, the consistent output direction makes the layout of the curing furnace and the mounting device on the production line more compact, reduces the floor space, improves space utilization, makes the operator's moving path on the production line simpler and clearer, helps the operator to better monitor and control the quality of the production process, reduces the number and time of workpiece transfers on the production line, helps to achieve continuous operation of the production line, reduces waiting time and production interruptions, and thus improves production efficiency.

[0012] According to one embodiment of the present invention, the number of the mounting heads is one, and the mounting head includes: a nozzle, a spline and a servo motor, the nozzle is used to pick up the second workpiece, the nozzle is connected to the servo motor through the spline transmission, the servo motor is used to drive the nozzle to rotate around the z-axis, and the servo motor is installed on the three-axis motion mechanism. Thus, each mounting device is only used to mount a second workpiece on the first workpiece. For the mounting requirements of a large number of identical workpieces or multiple workpieces, multiple mounting devices can be set in parallel. Compared with a mounting device with multiple mounting heads, the control logic is simpler, and the complexity and error rate of the overall mounting process are reduced. The rotational motion of the servo motor is stably transmitted to the nozzle by setting the spline, ensuring the stability and reliability of the nozzle during the rotation process, and combined with the three-axis motion mechanism, the second workpiece realizes the mounting capability of four degrees of freedom of the X, Y, Z axis + R axis, and can flexibly adjust the assembly angle of the second workpiece to cope with mounting tasks at different angles and positions.

[0013] According to one embodiment of the present invention, the curing equipment includes: a carrier transport mechanism and a curing furnace assembly, the carrier transport mechanism is connected to the mounting equipment, the curing furnace assembly is installed on the side of the carrier transport mechanism, the carrier transport mechanism transports the carrier transported into the carrier transport mechanism into the curing furnace assembly, the curing furnace assembly cures the assembled workpiece, and after curing, the carrier transport mechanism transports the carrier into the carrier transport mechanism. In this way, the overall length of the production line can be effectively reduced, making the production line layout more compact, and reducing the waiting time of the workpiece on the production line by cooperating with the carrier transport mechanism. The curing furnace assembly is installed on the side of the carrier transport mechanism, rather than being directly set in the main production direction of the production line, and is easy to adjust and expand according to actual production needs.

[0014] According to one embodiment of the present invention, the curing furnace assembly includes: a curing furnace and a conveying mechanism, the curing furnace is mounted on the conveying mechanism, the conveying direction of the conveying mechanism is non-linear, and the feeding end and the discharging end of the conveying mechanism are close to the side of the carrier transport mechanism. Thus, it is ensured that the assembled workpieces cured by the curing furnace can flow back to the side area of ​​the carrier transport mechanism, so that it is convenient for the carrier transport mechanism to transport the carrier into the carrier transport mechanism.

[0015] According to one embodiment of the present invention, the mounting device further includes: a carrier and a feeder loading device, the carrier is used to carry the second workpiece to be mounted, the feeder loading device is used to transport the second workpiece to the carrier, and the number of the feeder loading devices is the same as the number of the second workpieces to be mounted on the assembly surface of the first workpiece. Thus, the feeder loading device can automatically transport the second workpiece to the carrier, thereby saving loading time. Compared with the traditional manual loading method, the feeder loading device can significantly improve production efficiency, reduce labor costs, and is suitable for the loading needs of single-body pins.

[0016] According to one embodiment of the present invention, the mounting mechanism further includes: A laser calibration module, wherein the laser calibration module is mounted on the placement head; The first visual module is arranged in parallel with the mounting head and is installed on the three-axis motion mechanism. Therefore, a laser calibration module is set to level the carrier table, and by adjusting the flatness of the carrier table, the position accuracy of the first workpiece and the second workpiece before mounting is achieved, thereby ensuring the mounting accuracy. Compared with the traditional mechanical calibration method, laser calibration can more accurately measure and adjust small deviations, thereby improving the calibration accuracy of the overall equipment; the first visual module is set to determine the positions of the first workpiece and the second workpiece respectively, and the image data of the first workpiece and the second workpiece are captured and analyzed in real time by the first visual module. The control system can automatically adjust the position of the mounting head to ensure that the second workpiece is accurately picked up and mounted on the first workpiece, thereby significantly improving the mounting accuracy.

[0017] According to an embodiment of the present invention, a workpiece assembly production line includes multiple groups of workpiece assembly assembly devices as described in any of the above items, the multiple groups of workpiece assembly assembly devices are arranged in sequence along the production direction, and a workpiece clamping and flipping mechanism is connected between two adjacent groups of workpiece assembly assembly devices, the workpiece clamping and flipping mechanism is used to flip the assembly angle of the first workpiece, each assembly angle corresponds to an assembly surface, and each group of workpiece assembly assembly devices is suitable for mounting one of the assembly surfaces. Therefore, the synergistic effect of the multiple groups of workpiece assembly assembly devices and the workpiece clamping and flipping mechanism realizes the mounting of all assembly surfaces of the first workpiece.

[0018] According to one embodiment of the present invention, the workpiece clamping and flipping mechanism includes: a three-axis motion assembly; a flipping assembly, wherein the flipping assembly is mounted on the three-axis motion assembly, and the three-axis motion assembly is used to drive the flipping assembly to move along the x-axis, y-axis and z-axis directions; a clamping assembly, wherein the clamping assembly is mounted on the flipping assembly, and the flipping assembly is used to drive the clamping assembly to rotate around the y-axis, and the clamping assembly is used to clamp the first workpiece.

[0019] According to one embodiment of the present invention, the workpiece assembly production line further includes: a head-end carrier reflux lifting device and a finished product unloading device, wherein the head-end carrier reflux lifting device is located at the starting point of the production line, and the finished product unloading device is located at the end of the production line; a reflux conveying device, wherein the reflux conveying device is arranged between the head-end carrier reflux lifting device and the finished product unloading device, and is used to convey an empty carrier; a feeding device, wherein the feeding device is arranged between the head-end carrier reflux lifting device and the first group of workpiece assembly assembly equipment, and the feeding device is used to load the first workpiece onto the empty carrier and convey it to the dispensing device in the first group of workpiece assembly assembly equipment. Thus, through the reflux conveying device, the head-end carrier reflux lifting device and the finished product unloading device, the recycling of the carrier is realized, the demand for new carriers is reduced, the turnover rate of the carrier and the overall efficiency of the production line are improved, and the feeding device can automatically load the first workpiece onto the empty carrier, thereby saving the loading time, reducing the time and labor cost of manual loading, and thus improving the production efficiency.

[0020] According to one embodiment of the present invention, the finished product unloading equipment includes: an unloading device, which is used to transfer the cured finished workpiece on the carrier to the finished product tray; and a terminal carrier return lifting device, which is used to transfer the empty carrier to the return conveying device. Thus, through the automated unloading and carrier return process, the manual handling and waiting time are reduced, making the end processing of the production line smoother, and achieving the continuity and stability of the production line.

[0021] A workpiece assembly method according to an embodiment of the present invention comprises the following steps: Step S1. Place the empty carrier on the head-end carrier reflow lifting device, and the head-end carrier reflow lifting device transports the empty carrier to the feeding device; Step S2. The feeding device loads the first workpiece onto the empty carrier, and transfers the carrier carrying the first workpiece to the dispensing device in the first group of workpiece assembly assembly equipment; Step S3. The dispensing device is used to dispense glue on the assembly surface of the first workpiece output by the feeding device; Step S4. The feeder feeding device transports the second workpiece to be mounted to the carrier platform; Step S5. The mounting device is used to mount the first workpiece output by the dispensing device that has been dispensed with glue, and mounts the second workpiece on the dispensing area of ​​the assembly surface of the first workpiece; Step S6. The curing device is used to The assembled workpiece that has been output and the second workpiece has been mounted on the first workpiece is cured; step S7. The workpiece clamping and flipping mechanism is used to flip the assembled workpiece after curing output by the curing device, so as to flip it to the other assembly surface of the first workpiece, and output it to the dispensing device in the next group of workpiece assembly combination equipment; step S8. Repeat the above steps until all assembly surfaces of the first workpiece are mounted; step S9. The unloading device is used to pick up the finished workpiece on the carrier with all assembly surfaces mounted and transfer it to the finished material tray; step S10. The end carrier reflow lifting device is used to transfer the empty carrier to the reflow conveying device; step S11. The reflow conveying device conveys the empty carrier to the head end carrier reflow lifting device. Therefore, this workpiece assembly method closely connects the steps of empty carrier, first and second workpiece loading, dispensing, mounting, curing, flipping, finished product unloading and carrier reflow through an automated process, thereby realizing efficient, continuous and automated production of workpiece assembly, improving production efficiency, reducing labor costs, and ensuring the stability and consistency of product quality.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the production line of Example 1 of the present invention.

[0026] Figure 2 It is a schematic diagram of the structure of the mounting head of Example 1 of the present invention.

[0027] Figure 3 It is a schematic diagram of the internal three-dimensional structure of the mounting device of Example 1 of the present invention.

[0028] Figure 4 It is a schematic diagram of the internal three-dimensional structure of the carrier transport mechanism of Example 1 of the present invention.

[0029] Figure 5 It is a schematic diagram of the three-dimensional structure of the curing furnace of Example 1 of the present invention.

[0030] Figure 6 It is a schematic diagram of an implementation method of the conveying mechanism of Example 1 of the present invention.

[0031] Figure 7 It is a schematic diagram of another implementation of the conveying mechanism of Example 1 of the present invention.

[0032] Figure 8 It is a three-dimensional structural schematic diagram of the jacking mechanism of the present invention.

[0033] Fig. 9 It is a three-dimensional structural schematic diagram of the blocking mechanism of the present invention.

[0034] Fig.10 It is a three-dimensional structural schematic diagram of the head-end carrier return lifting device of the present invention.

[0035] Fig.11 It is a three-dimensional structural schematic diagram of the finished product unloading equipment of the present invention.

[0036] Fig.12 It is a three-dimensional structural schematic diagram of the feeding equipment of the present invention.

[0037] Fig.13 It is a schematic diagram of the three-dimensional structure of the vibration plate of the present invention.

[0038] Fig.14 It is a three-dimensional structural schematic diagram of the workpiece clamping and turning mechanism of the present invention.

[0039] Fig.15 It is a schematic diagram of the three-dimensional structure of an embodiment of the carrier of the present invention.

[0040] Fig.16 It is a schematic diagram of the three-dimensional structure of the first workpiece of the present invention.

[0041] Fig.17 It is a schematic diagram of the three-dimensional structure of the second workpiece of the present invention.

[0042] Fig.18 It is a schematic diagram of the three-dimensional structure of the finished workpiece of the present invention.

[0043] Fig.19It is a schematic diagram of the three-dimensional structure of the production line of Example 2 of the present invention.

[0044] Fig. 20 It is a schematic diagram of the internal three-dimensional structure of the mounting device of Example 2 of the present invention.

[0045] Fig.21 It is a schematic diagram of the three-dimensional structure of the mounting mechanism of Example 2 of the present invention.

[0046] Fig. 22 It is a schematic diagram of the three-dimensional structure of the curing equipment of Example 2 of the present invention.

[0047] In the figure: 1. carrier; 101. first storage slot; 102. second storage slot; 103. avoidance slot; 2. dispensing equipment; 3. mounting equipment; 301. mounting mechanism; 302. three-axis motion mechanism; 303. mounting head; 304. nozzle; 305. spline; 306. servo motor; 307. Y-axis motion mechanism; 308. X-axis motion mechanism; 309. Z-axis motion mechanism; 310. lifting mechanism; 311. blocking mechanism; 312. lifting cylinder; 313. lifting plate; 314. track width adjustment mechanism; 315. y-axis track; 316. air clamp; 317. laser calibration module; 318. first visual module; 319. second visual module; 320. ZR Manipulator; 321, carrier platform; 322, feeder loading device; 4, curing equipment; 401, carrier handling mechanism; 402, curing furnace; 403, conveying mechanism; 5, workpiece clamping and flipping mechanism; 501, clamping assembly; 502, clamping claw; 503, three-axis motion assembly; 504, flipping assembly; 6, head end carrier reflux lifting device; 601, lifting and conveying mechanism; 602, z-guide mechanism; 7, finished product unloading equipment; 701, unloading device; 702, end carrier reflux lifting device; 703, finished product tray; 8, reflux conveying device; 9, feeding equipment; 901, vibration plate; 902, three-axis motion gripper mechanism; 10, second workpiece; 11, first workpiece. DETAILED DESCRIPTION

[0048] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0049] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0050] In the description of the present invention, 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected 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 the present invention can be understood according to specific circumstances.

[0051] Example 1: Figures 1 to 18 As shown, it is a preferred embodiment of the present invention. The workpiece assembly combined equipment of this embodiment is used to complete the mounting of the second workpiece 10 and an assembly surface of the first workpiece 11, including: a dispensing device 2, a mounting device 3 and a curing device 4. The dispensing device 2 is used to dispense glue on the assembly surface of the first workpiece 11 output by the previous process station, and the dispensing area corresponds to the assembly area where the second workpiece 10 is mounted on the first workpiece 11, and the first workpiece 11 is placed on the carrier 1 for transportation; the mounting device 3 is used to mount the first workpiece 11 output by the dispensing device 2 and the dispensing operation has been performed, and the second workpiece 10 is mounted on the dispensing area of ​​the assembly surface of the first workpiece 11; the curing device 4 is used to cure the assembled workpiece output by the mounting device 3 and the second workpiece 10 is mounted on the first workpiece 11, and the cured assembled workpiece is transferred to the next process station. Specifically, the previous process station, the next process station, the dispensing device 2, the mounting device 3 and the curing device 4 are all independent equipment stations, and then each independent equipment is integrated into a combined equipment, so as to realize continuous assembly line operation.

[0052] In this embodiment, the placement device 3 includes: a three-axis motion mechanism 302 and a placement mechanism 301, the placement mechanism 301 is installed on the three-axis motion mechanism 302, the three-axis motion mechanism 302 is used to drive the placement mechanism 301 to move in the xyz direction, and the placement mechanism 301 is adapted to be equipped with a placement head 303 for picking up the second workpiece 10, and the number of the placement heads 303 is the same as the number of the second workpieces 10 that need to be placed on the assembly surface of the first workpiece 11. Therefore, the three-axis motion mechanism 302 and the placement mechanism 301 work together to achieve automatic placement, and the number of the placement heads 303 is the same as the number of the second workpieces 10, so as to adapt to the placement tasks of the second workpieces 10 of different types and sizes, and can efficiently and accurately meet the placement requirements of a large number of identical workpieces or multiple workpieces.

[0053] Specifically, the three-axis motion mechanism 302 includes: a Y-axis motion mechanism 307, which is connected to the gantry; an X-axis motion mechanism 308, which is connected to the Y-axis motion mechanism 307; a Z-axis motion mechanism 309, which is connected to the X-axis motion mechanism 308, and the mounting mechanism 301 is connected to the Z-axis motion mechanism 309.

[0054] Specifically, there is one placement head 303, which includes a suction nozzle 304, a spline 305 and a servo motor 306. The suction nozzle 304 is used to suck the second workpiece 10. The suction nozzle 304 is connected to the servo motor 306 through the spline 305. The servo motor 306 is used to drive the suction nozzle 304 to rotate around the z-axis. The servo motor 306 is installed on the three-axis motion mechanism 302. Therefore, each mounting device 3 is only used to mount a second workpiece 10 onto the first workpiece 11. In order to meet the mounting requirements of a large number of identical workpieces or multiple workpieces, multiple mounting devices 3 can be set in parallel. Compared with one mounting device 3, the control logic of multiple mounting heads 303 is simpler, which reduces the complexity and error rate of the overall mounting process. If a certain type of PIN pin to be mounted needs to be replaced or adjusted, only the mounting head 303 of the corresponding mounting device 3 needs to be changed without affecting other devices. The rotational motion of the servo motor 306 is stably transmitted to the suction nozzle 304 by setting the spline 305, ensuring the stability and reliability of the suction nozzle 304 during the rotation process. In addition, combined with the three-axis motion mechanism 302, the second workpiece 10 realizes the mounting capability of four degrees of freedom of X, Y, Z axis + R axis, and can flexibly adjust the assembly angle of the second workpiece 10 to cope with mounting tasks at different angles and positions.

[0055] In this embodiment, the mounting device 3 further includes: a lifting mechanism 310, which is used to drive the carrier 1 to switch between the first position and the second position along the z-axis direction; and a blocking mechanism 311, which is used to block the carrier 1 from running along the x-axis direction when the carrier 1 is in the first position. Specifically, the lifting mechanism 310 includes: a lifting cylinder 312 and a lifting plate 313, the lifting cylinder 312 is used to control the lifting plate 313 to move along the z-axis direction, a positioning pin is provided on the lifting plate 313, and a positioning hole for inserting the positioning pin is provided on one end surface of the carrier 1 facing the lifting plate 313. When the carrier 1 is transported to the preset first position, the blocking mechanism 311 blocks the carrier 1 from running along the x-axis direction. At this time, the lifting cylinder 312 drives the lifting plate 313 to rise until the positioning pin is inserted into the positioning hole and then continues to rise to the preset second position, and then the subsequent mounting operation can be performed. At this time, the carrier 1 is precisely positioned and will not continue to be transported forward to the next device.

[0056] Specifically, the mounting device 3 further includes: a track width adjustment mechanism 314 and two parallel conveyor belts. The track width adjustment mechanism 314 includes: a y-direction track 315 arranged along the y-axis direction and an air clamp 316 arranged on the y-direction track 315. The two conveyor belts are located on both sides of the lifting mechanism 310 and are used to convey the carrier 1. The two conveyor belts and the lifting mechanism 310 are designed to be slidably mounted on the y-direction track 315, so as to adjust the spacing between the two conveyor belts to meet the conveying requirements of different models and widths of carriers 1. After the spacing adjustment is completed, the air clamp 316 is used to firmly clamp the conveyor belt and the lifting mechanism 310 to ensure that the position of the conveyor belt and the lifting mechanism 310 is stable during the operation.

[0057] In this embodiment, the mounting mechanism 301 further includes: a laser calibration module 317, which is mounted on the mounting head 303; and a first vision module 318, which is arranged in parallel with the mounting head 303 and is mounted on the three-axis motion mechanism 302. Therefore, the laser calibration module 317 is arranged to level the carrier 321 and the lifting plate 313, and the first vision module 318 is arranged to determine the positions of the first workpiece 11 and the second workpiece 10 respectively.

[0058] In this embodiment, the placement device 3 also includes: a second vision module 319, which is arranged on one side of the carrier platform 321 and is used to locate the position of the assembly surface of the second workpiece 10. Through the high-precision recognition capability of the second vision module 319, the system can accurately identify the placement posture of the placement head after picking up the second workpiece, and then, the control system automatically fine-tunes the rotation angle and spatial position of the suction nozzle based on this information to ensure that the second workpiece can be placed in the best placement posture; and the second vision module 319 also has a quality inspection function, which can identify and distinguish unqualified second workpieces, thereby removing these inferior workpieces from the production process, further improving the overall quality and production efficiency of the finished placement products.

[0059] In this embodiment, the mounting device 3 further includes: a carrier 321 and a feeder 322, the carrier 321 is used to carry the second workpiece 10 to be mounted, the feeder 322 is used to transport the second workpiece 10 to the carrier 321, and the number of the feeder 322 is the same as the number of the second workpieces 10 to be mounted on the assembly surface of the first workpiece 11. Therefore, the feeder 322 can automatically transport the second workpiece 10 to the carrier 321, thereby saving the loading time. Compared with the traditional manual loading method, the feeder 322 can significantly improve the production efficiency, reduce the labor cost, and is suitable for the loading requirements of the single-body pin (according to the particularity of the incoming material form of the second workpiece 10, the second workpiece 10 is a single-body pin, and multiple single-body pins are installed in a woven bag. The feeder 322 can transport each single-body pin from the woven bag to the carrier 321).

[0060] Specifically, a loading and cutting device can also be used to load the second workpiece 10. The difference between this cutting and loading method and the feeder loading method is that the second workpiece 10 is in the form of a material belt, and there is at least one second workpiece 10 to be cut on the material belt. The loading and cutting device is used to cut and separate the second workpiece 10 from the material belt and then transport it to the carrier 321 for subsequent mounting operations.

[0061] According to an embodiment of the present invention, a workpiece assembly production line includes multiple groups of workpiece assembly assembly equipment as described above, the multiple groups of workpiece assembly assembly equipment are arranged in sequence along the production direction, and a workpiece clamping and flipping mechanism 5 is connected between two adjacent groups of workpiece assembly assembly equipment. The workpiece clamping and flipping mechanism 5 is used to flip the assembly angle of the first workpiece 11, each assembly angle corresponds to an assembly surface, and each group of workpiece assembly assembly equipment is suitable for mounting one of the assembly surfaces. Therefore, the synergistic effect of the multiple groups of workpiece assembly assembly equipment and the workpiece clamping and flipping mechanism 5 realizes the mounting of all assembly surfaces of the first workpiece 11.

[0062] For details, see Figures 16 to 18As shown, the first workpiece 11 is a magnet, and the first workpiece 11 has a cuboid or cube structure. The second workpiece 10 is a PIN pin, and the second workpiece 10 has a "U" - shaped structure. The dispensing area on each mounting surface of the first workpiece 11 is linear. The dispensing area is not larger than the mounting area, and after the second workpiece 10 is mounted on the dispensing area, the glue will not overflow the surface of the second workpiece 10. If multiple second workpieces 10 need to be mounted on the same mounting surface of the first workpiece 11, then dispensing needs to be carried out multiple times on this mounting surface. The multiple dispensing areas are arranged at intervals, and the number of mounting heads 303 in each set of workpiece assembly and combination equipment is the same as the number of second workpieces 10 to be mounted on this mounting surface.

[0063] For example: When it is necessary to mount on four surfaces of the first workpiece 11, one second workpiece 10 is mounted on the first mounting surface, one second workpiece 10 is mounted on the second mounting surface, and seven second workpieces 10 are mounted on both the third mounting surface and the fourth mounting surface. The first mounting surface is parallel to the second mounting surface, and the third mounting surface is parallel to the fourth mounting surface. Therefore, the number of sets of workpiece assembly and combination equipment needs to be set to four groups. The four groups of workpiece assembly and combination equipment are arranged in sequence along the production direction. The number of mounting devices 3 in the first group of workpiece assembly and combination equipment is one, which is used to complete the mounting task of the first mounting surface. The number of mounting devices 3 in the second group of workpiece assembly and combination equipment is one, which is used to complete the mounting task of the second mounting surface. A workpiece clamping and flipping mechanism 5 is arranged between the first group of workpiece assembly and combination equipment and the second group of workpiece assembly and combination equipment, which is used to flip the first workpiece 11 on the carrier 1 by 180°; the number of mounting devices 3 in the third group of workpiece assembly and combination equipment is seven, which is used to complete the mounting task of the third mounting surface. A workpiece clamping and flipping mechanism 5 is arranged between the second group of workpiece assembly and combination equipment and the third group of workpiece assembly and combination equipment, which is used to flip the first workpiece 11 on the carrier 1 by 90°; the number of mounting devices 3 in the fourth group of workpiece assembly and combination equipment is seven, which is used to complete the mounting task of the fourth mounting surface. A workpiece clamping and flipping mechanism 5 is arranged between the third group of workpiece assembly and combination equipment and the fourth group of workpiece assembly and combination equipment, which is used to flip the first workpiece 11 on the carrier 1 by 180°.

[0064] Specifically, in view of the fact that the overall required length of the production line is relatively long, the curing equipment 4 includes: a carrier transport mechanism 401, a curing oven 402 and a conveying mechanism 403. The curing oven 402 is mounted on the conveying mechanism 403, and the curing oven 402 and the conveying mechanism 403 are both installed on the side of the carrier transport mechanism 401. The conveying direction of the conveying mechanism 403 is non-linear, and the feed end and the discharge end of the conveying mechanism 403 are both close to the side of the carrier transport mechanism 401. The carrier transport mechanism 401 transports the carrier 1 transported into the carrier transport mechanism 401 to the feed end of the conveying mechanism 403. The assembled workpiece passes through the conveying mechanism 403 and is cured through the curing oven 402 at the same time. After the curing is completed, the carrier transport mechanism 401 transports the carrier 1 at the discharge end of the conveying mechanism 403 to the carrier transport mechanism 401. In this way, the overall length of the production line can be effectively shortened, making the production line layout more compact. The waiting time of the workpiece on the production line is reduced by cooperating with the carrier transport mechanism 401. The curing oven 402 and the conveying mechanism 403 are installed on the side of the carrier transport mechanism 401, rather than being directly arranged in the main production direction of the production line. It is easy to adjust and expand according to actual production needs. For example, additional mounting equipment 3 or curing oven 402 can be easily added to meet the increase in production volume.

[0065] For details, see Figure 7 As shown, a track is provided in the conveying mechanism 403, and the transmission path of the track is arranged in a "U" shape, or see Figure 6 As shown, two tracks with opposite conveying directions are arranged in the conveying mechanism 403, and a two-axis conveying mechanism is installed at one end of the conveying mechanism 403 away from the carrier transporting mechanism 401, so as to transport the carrier from one track to another track, and return the assembled workpiece to the side area of ​​the carrier transporting mechanism 401 via the other track, so as to facilitate the carrier transporting mechanism 401 to transport the carrier into the carrier transporting mechanism 401.

[0066] In this embodiment, the workpiece clamping and flipping mechanism 5 includes: a three-axis motion component 503; a flipping component 504, the flipping component 504 is mounted on the three-axis motion component 503, and the three-axis motion component 503 is used to drive the flipping component 504 to move along the x-axis, y-axis and z-axis directions; a clamping component 501, the clamping component 501 is mounted on the flipping component 504, the flipping component 504 is used to drive the clamping component 501 to rotate around the y-axis, and the clamping component 501 is used to clamp the first workpiece 11. Specifically, the clamping component 501 can be designed as a clamping claw or a suction cup. When the clamping component 501 is a clamping claw, the clamping claw is clamped on the assembly surface. When the flipping angle of the first workpiece 11 is 90°, an avoidance groove 103 for the clamping claw to avoid is opened on the carrier; when the clamping component 501 is a suction cup, the suction cup is clamped on the non-assembly surface.

[0067] For example, when the lateral and vertical dimensions of the first workpiece 11 are equal, and the clamping assembly 501 is a clamping claw, a plurality of first placement slots 101 are provided on the carrier 1, and the plurality of first placement slots 101 are arranged at intervals along the conveying direction, and one side of each first placement slot 101 is connected to the avoidance slot 103, and a first workpiece 11 to be flipped is placed in each first placement slot 101, and the size of the first placement slot 101 is equal to the lateral / vertical dimensions of the first workpiece 11, so when the first workpiece 11 is flipped 180°, the flipping of the workpiece clamping flipping mechanism 5 is The rotation process is as follows: the three-axis motion component 503 drives the clamping jaw 502 to move above a first workpiece 11 and descend along the z-axis, the clamping jaw 502 grabs the first workpiece 11 from the first storage slot 101, the flipping component 504 drives the clamping jaw 502 to flip 180°, the three-axis motion component 503 drives the clamping jaw 502 to place the flipped first workpiece 11 in the original slot, the clamping jaw 502 opens, the three-axis motion component 503 drives the clamping jaw 502 to rise and reset along the z-axis, and the three-axis motion component 503 drives the clamping jaw 502 to move to the next first workpiece 11 The above operation is repeated to complete the operation of flipping all the first workpieces 11 on the carrier 1 by 180°; when the first workpiece 11 is flipped by 90°, the flipping process of the workpiece clamping flipping mechanism 5 is as follows: the three-axis motion component 503 drives the clamping jaw 502 to move above the first workpiece 11 and descend along the z-axis, the clamping jaw 502 grabs the first workpiece 11 from the first storage slot 101, and the flipping component 504 drives the clamping jaw 502 to flip by 90° (it should be noted that the clamping jaw 502 rotates to open and close along the z-axis at this time), and the three-axis motion component 503 drives the clamping jaw 502 to move above the first workpiece 11 and descend along the z-axis. The clamping jaw 502 grabs the first workpiece 11 from the first storage slot 101, and the flipping component 504 drives the clamping jaw 502 to flip by 90° (it should be noted that at this time, the clamping jaw 502 rotates to open and close along the z-axis direction), and the three-axis motion component 503 drives the clamping jaw 502 to move above the first workpiece 11 and descend along the z-axis. The clamping jaw 502 grabs the first workpiece 11 from the first storage slot 101, and the flipping component 504 drives the clamping jaw 502 to flip by 90°. The claw 502 places the flipped first workpiece 11 in the original slot, the clamp 502 opens (the clamp can be moved into the avoidance slot 103 at this time), and the three-axis motion assembly 503 drives the clamp 502 to withdraw from the first workpiece 11 or the carrier 1 along the y-axis (in order to avoid the clamp 502 from interfering with the first workpiece 11 or the carrier 1 during the lifting process), and then rises and resets along the z-axis, and the three-axis motion assembly 503 drives the clamp 502 to move to the top of the next first workpiece 11, and repeats the above operation to complete the operation of flipping all the first workpieces 11 on the carrier 1 by 90°.

[0068] When the lateral dimension and the vertical dimension of the first workpiece 11 are not equal, and the clamping assembly 501 is a clamping claw, a plurality of first storage slots 101 and a plurality of second storage slots 102 are provided on the carrier 1, and the first storage slots 101 and the second storage slots 102 are alternately arranged along the conveying direction, and a avoidance slot 103 is provided on one side of each second storage slot 102, and a first workpiece 11 to be flipped is placed in each first storage slot 101, so that when the first workpiece 11 is flipped 180°, the first workpiece 11 is still placed in the original first storage slot 101 (because the size of the first storage slot 101 is different from that of the first storage slot 101). The size of the first workpiece 11 is equal to the lateral size of the first workpiece); when the first workpiece 11 is flipped 90°, the flipped first workpiece 11 is placed in a second placement groove 102 adjacent to the first placement groove 101 (because the size of the second placement groove 102 is equal to the vertical size of the first workpiece 11). Therefore, through the workpiece clamping and flipping mechanism 5 and the design of the first placement groove 101 and the second placement groove 102, whether it is a 180° flip or a 90° flip, it can be ensured that the first workpiece 11 is flipped into place and there is no interference between the clamping jaws 502 and the carrier 1, thereby improving product quality.

[0069] In this embodiment, the production line also includes: a head-end carrier reflux lifting device 6 and a finished product unloading device 7, the head-end carrier reflux lifting device 6 is located at the starting point of the production line, and the finished product unloading device 7 is located at the end of the production line; a reflux conveying device 8, the reflux conveying device 8 is arranged between the head-end carrier reflux lifting device 6 and the finished product unloading device 7, and is used to convey the empty carrier 1; a feeding device 9, the feeding device 9 is arranged between the head-end carrier reflux lifting device 6 and the first group of workpiece assembly combination equipment, and the feeding device 9 is used to load the first workpiece 11 onto the empty carrier 1 and convey it to the dispensing device 2 in the first group of workpiece assembly assembly equipment. Therefore, through the reflux conveying device 8, the head-end carrier reflux lifting device 6 and the finished product unloading equipment 7, the carrier 1 is recycled, the demand for new carriers 1 is reduced, the turnover rate of the carrier 1 and the overall efficiency of the production line are improved, and the feeding equipment 9 can automatically load the first workpiece 11 onto the empty carrier 1, thereby saving loading time, reducing the time and labor cost of manual loading, and thus improving production efficiency.

[0070] Specifically, the head-end carrier reflow lifting device 6 includes: a lifting and conveying mechanism 601 and a z-guide rail mechanism 602. The conveying direction of the lifting and conveying mechanism 601 is set along the x-axis direction. The lifting and conveying mechanism 601 is installed on the z-guide rail mechanism 602. The z-guide rail mechanism 602 is used to drive the lifting and conveying mechanism 601 to rise and fall in the z-axis direction.

[0071] Specifically, the feeding device 9 includes: a vibration plate 901 and a three-axis motion gripper mechanism 902. A first workpiece 11 is arranged in the vibration plate 901. The disordered first workpiece 11 is automatically and orderly arranged through vibration. After being vibrated, the first workpiece 11 in the vibration plate 901 will move along a specific track or path, and finally form an orderly arrangement at the discharge port. The three-axis motion gripper mechanism 902 is used to grab the first workpiece 11 arranged in an orderly manner at the discharge port of the vibration plate 901 and place it on the carrier 1.

[0072] In this embodiment, the finished product unloading equipment 7 includes: an unloading device 701 and a terminal carrier return lifting device 702, wherein the unloading device 701 is used to transfer the cured finished workpiece on the carrier 1 to the finished product tray 703; and the terminal carrier return lifting device 702 is used to transfer the empty carrier 1 to the return conveying device 8. Thus, through the automated unloading and carrier 1 return process, the manual handling and waiting time are reduced, making the end processing of the production line smoother, and achieving the continuity and stability of the production line.

[0073] According to a workpiece assembly method of this embodiment, the specific steps are as follows: Step S1. Place the empty carrier 1 on the head-end carrier return lifting device 6, and the head-end carrier return lifting device 6 transports the empty carrier 1 to the feeding device 9; Step S2. The feeding device 9 loads the first workpiece 11 onto the empty carrier 1, and transfers the carrier 1 carrying the first workpiece 11 to the dispensing device 2 in the first group of workpiece assembly equipment; Step S3. The glue dispensing device 2 is used to dispense glue on the first assembly surface of the first workpiece 11 output by the feeding device 9; Step S4. The feeder loading device 322 transports the second workpiece 10 to be mounted onto the carrier 321; Step S5. The mounting device 3 is used to mount the first workpiece 11 output by the glue dispensing device 2 and on which the glue dispensing has been performed, and mount the second workpiece 10 on the glue dispensing area of ​​the first assembly surface of the first workpiece 11 (it should be noted here that the number of mounting devices 3 in the first group of workpiece assembly equipment is one, and the number of mounting heads 303 in the mounting device 3 is one); Step S6. The curing device 4 is used to cure the assembled workpiece output by the mounting device 3 in which the second workpiece 10 is mounted on the first workpiece 11; Step S7. The workpiece clamping and flipping mechanism 5 is used to flip the assembled workpiece after curing outputted by the curing device 4 (it should be noted here that the first workpiece 11 is flipped 180°), and output it to the dispensing device 2 in the second group of workpiece assembly equipment; Step S8. Repeat the above steps until the placement of a second workpiece 10 on the second assembly surface of the first workpiece 11 is completed (it should be noted here that: the number of placement devices 3 in the second group of workpiece assembly assembly equipment is one, the number of placement heads 303 in the placement device 3 is one, and after the placement is completed, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 90° and transports it to the dispensing device 2 in the third group of workpiece assembly assembly equipment); Step S9. Repeat the above steps until the seven second workpieces 10 on the third assembly surface of the first workpiece 11 are mounted (it should be noted here that: the number of mounting devices 3 in the third group of workpiece assembly equipment is seven, the number of mounting heads 303 in each mounting device 3 is one, each carrier 1 carries multiple first workpieces 11, and each mounting device 3 is only responsible for mounting one second workpiece 10 to the glue dispensing area of ​​one assembly surface of a first workpiece 11, after all the first workpieces 11 on the carrier 1 have completed one mounting, the carrier 1 is transported to the next mounting device 3 to continue the mounting operation of the next second workpiece 10 on the assembly surface, and the above steps are repeated. After mounting, the seven second workpieces 10 are arranged at intervals), after the mounting is completed, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 180° and transports it to the glue dispensing device 2 in the fourth group of workpiece assembly equipment; Step S10. Repeat the above steps until the seven second workpieces 10 on the fourth assembly surface of the first workpiece 11 are mounted (it should be noted that: the number of mounting devices 3 in the fourth group of workpiece assembly equipment is seven, the number of mounting heads 303 in each mounting device 3 is one, and the seven second workpieces 10 are arranged at intervals after mounting), and after the mounting is completed, the carrier 1 is transported to the end carrier reflow lifting device 702; Step S11. The unloading device 701 is used to pick up the finished workpieces on the carrier 1 that have completed all the assembly surface mounting and transfer them to the finished product tray 703; Step S12. The end carrier return lifting device 702 is used to transfer the empty carrier 1 to the return conveying device 8; Step S13. The reflux conveying device 8 conveys the empty carrier 1 to the head-end carrier reflux lifting device 6. Thus, this workpiece assembly method closely connects the steps of empty carrier, first / second workpiece loading, glue dispensing, mounting, curing, flipping, finished product unloading and empty carrier reflux through an automated process, thereby achieving efficient, continuous and automated production of workpiece assembly, improving production efficiency, reducing labor costs, and ensuring the stability and consistency of product quality.

[0074] The above is only a preferred embodiment of the present invention, and does not limit the implementation method and protection scope of the present invention. Since each mounting device 3 has only one mounting head 303, which is used to mount a second workpiece 10 on the first workpiece 11, although the control logic is simpler, the complexity and error rate of the overall mounting process are reduced, but when multiple or multiple second workpieces 10 need to be mounted on an assembly surface of each first workpiece 11, multiple single-head mounting devices 3 need to be set up, the overall equipment cost is high, and multiple devices are arranged in parallel, occupying a large area, which may have a certain impact on the layout of the production line.

[0075] The present invention also has the following implementation modes based on the above: Embodiment 2, as Figures 19 to 22 As shown, the difference from Example 1 is that: there are multiple mounting heads 303 in each mounting device 3, and the multiple mounting heads 303 work synchronously or asynchronously. Therefore, multiple mounting heads 303 can pick up and mount multiple second workpieces 10 (especially PINs of different specifications and types), which improves the parallel processing capability of the mounting operation. The multi-head design can shorten the mounting cycle, thereby improving the assembly efficiency. Moreover, since one mounting device 3 can realize the mounting of multiple second workpieces 10 on one assembly surface of the first workpiece 11, the number of required mounting devices 3 is reduced, which not only saves site space, but also reduces the equipment purchase and maintenance costs, and improves the overall economic benefits of the production line.

[0076] Specifically, the structure of the mounting equipment 3 in the first and second groups of workpiece assembly assembly equipment may be the same as that in Example 1, and the number of mounting equipment 3 in the third and fourth groups of workpiece assembly assembly equipment is two, wherein the number of mounting heads 303 in one mounting equipment 3 is three, and the number of mounting heads 303 in the other mounting equipment 3 is four.

[0077] In this embodiment, each mounting head 303 includes: a ZR manipulator 320 and a suction nozzle 304. The ZR manipulator 320 is mounted on the three-axis motion mechanism 302, and the suction nozzle 304 is connected to the ZR manipulator 320. The ZR manipulator 320 is used to drive the suction nozzle 304 to move along the z-axis direction and rotate around the z-axis, and the suction nozzle 304 is used to suck the second workpiece 10. Thus, the fine adjustment or precision control of the second workpiece 10 in the small Z axis + R axis with two degrees of freedom is realized, and combined with the three-axis motion mechanism 302, the entire mounting mechanism 301 is realized. The spatial movement of the three degrees of freedom in the X, Y, and large Z axes in a large range is realized, the movement efficiency is improved, the assembly angle of the second workpiece 10 is accurately adjusted, and the assembly quality is improved. In addition, the ZR manipulator 320 is fast and accurate, and can drive the suction nozzle 304 to move and rotate at high speed, which can significantly reduce the mounting time, thereby improving the overall production efficiency and production accuracy. Specifically, the ZR robot 320 is a commercially available product, the company name selected is Speed ​​Precision, and the model number is ZRADS-6-16-S45-EC series product.

[0078] In this embodiment, the curing device 4 includes: a curing oven 402 and a conveying mechanism 403. The curing oven 402 is mounted on the conveying mechanism 403. The conveying mechanism 403 is connected to the mounting device 3, and the conveying direction of the conveying mechanism 403 is consistent with the output direction of the mounting device 3. The transmission path of the carrier 1 is a linear ("I" shape) layout. The assembled workpiece passes through the conveying mechanism 403 and is cured by the curing oven 402 at the same time, so as to ensure that after the mounting process is completed, the carrier 1 can be directly transferred from the starting end of the curing oven 402 to the end, and then enter the subsequent workpiece clamping and flipping mechanism 5 operation area. Therefore, the consistent output direction makes the layout of the curing oven 402 and the mounting device 3 on the production line more compact, reduces the floor space, improves the space utilization rate, makes the operator's moving path on the production line simpler and clearer, helps the operator to better monitor and control the quality in the production process, reduces the number and time of the workpiece transfer on the production line, helps to achieve continuous operation of the production line, reduces waiting time and production interruption, and thus improves production efficiency. The remaining structure is the same as in Example 1.

[0079] A workpiece assembly method according to the present embodiment is different from the assembly method of embodiment 1 in that: step S9. repeat the above steps until the seven second workpieces 10 on the third assembly surface of the first workpiece 11 are mounted (it should be noted here that: the number of mounting devices 3 in the third group of workpiece assembly assembly equipment is two, the number of mounting heads 303 in one of the mounting devices 3 is three, the three mounting heads 303 can synchronously or asynchronously pick up three second workpieces 10, and mount the three second workpieces 10 on the three glue dispensing areas of the third assembly surface of the first workpiece 11, the number of mounting heads 303 in another mounting device 3 is four, the four mounting heads 303 can synchronously or asynchronously pick up four second workpieces 10, and mount the four second workpieces 10 on the four glue dispensing areas of the third assembly surface of the first workpiece 11, and after the mounting is completed, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 180° and transports it to the glue dispensing device 2 in the fourth group of workpiece assembly assembly equipment); Step S10. Repeat the above steps until the placement of seven second workpieces 10 on the fourth assembly surface of the first workpiece 11 is completed (it should be noted here that: the number of placement devices 3 in the fourth group of workpiece assembly combination equipment is two, and the number of placement heads 303 in one of the placement devices 3 is three. The three placement heads 303 can pick up three second workpieces 10 synchronously or asynchronously, and place the three second workpieces 10 on the three glue dispensing areas on the fourth assembly surface of the first workpiece 11; the number of placement heads 303 in the other placement device 3 is four, and the four placement heads 303 can pick up four second workpieces 10 synchronously or asynchronously, and place the four second workpieces 10 on the four glue dispensing areas on the fourth assembly surface of the first workpiece 11. After the placement is completed, the carrier 1 is transported to the end carrier reflow lifting device 702). Therefore, compared with the assembly method of Example 1, this workpiece assembly method is that a multi-head placement device 3 can handle the placement process of multiple second workpieces 10 at the same time, which significantly improves production efficiency and reduces the number of placement devices 3. The overall equipment occupies a smaller area, which is conducive to the optimized layout of the production line. The placement mechanism 301 adopts the design of the ZR manipulator 320 and the suction nozzle 304. The excellent motion control capability and high-precision positioning technology of the ZR manipulator 320 ensure precise operation and rapid response during the placement process.

[0080] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative 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.

[0081] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A workpiece assembly device for mounting a second workpiece (10) on an assembly surface of a first workpiece (11), characterized in that: include: A glue dispensing device (2), the glue dispensing device (2) being used to dispense glue on the assembly surface of the first workpiece (11) outputted from the previous process station, the glue dispensing area corresponding to the assembly area where the second workpiece (10) is mounted on the first workpiece (11), and the first workpiece (11) is placed on the carrier (1) for transportation; A mounting device (3), the mounting device (3) being used to perform a mounting operation on the first workpiece (11) that has been subjected to the gluing operation and is output by the gluing device (2), the mounting device (3) comprising a three-axis motion mechanism (302) and a mounting mechanism (301) mounted on the three-axis motion mechanism (302), the mounting mechanism (301) being used to mount the second workpiece (10) on the gluing area of ​​the assembly surface of the first workpiece (11); A curing device (4) is used to cure the assembled workpiece output by the mounting device (3) in which the second workpiece (10) is mounted on the first workpiece (11), and to transfer the cured assembled workpiece to the next process station.

2. The workpiece assembly device according to claim 1, characterized in that: The mounting mechanism (301) is equipped with a mounting head (303) for picking up the second workpiece (10), and the mounting head (303) mounts the second workpiece (10) on a glue dispensing area on an assembly surface of the first workpiece (11). The number of the mounting heads (303) is the same as the number of the second workpieces (10) that need to be mounted on the assembly surface of the first workpiece (11).

3. The workpiece assembly device according to claim 2, characterized in that: There are multiple mounting heads (303), and the multiple mounting heads (303) operate synchronously or asynchronously.

4. The workpiece assembly device according to claim 3, characterized in that: Each of the placement heads (303) comprises: a ZR manipulator (320) and a suction nozzle (304); the ZR manipulator (320) is mounted on the three-axis motion mechanism (302); the suction nozzle (304) is connected to the ZR manipulator (320); the ZR manipulator (320) is used to drive the suction nozzle (304) to move along the z-axis direction and rotate around the z-axis; the suction nozzle (304) is used to suck the second workpiece (10).

5. The workpiece assembly device according to claim 3, characterized in that: The curing device (4) comprises: a curing furnace (402) and a conveying mechanism (403); the curing furnace (402) is mounted on the conveying mechanism (403); the conveying mechanism (403) is connected to the mounting device (3); and the conveying direction of the conveying mechanism (403) is consistent with the output direction of the mounting device (3); the assembled workpiece passes through the conveying mechanism (403) and is cured through the curing furnace (402) at the same time.

6. The workpiece assembly device according to claim 2, characterized in that: The number of the placement head (303) is one, and the placement head (303) comprises: a suction nozzle (304), a spline (305) and a servo motor (306); the suction nozzle (304) is used to suck the second workpiece (10); the suction nozzle (304) is connected to the servo motor (306) through the spline (305); the servo motor (306) is used to drive the suction nozzle (304) to rotate around the z-axis; the servo motor (306) is installed on the three-axis motion mechanism (302).

7. The workpiece assembly device according to claim 6, characterized in that: The curing device (4) comprises: a carrier transport mechanism (401) and a curing oven assembly. The carrier transport mechanism (401) is connected to the mounting device (3). The curing oven assembly is installed on the side of the carrier transport mechanism (401). The carrier transport mechanism (401) transports the carrier (1) transported into the carrier transport mechanism (401) into the curing oven assembly. The curing oven assembly cures the assembled workpiece. After curing is completed, the carrier transport mechanism (401) transports the carrier (1) into the carrier transport mechanism (401).

8. The workpiece assembly device according to claim 7, characterized in that: The curing furnace assembly comprises: a curing furnace (402) and a conveying mechanism (403), wherein the curing furnace (402) is mounted on the conveying mechanism (403), the conveying direction of the conveying mechanism (403) is non-linear, and both the feeding end and the discharging end of the conveying mechanism (403) are close to the side of the carrier transport mechanism (401).

9. The workpiece assembly device according to claim 2, characterized in that: The mounting equipment (3) further comprises: a carrying platform (321) and a feeder loading device (322), wherein the carrying platform (321) is used to carry the second workpiece (10) to be mounted, and the feeder loading device (322) is used to transport the second workpiece (10) to the carrying platform (321), and the number of the feeder loading devices (322) is the same as the number of the second workpieces (10) to be mounted on the assembly surface of the first workpiece (11).

10. The workpiece assembly device according to claim 2, characterized in that: The mounting mechanism (301) further comprises: A laser calibration module (317), the laser calibration module (317) being mounted on the mounting head (303); A first vision module (318), the first vision module (318) is arranged in parallel with the mounting head (303) and is installed on the three-axis motion mechanism (302).

11. A workpiece assembly production line, characterized in that: It comprises a plurality of groups of workpiece assembly assembly equipment as described in any one of claims 1 to 10, wherein the plurality of groups of workpiece assembly assembly equipment are arranged in sequence along the production direction, and a workpiece clamping and flipping mechanism (5) is connected between two adjacent groups of workpiece assembly assembly equipment, wherein the workpiece clamping and flipping mechanism (5) is used to flip the assembly angle of the first workpiece (11), each assembly angle corresponds to an assembly surface, and each group of the workpiece assembly assembly equipment is adapted to the mounting of one of the assembly surfaces of the first workpiece (11).

12. The workpiece assembly production line according to claim 11, characterized in that: The workpiece clamping and turning mechanism (5) comprises: Three-axis motion assembly (503); A flip assembly (504), wherein the flip assembly (504) is mounted on the three-axis motion assembly (503), and the three-axis motion assembly (503) is used to drive the flip assembly (504) to move along the x-axis, y-axis and z-axis directions; A clamping assembly (501), wherein the clamping assembly (501) is mounted on the flipping assembly (504), wherein the flipping assembly (504) is used to drive the clamping assembly (501) to rotate around the y-axis, and wherein the clamping assembly (501) is used to clamp a first workpiece (11).

13. The workpiece assembly production line according to claim 11, characterized in that: The workpiece assembly line also includes: A head-end carrier reflux lifting device (6) and a finished product unloading device (7), wherein the head-end carrier reflux lifting device (6) is located at the starting point of the production line, and the finished product unloading device (7) is located at the end point of the production line; A reflux conveying device (8), the reflux conveying device (8) being arranged between the head-end carrier reflux lifting device (6) and the finished product unloading device (7), and being used for conveying an empty carrier (1); A feeding device (9), wherein the feeding device (9) is arranged between the head-end carrier reflux lifting device (6) and the first group of workpiece assembly equipment, and the feeding device (9) is used to load the first workpiece (11) onto an empty carrier (1) and transport it to the dispensing device (2) in the first group of workpiece assembly equipment.

14. The workpiece assembly production line according to claim 13, characterized in that: The finished product unloading equipment (7) comprises: A material unloading device (701), wherein the material unloading device (701) is used to transfer the cured finished workpiece on the carrier (1) to a finished product tray (703); The end carrier return lifting device (702) is used to transfer the empty carrier (1) to the return conveying device (8).

15. A workpiece assembly method, characterized in that: The following steps are involved: Step S1. placing an empty carrier (1) on the first-end carrier return lifting device (6), and the first-end carrier return lifting device (6) transports the empty carrier (1) to the feeding device (9); Step S2. The feeding device (9) loads the first workpiece (11) onto the empty carrier (1), and transfers the carrier (1) carrying the first workpiece (11) to the dispensing device (2) in the first group of workpiece assembly equipment; Step S3. The glue dispensing device (2) is used to dispense glue on the assembly surface of the first workpiece (11) output by the feeding device (9); Step S4. The feeder loading device (322) transports the second workpiece (10) to be mounted onto the carrier platform (321); Step S5. The mounting device (3) is used to mount the first workpiece (11) that has been glued and output by the glue dispensing device (2), and mount the second workpiece (10) on the glue dispensing area of ​​the assembly surface of the first workpiece (11); Step S6. The curing device (4) is used to cure the assembled workpiece output by the mounting device (3) in which the second workpiece (10) is mounted on the first workpiece (11); Step S7. The workpiece clamping and flipping mechanism (5) is used to flip the assembled workpiece after curing outputted from the curing device (4) to the other assembly surface of the first workpiece (11), and output it to the dispensing device (2) in the next group of workpiece assembly equipment; Step S8. Repeat the above steps until all assembly surfaces of the first workpiece (11) are mounted; Step S9. The unloading device (701) is used to pick up the finished workpieces on the carrier (1) that have completed all assembly surface mounting and transfer them to the finished product tray (703); Step S10. The end carrier return lifting device (702) is used to transfer the empty carrier (1) to the return conveying device (8); Step S11. The reflux conveying device (8) conveys the empty carrier (1) to the head-end carrier reflux lifting device (6).

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