Workpiece assembly combination apparatus, assembly production line, and assembly method

Abstract

The application discloses a workpiece assembly combination device, an assembly production line and an assembly method, and relates to the technical field of workpiece assembly. 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 mounting characteristics of the magnetic component and the conductive element, the positions of the dispensing device, the mounting device and the curing device are sequentially arranged, each device is an independent device station, and then the independent devices are integrated into a combination device, so that a full-automatic process from feeding to dispensing, mounting and curing is realized, the combination device is suitable for a large-scale production environment, the assembly efficiency and precision are improved, the production cost is reduced, the product quality is improved, the consistency and stability of each mounting operation are ensured, and errors and fluctuations that may occur in manual operation are avoided.

Description

Technical Field

[0001] This invention relates to the field of assembly technology, specifically to a workpiece assembly and combination equipment, an assembly production line, and an assembly method. Background Technology

[0002] For assembly systems, assembly efficiency and placement accuracy are two important indicators. In the chip manufacturing process, magnetic components (such as magnets) need to be precisely connected to conductive components (such as PIN pins). Since one or more PINs need to be mounted on a single mounting surface of the magnet, the traditional assembly process usually includes the following key steps: applying adhesive to the mounting position on the surface of the magnet, and then mounting the PIN to the corresponding mounting position after applying adhesive.

[0003] In existing technologies, apart from the dispensing process where dispensing equipment can be used to apply adhesive to the magnets, the mounting process is usually done manually. However, manual operation makes it difficult to ensure the mounting accuracy and consistency of each PIN. Furthermore, since 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, reducing production efficiency. Especially in large-scale production environments, manual assembly can become a bottleneck in 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] Therefore, the present invention provides a workpiece assembly and combination equipment, 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 device is used to mount a second workpiece onto an assembly surface of a first workpiece. The device includes: a dispensing device, a mounting device, and a curing device. The dispensing device dispenses adhesive onto the assembly surface of the first workpiece output from the previous process station, with the dispensing area corresponding to the assembly area where the second workpiece is mounted onto the first workpiece. The first workpiece is placed on a carrier for transport. The mounting device performs a mounting operation on the first workpiece output from the dispensing device, and includes a three-axis motion mechanism and a mounting mechanism mounted on the three-axis motion mechanism. The mounting mechanism mounts the second workpiece onto the dispensing area of ​​the assembly surface of the first workpiece. The curing device cures the assembled workpiece output from the mounting device, with the second workpiece mounted onto the first workpiece, and then transfers the cured assembled workpiece to the next process station.

[0007] The beneficial effects of this invention are that, based on the mounting characteristics of magnetic components and conductive elements, the dispensing equipment, mounting equipment, and curing equipment are arranged sequentially, with each equipment being an independent workstation. These independent devices are then integrated into a combined device, realizing a fully automated process from dispensing to mounting to curing. This is suitable for large-scale production environments, improving assembly efficiency and accuracy, reducing production costs, enhancing product quality, ensuring consistency and stability in each mounting operation, and avoiding errors and fluctuations that may occur in manual operations.

[0008] According to one embodiment of the present invention, the mounting mechanism is adapted with a mounting head for picking up the second workpiece. The mounting head mounts the second workpiece onto the dispensing area of ​​the assembly surface of the first workpiece. The number of mounting heads is the same as the number of second workpieces to be mounted on the assembly surface of the first workpiece. Thus, the three-axis motion mechanism and the mounting mechanism work together to achieve automated mounting. Furthermore, the number of mounting heads is the same as the number of second workpieces to accommodate mounting tasks of different types and sizes of second workpieces, efficiently and accurately meeting the mounting needs of a large number of identical or multiple workpieces.

[0009] According to one embodiment of the present invention, the number of placement heads is multiple, and the multiple placement heads operate synchronously or asynchronously. Therefore, using multiple placement heads enables the picking and placement of multiple second workpieces (especially PINs of different specifications), improving the parallel processing capability of the placement operation. The multi-head design shortens the placement cycle, thereby improving assembly efficiency. Furthermore, since one placement device can place multiple second workpieces on one mounting surface of the first workpiece, the number of placement devices required is reduced, saving space, lowering equipment purchase and maintenance costs, and improving the overall economic efficiency of the production line.

[0010] According to one embodiment of the present invention, each of the mounting heads includes a ZR robot and a suction nozzle. The ZR robot is mounted on the three-axis motion mechanism, and the suction nozzle is connected to the ZR robot. The ZR robot is used to drive the suction nozzle to move along the Z-axis and rotate around the Z-axis. The suction nozzle is used to pick up the second workpiece. This achieves fine-tuning or precision control of the second workpiece in two degrees of freedom (small Z-axis + R-axis). Combined with the three-axis motion mechanism, the entire mounting mechanism achieves a wide range of spatial movement in three degrees of freedom (X, Y, and large Z-axis), improving movement efficiency, accurately adjusting the assembly angle of the second workpiece, and thus improving assembly quality. Furthermore, the ZR robot's high speed and precision, enabling high-speed movement and rotation of the suction nozzle, significantly reduces mounting time, thereby improving overall production efficiency and accuracy.

[0011] According to one embodiment of the present invention, the curing equipment includes a curing oven and a conveying mechanism. The curing oven is mounted on the conveying mechanism, which is linearly connected to the mounting equipment. The conveying direction of the conveying mechanism is consistent with the output direction of the mounting equipment. The assembled workpiece passes through the curing oven while being cured via the conveying mechanism. This consistent output direction allows for a more compact layout of the curing oven and mounting equipment on the production line, reducing floor space, improving space utilization, and simplifying the movement path for operators. This facilitates better monitoring and control of quality during production, reduces the number of workpiece transfers and the time spent on the production line, promotes continuous production, reduces waiting time and production interruptions, and thus improves production efficiency.

[0012] According to one embodiment of the present invention, the number of placement heads is one, and the placement head includes: a nozzle, a spline, and a servo motor. The nozzle is used to pick up the second workpiece, and the nozzle is connected to the servo motor via the spline drive. The servo motor is used to drive the nozzle to rotate around the z-axis, and the servo motor is mounted on the three-axis motion mechanism. Thus, each placement device is used to place only one second workpiece onto the first workpiece. For placement needs of a large number of identical or multiple workpieces, multiple placement devices can be set up in parallel. Compared to setting multiple placement heads on a single placement device, the control logic is simpler, reducing the complexity and error rate of the overall placement process. By setting the spline, the rotational motion of the servo motor is stably transmitted to the nozzle, ensuring the stability and reliability of the nozzle during rotation. Furthermore, combined with the three-axis motion mechanism, the second workpiece achieves placement capability with four degrees of freedom (X, Y, Z axes + R axis), allowing flexible adjustment of the assembly angle of the second workpiece to handle placement 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 oven assembly. The carrier transport mechanism is connected to the mounting equipment, and the curing oven assembly is installed on the side of the carrier transport mechanism. The carrier transport mechanism transports the carriers delivered to it into the curing oven assembly, where the curing oven assembly cures the assembled workpieces. After curing, the carrier transport mechanism transports the carriers back into its own assembly. This effectively reduces the overall length of the production line, making the production line layout more compact. The carrier transport mechanism also reduces the waiting time of workpieces on the production line. Furthermore, the curing oven assembly is installed on the side of the carrier transport mechanism, rather than directly in the main production direction, making it easy to adjust and expand according to actual production needs.

[0014] According to one embodiment of the present invention, the curing oven assembly includes a curing oven and a conveying mechanism. The curing oven is mounted on the conveying mechanism, which has a non-linear conveying direction, and both its inlet and outlet ends are close to the side of the carrier transport mechanism. This ensures that the assembled workpiece cured in the curing oven can flow back to the side area of ​​the carrier transport mechanism, thereby facilitating the carrier transport mechanism to transport the carrier into the carrier transport mechanism.

[0015] According to one embodiment of the present invention, the mounting equipment further includes: a carrier platform and feeder loading devices. The carrier platform is used to carry the second workpiece to be mounted, and the feeder loading devices are used to transport the second workpiece to the carrier platform. The number of feeder loading devices is the same as the number of second workpieces to be mounted on the mounting surface of the first workpiece. Therefore, the feeder loading devices can automatically transport the second workpiece to the carrier platform, thereby saving loading time. Compared with traditional manual loading methods, the feeder loading devices can significantly improve production efficiency, reduce labor costs, and are suitable for loading single-pin components.

[0016] According to one embodiment of the present invention, the mounting mechanism further includes:

[0017] A laser calibration module, wherein the laser calibration module is mounted on the mounting head;

[0018] The first vision module is arranged side-by-side with the placement head and mounted on the three-axis motion mechanism. Thus, a laser calibration module is set up to level the carrier platform. By adjusting the flatness of the carrier platform, the positional accuracy of the first and second workpieces before placement is achieved, thereby ensuring placement accuracy. Compared with traditional mechanical calibration methods, laser calibration can more accurately measure and adjust minute deviations, thereby improving the overall calibration accuracy of the equipment. The first vision module is set up to determine the positions of the first and second workpieces respectively. By capturing and analyzing the image data of the first and second workpieces in real time, the control system can automatically adjust the position of the placement head to ensure that the second workpiece is accurately picked up and placed onto the first workpiece, thereby significantly improving placement accuracy.

[0019] According to an embodiment of the present invention, a workpiece assembly production line includes multiple sets of workpiece assembly combination equipment as described in any of the above claims. These multiple sets of workpiece assembly combination equipment are arranged sequentially along the production direction. A workpiece clamping and flipping mechanism connects adjacent sets of workpiece assembly combination equipment. The workpiece clamping and flipping mechanism is used to flip the assembly angle of a first workpiece. Each assembly angle corresponds to an assembly surface, and each set of workpiece assembly combination equipment is adapted to mount one of the assembly surfaces. Thus, the synergistic effect of the multiple sets of workpiece assembly combination equipment and the workpiece clamping and flipping mechanism enables the mounting of all assembly surfaces of the first workpiece.

[0020] According to one embodiment of the present invention, the workpiece clamping and flipping mechanism includes: a three-axis motion assembly; a flipping assembly mounted on the three-axis motion assembly, the three-axis motion assembly being used to drive the flipping assembly to move along the x-axis, y-axis and z-axis directions; and a clamping assembly mounted on the flipping assembly, the flipping assembly being used to drive the clamping assembly to rotate around the y-axis, the clamping assembly being used to clamp a first workpiece.

[0021] According to one embodiment of the present invention, the workpiece assembly production line further includes: a first-end carrier return lifting device and a finished product unloading device, wherein the first-end carrier return lifting device is located at the starting point of the production line and the finished product unloading device is located at the ending point of the production line; a return conveying device, wherein the return conveying device is disposed between the first-end carrier return lifting device and the finished product unloading device, and is used to convey an empty carrier; and a feeding device, wherein the feeding device is disposed between the first-end carrier return lifting device and a first group of workpiece assembly combination 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 combination equipment. Thus, through the return conveying device, the first-end carrier return lifting device, and the finished product unloading device, the carrier is recycled, reducing the need for new carriers, improving the carrier turnover rate and the overall efficiency of the production line. The feeding device can automatically load the first workpiece onto the empty carrier, thereby saving loading time, reducing manual loading time and labor costs, and thus improving production efficiency.

[0022] According to one embodiment of the present invention, the finished product unloading equipment includes: an unloading device for transferring the cured finished product workpiece on the carrier to the finished product tray; and an end carrier return lifting device for transferring the empty carrier to the return conveying device. Thus, through automated unloading and carrier return processes, manual handling and waiting time are reduced, making the end-of-line processing of the production line smoother and achieving continuity and stability of the production line.

[0023] According to an embodiment of the present invention, a workpiece assembly method includes the following steps:

[0024] Step S1. Place the empty carrier on the head carrier return lifting device, which then transports the empty carrier to the feeding equipment. Step S2. The feeding equipment loads the first workpiece onto the empty carrier and transfers the carrier carrying the first workpiece to the dispensing equipment in the first set of workpiece assembly equipment. Step S3. The dispensing equipment dispenses adhesive onto the assembly surface of the first workpiece output from the feeding equipment. Step S4. The feeder conveyor transports the second workpiece to be mounted onto the support platform. Step S5. The mounting equipment performs mounting operations on the first workpiece, which has already been dispensed, and mounts the second workpiece onto the dispensing area of ​​the first workpiece's assembly surface. Step S6. The curing equipment cures the second workpiece. Step S7. The assembled workpiece with the second workpiece attached to the first workpiece is cured. Step S8. The workpiece clamping and flipping mechanism is used to flip the cured assembled workpiece output from the curing equipment to other assembly surfaces of the first workpiece, and output it to the dispensing device in the next set of workpiece assembly combination equipment. Step S9. The above steps are repeated until all assembly surfaces of the first workpiece are attached. Step S10. The unloading device is used to pick up the finished workpiece with all assembly surfaces attached on the carrier and transfer it to the finished product tray. Step S11. The end carrier return lifting device is used to transfer the empty carrier to the return conveying device. Step S12. The return conveying device transports the empty carrier to the first end carrier return lifting device. Thus, this workpiece assembly method closely connects the steps of empty carrier, first and second workpiece loading, dispensing, attachment, curing, flipping, finished product unloading and carrier return through an automated process, realizing efficient, continuous and automated production of workpiece assembly, improving production efficiency, reducing labor costs, and ensuring the stability and consistency of product quality.

[0025] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] Figure 1 This is a three-dimensional structural diagram of the production line according to Embodiment 1 of the present invention.

[0029] Figure 2 This is a schematic diagram of the mounting head structure of Embodiment 1 of the present invention.

[0030] Figure 3 This is a schematic diagram of the internal three-dimensional structure of the mounting equipment according to Embodiment 1 of the present invention.

[0031] Figure 4 This is a schematic diagram of the internal three-dimensional structure of the vehicle transport mechanism according to Embodiment 1 of the present invention.

[0032] Figure 5 This is a three-dimensional structural schematic diagram of the curing oven of Embodiment 1 of the present invention.

[0033] Figure 6 This is a schematic diagram of one embodiment of the conveying mechanism of Embodiment 1 of the present invention.

[0034] Figure 7 This is a schematic diagram of another embodiment of the conveying mechanism of Embodiment 1 of the present invention.

[0035] Figure 8 This is a three-dimensional structural diagram of the lifting mechanism of the present invention.

[0036] Figure 9 This is a three-dimensional structural diagram of the blocking mechanism of the present invention.

[0037] Figure 10 This is a three-dimensional structural diagram of the front end carrier return lifting device of the present invention.

[0038] Figure 11 This is a three-dimensional structural diagram of the finished product unloading equipment of the present invention.

[0039] Figure 12 This is a three-dimensional structural diagram of the feeding device of the present invention.

[0040] Figure 13 This is a three-dimensional structural diagram of the vibratory feeder of the present invention.

[0041] Figure 14 This is a three-dimensional structural diagram of the workpiece clamping and flipping mechanism of the present invention.

[0042] Figure 15 This is a three-dimensional structural diagram of one embodiment of the vehicle of the present invention.

[0043] Figure 16 This is a three-dimensional structural schematic diagram of the first workpiece of the present invention.

[0044] Figure 17 This is a three-dimensional structural schematic diagram of the second workpiece of the present invention.

[0045] Figure 18 This is a three-dimensional structural diagram of the finished product of the present invention.

[0046] Figure 19This is a three-dimensional structural diagram of the production line according to Embodiment 2 of the present invention.

[0047] Figure 20 This is a schematic diagram of the internal three-dimensional structure of the mounting equipment according to Embodiment 2 of the present invention.

[0048] Figure 21 This is a three-dimensional structural diagram of the mounting mechanism according to Embodiment 2 of the present invention.

[0049] Figure 22 This is a three-dimensional structural diagram of the curing device according to Embodiment 2 of the present invention.

[0050] In the diagram: 1. Carrier; 101. First storage slot; 102. Second storage slot; 103. Clearance 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. Pneumatic clamp; 317. Laser calibration module; 318. First vision module; 319. Second vision module; 320. ZR 321. Robotic arm; 322. Feeder loading device; 4. Curing equipment; 401. Carrier handling mechanism; 402. Curing oven; 403. Conveying mechanism; 5. Workpiece clamping and flipping mechanism; 501. Clamping assembly; 502. Gripper; 503. Three-axis motion assembly; 504. Flipping assembly; 6. First end carrier return lifting device; 601. Lifting and conveying mechanism; 602. Z-guide rail mechanism; 7. Finished product unloading equipment; 701. Unloading device; 702. End carrier return lifting device; 703. Finished product tray; 8. Return conveying device; 9. Feeding equipment; 901. Vibratory feeder; 902. Three-axis motion gripper mechanism; 10. Second workpiece; 11. First workpiece. Detailed Implementation

[0051] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0052] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0054] Example 1: As Figures 1 to 18 The diagram shows a preferred embodiment of the present invention. This workpiece assembly and combination equipment is used to mount a second workpiece 10 onto one assembly surface of a first workpiece 11. It includes a dispensing device 2, a mounting device 3, and a curing device 4. The dispensing device 2 dispenses adhesive onto the assembly surface of the first workpiece 11 output from the previous process station. The dispensing area corresponds to the assembly area where the second workpiece 10 is mounted onto the first workpiece 11. The first workpiece 11 is placed on a carrier 1 for transport. The mounting device 3 performs the mounting operation on the first workpiece 11 output from the dispensing device 2, mounting the second workpiece 10 onto the dispensing area of ​​the assembly surface of the first workpiece 11. The curing device 4 cures the assembled workpiece output from the mounting device 3, with the second workpiece 10 mounted onto the first workpiece 11, and then transfers the cured assembled workpiece to the next process station. Specifically, the previous process station, the next process station, and the dispensing device 2, mounting device 3, and curing device 4 are all independent equipment stations. These independent devices are then integrated into a combined equipment to achieve continuous production line operation.

[0055] In this embodiment, the mounting equipment 3 includes a three-axis motion mechanism 302 and a mounting mechanism 301. The mounting mechanism 301 is mounted on the three-axis motion mechanism 302, which drives the mounting mechanism 301 to move in the xyz directions. The mounting mechanism 301 is equipped with mounting heads 303 for picking up second workpieces 10. The number of mounting heads 303 is the same as the number of second workpieces 10 that need to be mounted on the assembly surface of the first workpiece 11. Thus, the three-axis motion mechanism 302 and the mounting mechanism 301 work together to achieve automated mounting. The number of mounting heads 303 is the same as the number of second workpieces 10, which can adapt to mounting tasks of different types and sizes of second workpieces 10, and can efficiently and accurately meet the mounting needs of a large number of identical or multiple workpieces.

[0056] Specifically, the three-axis motion mechanism 302 includes: a Y-axis motion mechanism 307 connected to the gantry; an X-axis motion mechanism 308 connected to the Y-axis motion mechanism 307; a Z-axis motion mechanism 309 connected to the X-axis motion mechanism 308; and a mounting mechanism 301 connected to the Z-axis motion mechanism 309.

[0057] Specifically, there is one placement head 303, which includes a nozzle 304, a spline 305, and a servo motor 306. The nozzle 304 is used to pick up the second workpiece 10. The nozzle 304 is connected to the servo motor 306 via the spline 305. The servo motor 306 is used to drive the nozzle 304 to rotate around the z-axis. The servo motor 306 is mounted on the three-axis motion mechanism 302. Therefore, each placement device 3 is used to place only one second workpiece 10 onto the first workpiece 11. For the placement needs of a large number of identical or multiple workpieces, multiple placement devices 3 can be set up in parallel. Compared with setting up a single placement device 3 with multiple placement heads 303, the control logic is simpler, reducing the complexity and error rate of the overall placement process. If a certain type of PIN pin needs to be replaced or adjusted, only the placement head 303 of the corresponding placement device 3 needs to be changed, without affecting other devices. By setting the spline 305, the rotational motion of the servo motor 306 is stably transmitted to the nozzle 304, ensuring the stability and reliability of the nozzle 304 during rotation. In addition, combined with the three-axis motion mechanism 302, the second workpiece 10 achieves placement capability with four degrees of freedom: X, Y, Z axis + R axis. The assembly angle of the second workpiece 10 can be flexibly adjusted to cope with placement tasks at different angles and positions.

[0058] In this embodiment, the mounting device 3 further includes: a lifting mechanism 310, which is used to drive the carrier 1 to switch between a first position and a second position along the z-axis; and a blocking mechanism 311, which is used to block the carrier 1 from moving along the x-axis 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. The lifting plate 313 is provided with a positioning pin. The carrier 1 is provided with a positioning hole for the positioning pin to be inserted on one end face 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 moving along the x-axis. 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, where subsequent mounting operations can be performed. At this time, the carrier 1 is precisely positioned and will not continue to be transported forward to the next device.

[0059] Specifically, the mounting equipment 3 also includes: a track width adjustment mechanism 314 and two parallel conveyor belts. The track width adjustment mechanism 314 includes: a y-axis track 315 arranged along the y-axis direction and an air clamp 316 arranged on the y-axis track 315. The two conveyor belts are located on both sides of the lifting mechanism 310 and are used to transport the carrier 1. The two conveyor belts and the lifting mechanism 310 are all designed to be slidably installed on the y-axis track 315, thereby realizing the adjustment of the distance between the two conveyor belts to meet the transportation requirements of carriers 1 of different models and widths. After the distance adjustment is completed, the air clamp 316 is used to firmly clamp the conveyor belts and the lifting mechanism 310 to ensure the stability of the position of the conveyor belts and the lifting mechanism 310 during operation.

[0060] 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 side-by-side with the mounting head 303 and mounted on the three-axis motion mechanism 302. Thus, the laser calibration module 317 is used to level the support platform 321 and the lifting plate 313, and the first vision module 318 is used to determine the positions of the first workpiece 11 and the second workpiece 10, respectively.

[0061] In this embodiment, the mounting equipment 3 further includes a second vision module 319. The second vision module 319 is disposed on one side of the support platform 321 and is used to locate the position of the mounting surface of the second workpiece 10. Through the high-precision recognition capability of the second vision module 319, the system can accurately identify the mounting posture of the mounting head after picking up the second workpiece. Then, the control system automatically and precisely adjusts the rotation angle and spatial position of the nozzle based on this information to ensure that the second workpiece can be placed in the optimal mounting posture. In addition, the second vision module 319 also has a quality inspection function, which can identify and distinguish the second workpieces that are not up to standard, thereby removing these inferior workpieces from the production process and further improving the overall quality and production efficiency of the mounted products.

[0062] In this embodiment, the mounting equipment 3 further includes a carrier platform 321 and a feeder loading device 322. The carrier 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 onto the carrier platform 321. The number of feeder loading devices 322 is the same as the number of second workpieces 10 that need to be mounted on the mounting surface of the first workpiece 11. Thus, the feeder loading device 322 can automatically transport the second workpiece 10 onto the carrier platform 321, thereby saving loading time. Compared with the traditional manual loading method, the feeder loading device 322 can significantly improve production efficiency, reduce labor costs, and is suitable for the loading requirements of single-unit pins (due to the special nature of the incoming form of the second workpiece 10, the second workpiece 10 is a single-unit pin, and multiple single-unit pins are packed in a woven bag. The feeder loading device 322 can transport each single-unit pin from the woven bag onto the carrier platform 321).

[0063] Specifically, a feeding and cutting device can also be used to feed the second workpiece 10. The difference between this feeding and cutting method and the feeder feeding method is that the second workpiece 10 is in the form of a material strip. There is at least one second workpiece 10 to be cut on the material strip. After the feeding and cutting device cuts and separates the second workpiece 10 from the material strip, it is transported to the carrier platform 321 for subsequent mounting operations.

[0064] According to an embodiment of the present invention, a workpiece assembly production line includes multiple sets of workpiece assembly combination equipment as described above. These multiple sets of workpiece assembly combination equipment are arranged sequentially along the production direction. A workpiece clamping and flipping mechanism 5 connects adjacent sets of workpiece assembly combination equipment. The workpiece clamping and flipping mechanism 5 is used to flip the assembly angle of a first workpiece 11. Each assembly angle corresponds to an assembly surface, and each set of workpiece assembly combination equipment is adapted to mount one of the assembly surfaces. Thus, the coordinated action of the multiple sets of workpiece assembly combination equipment and the workpiece clamping and flipping mechanism 5 achieves the mounting of all assembly surfaces of the first workpiece 11.

[0065] For details, see Figures 16 to 18As shown, the first workpiece 11 is a magnet with a cuboid or cube structure, and the second workpiece 10 is a PIN pin with a U-shaped structure. The dispensing area on each mounting surface of the first workpiece 11 is linear, and the dispensing area is no larger than the mounting area. After the second workpiece 10 is mounted on the dispensing area, the adhesive 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 multiple dispensing operations are required on that mounting surface. The multiple dispensing areas are spaced apart, and the number of mounting heads 303 in each workpiece assembly assembly device is the same as the number of second workpieces 10 to be mounted on that mounting surface.

[0066] For example, when mounting the first workpiece 11 on all four sides, one second workpiece 10 is mounted on the first assembly surface, one second workpiece 10 is mounted on the second assembly surface, and seven second workpieces 10 are mounted on both the third and fourth assembly surfaces. The first and second assembly surfaces are parallel, and the third and fourth assembly surfaces are parallel. Therefore, the number of workpiece assembly equipment needs to be set to four groups, arranged sequentially along the production direction. The first group of workpiece assembly equipment has one mounting device 3 to complete the mounting task on the first assembly surface, and the second group of workpiece assembly equipment has one mounting device 3 to complete the mounting task on the second assembly surface. The first group of workpiece assembly equipment and the second group of workpiece assembly equipment... A workpiece clamping and flipping mechanism 5 is provided between the assembly and combination equipment to flip the first workpiece 11 on the carrier 1 by 180°; the number of mounting equipment 3 in the third group of workpiece assembly and combination equipment is seven, which is used to complete the mounting task of the third assembly surface. A workpiece clamping and flipping mechanism 5 is provided between the second group of workpiece assembly and combination equipment and the third group of workpiece assembly and combination equipment to flip the first workpiece 11 on the carrier 1 by 90°; the number of mounting equipment 3 in the fourth group of workpiece assembly and combination equipment is seven, which is used to complete the mounting task of the fourth assembly surface. A workpiece clamping and flipping mechanism 5 is provided between the third group of workpiece assembly and combination equipment and the fourth group of workpiece assembly and combination equipment to flip the first workpiece 11 on the carrier 1 by 180°.

[0067] Specifically, given the relatively long overall length required for this production line, 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 both the curing oven 402 and the conveying mechanism 403 are installed on the side of the carrier transport mechanism 401. The conveying direction of the conveying mechanism 403 is non-linear, and both the inlet and outlet ends of the conveying mechanism 403 are close to the side of the carrier transport mechanism 401. The carrier transport mechanism 401 transports the carrier 1, which is transported to the carrier transport mechanism 401, to the inlet end of the conveying mechanism 403. The assembled workpiece is cured in the curing oven 402 while passing through the conveying mechanism 403. After curing, the carrier transport mechanism 401 transports the carrier 1 from the outlet end of the conveying mechanism 403 back into the carrier transport mechanism 401. This effectively reduces the overall length of the production line, making the production line layout more compact. By cooperating with the carrier handling mechanism 401, the waiting time of the workpiece on the production line is reduced. The curing oven 402 and the conveying mechanism 403 are installed on the side of the carrier handling mechanism 401, rather than directly on the main production direction of the production line, which makes it 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 increased production demand.

[0068] For details, see Figure 7 As shown, a track is installed inside the conveying mechanism 403, and the conveying path of the track is arranged in a "U" shape, or see [reference needed]. Figure 6 As shown, two tracks with opposite conveying directions are provided in the conveying mechanism 403, and a two-axis conveying mechanism is installed at the end of the conveying mechanism 403 away from the carrier conveying mechanism 401 to move the carrier from one track to the other track, and then transfer the assembled workpiece back to the side area of ​​the carrier conveying mechanism 401 via the other track, so as to facilitate the carrier conveying mechanism 401 to move the carrier into the carrier conveying mechanism 401.

[0069] In this embodiment, the workpiece clamping and flipping mechanism 5 includes: a three-axis motion assembly 503; a flipping assembly 504, which is mounted on the three-axis motion assembly 503 and is used to drive the flipping assembly 504 to move along the x-axis, y-axis, and z-axis; and a clamping assembly 501, which is mounted on the flipping assembly 504 and is used to drive the clamping assembly 501 to rotate around the y-axis. The clamping assembly 501 is used to clamp the first workpiece 11. Specifically, the clamping assembly 501 can be designed as a jaw or a suction cup. When the clamping assembly 501 is a jaw, the jaw clamps on the assembly surface. When the flipping angle of the first workpiece 11 is 90°, a clearance groove 103 is provided on the carrier to allow the jaw to avoid it. When the clamping assembly 501 is a suction cup, the suction cup clamps on a non-assembly surface.

[0070] For example, when the lateral and vertical dimensions of the first workpiece 11 are equal, and the clamping assembly 501 is a gripper, the carrier 1 has multiple first placement slots 101, which are spaced apart along the conveying direction. One side of each first placement slot 101 is connected to the clearance slot 103. Each first placement slot 101 contains a first workpiece 11 to be flipped. The size of the first placement slot 101 is equal to the lateral / vertical dimension of the first workpiece 11. Therefore, when the first workpiece 11 is flipped 180°, the workpiece clamping and flipping mechanism 5 flips... The rotation process is as follows: The three-axis motion assembly 503 moves the gripper 502 above a first workpiece 11 and lowers it along the z-axis. The gripper 502 picks up the first workpiece 11 from the first placement slot 101. The flipping assembly 504 drives the gripper 502 to flip 180°. The three-axis motion assembly 503 moves the gripper 502 back into the original slot after flipping. The gripper 502 opens, and the three-axis motion assembly 503 moves the gripper 502 up along the z-axis to reset it. The three-axis motion assembly 503 then moves the gripper 502 to the next first workpiece 11. The above operation is repeated to complete the operation of rotating all the first workpieces 11 on the carrier 1 by 180°; when the first workpiece 11 is rotated by 90°, the rotation process of the workpiece clamping and rotating mechanism 5 is as follows: the three-axis motion component 503 drives the gripper 502 to move above a first workpiece 11 and descend along the z-axis. The gripper 502 picks up the first workpiece 11 from the first placement slot 101. The rotating component 504 drives the gripper 502 to rotate 90° (it should be noted that at this time the gripper 502 rotates to open and close along the z-axis direction). The three-axis motion component 503 drives the gripper 502 to rotate 90°. The gripper 502 places the flipped first workpiece 11 back into its original slot. The gripper 502 opens (at this time, the gripper can avoid the clearance slot 103). The three-axis motion assembly 503 drives the gripper 502 to exit the first workpiece 11 or carrier 1 along the y-axis (to avoid interference between the gripper 502 and the first workpiece 11 or carrier 1 during the lifting process). Then, it rises and resets along the z-axis. The three-axis motion assembly 503 drives the gripper 502 to move above 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°.

[0071] When the lateral and vertical dimensions of the first workpiece 11 are not equal, and the clamping assembly 501 is a gripper, the carrier 1 has multiple first storage slots 101 and multiple second storage slots 102. The first storage slots 101 and second storage slots 102 are arranged alternately along the conveying direction. Each second storage slot 102 has a clearance slot 103 on one side. Each first storage slot 101 contains a first workpiece 11 to be flipped. Therefore, 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). (The dimensions of the first workpiece 11 are equal to the lateral dimensions of the first workpiece 11). After the first workpiece 11 is rotated 90°, the rotated first workpiece 11 is placed in a second storage slot 102 adjacent to the first storage slot 101 (because the dimensions of the second storage slot 102 are equal to the vertical dimensions of the first workpiece 11). Thus, through the workpiece clamping and rotating mechanism 5 in conjunction with the design of the first storage slot 101 and the second storage slot 102, whether it is a 180° rotation or a 90° rotation, it can ensure that the first workpiece 11 is rotated into place and that there is no interference between the gripper 502 and the carrier 1, thereby improving product quality.

[0072] In this embodiment, the production line further includes: a first-end carrier return lifting device 6 and a finished product unloading device 7, wherein the first-end carrier return lifting device 6 is located at the starting point of the production line and the finished product unloading device 7 is located at the ending point of the production line; a return conveying device 8, wherein the return conveying device 8 is disposed between the first-end carrier return lifting device 6 and the finished product unloading device 7, and is used to convey the empty carrier 1; and a feeding device 9, wherein the feeding device 9 is disposed between the first-end carrier return 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 the empty carrier 1 and convey it to the dispensing device 2 in the first group of workpiece assembly equipment. Thus, through the return conveying device 8, the first end carrier return lifting device 6, and the finished product unloading device 7, the carrier 1 is recycled, reducing the demand for new carriers 1, improving the turnover rate of carriers 1 and the overall efficiency of the production line. The feeding device 9 can automatically load the first workpiece 11 onto the empty carrier 1, thereby saving loading time, reducing the time and labor costs of manual loading, and thus improving production efficiency.

[0073] Specifically, the head-end vehicle return lifting device 6 includes: a lifting conveying mechanism 601 and a z-axis guide rail mechanism 602. The conveying direction of the lifting conveying mechanism 601 is set along the x-axis direction. The lifting conveying mechanism 601 is mounted on the z-axis guide rail mechanism 602. The z-axis guide rail mechanism 602 is used to drive the lifting conveying mechanism 601 to move up and down in the z-axis direction.

[0074] Specifically, the feeding device 9 includes a vibratory feeder 901 and a three-axis motion gripper mechanism 902. The vibratory feeder 901 contains a first workpiece 11. Vibration automatically orients the disordered first workpiece 11 into an orderly arrangement. After being subjected to vibration, the first workpiece 11 in the vibratory feeder 901 will move along a specific track or path and eventually form an orderly arrangement at the discharge port. The three-axis motion gripper mechanism 902 is used to grab the orderly arranged first workpiece 11 at the discharge port of the vibratory feeder 901 and place it on the carrier 1.

[0075] In this embodiment, the finished product unloading equipment 7 includes an unloading device 701 and an end-of-line carrier return lifting device 702. The unloading device 701 is used to transfer the cured finished product workpiece on the carrier 1 to the finished product tray 703; the end-of-line 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, manual handling and waiting time are reduced, making the end-of-line processing of the production line smoother and achieving the continuity and stability of the production line.

[0076] According to a workpiece assembly method of this embodiment, the specific steps are as follows:

[0077] Step S1. Place the empty vehicle 1 on the head vehicle return lifting device 6, and the head vehicle return lifting device 6 will transport the empty vehicle 1 to the feeding device 9.

[0078] 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 set of workpiece assembly equipment;

[0079] Step S3. The dispensing device 2 is used to dispense adhesive onto the first assembly surface of the first workpiece 11 output by the feeding device 9;

[0080] Step S4. The feeder loading device 322 transports the second workpiece 10 to be mounted onto the support platform 321;

[0081] Step S5. The mounting equipment 3 is used to mount the first workpiece 11 that has been glued and output by the dispensing equipment 2, and mount the second workpiece 10 onto the dispensing area of ​​the first assembly surface of the first workpiece 11 (it should be noted here that: the number of mounting equipment 3 in the first group of workpiece assembly equipment is one, and the number of mounting heads 303 in the mounting equipment 3 is one).

[0082] Step S6. The curing device 4 is used to cure the assembled workpiece output from the mounting device 3, on which the second workpiece 10 has been mounted on the first workpiece 11;

[0083] Step S7. The workpiece clamping and flipping mechanism 5 is used to flip the cured assembled workpiece output from the curing device 4 (it should be noted here that the first workpiece 11 is flipped 180°) and output to the dispensing device 2 in the second set of workpiece assembly equipment.

[0084] Step S8. Repeat the above steps until the mounting 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 mounting devices 3 in the second group of workpiece assembly equipment is one, the number of mounting heads 303 in the mounting device 3 is one, after the mounting is completed, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 by 90° and conveys it to the dispensing device 2 in the third group of workpiece assembly equipment).

[0085] Step S9. Repeat the above steps until the mounting of the seven second workpieces 10 on the third assembly surface of the first workpiece 11 is completed (it should be noted here that: there are seven mounting devices 3 in the third group of workpiece assembly equipment, each mounting device 3 has one mounting head 303, each carrier 1 carries multiple first workpieces 11, and each mounting device 3 is only responsible for mounting one second workpiece 10 onto the dispensing area of ​​one assembly surface of one 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 to perform the mounting operation of the next second workpiece 10 on the same assembly surface. Repeat the above steps, and the seven second workpieces 10 are set at intervals after mounting). After mounting, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 180° and transports it to the dispensing device 2 in the fourth group of workpiece assembly equipment.

[0086] Step S10. Repeat the above steps until the mounting of the seven second workpieces 10 on the fourth assembly surface of the first workpiece 11 is completed (it should be noted here that: there are seven mounting devices 3 in the fourth group of workpiece assembly equipment, and each mounting device 3 has one mounting head 303. After mounting, the seven second workpieces 10 are set at intervals). After mounting is completed, the carrier 1 is transported to the end carrier return lifting device 702.

[0087] Step S11. The unloading device 701 is used to pick up the finished workpieces that have completed all assembly surface mounting on the carrier 1 and transfer them into the finished product tray 703;

[0088] Step S12. The end vehicle return lifting device 702 is used to transfer the empty vehicle 1 to the return conveying device 8;

[0089] Step S13. The return conveyor 8 transports the empty carrier 1 to the first-end carrier return lifting device 6. Thus, this workpiece assembly method, through an automated process, tightly connects the steps of empty carrier, first / second workpiece loading, dispensing, mounting, curing, flipping, finished product unloading, and empty carrier return, achieving efficient, continuous, and automated workpiece assembly production. This improves production efficiency, reduces labor costs, and ensures the stability and consistency of product quality.

[0090] The above are merely preferred embodiments of the present invention and do not limit the implementation methods and scope of protection of the present invention. Since each mounting device 3 has only one mounting head 303 to mount a second workpiece 10 onto a first workpiece 11, although the control logic is simpler and the complexity and error rate of the overall mounting process are reduced, when multiple or more second workpieces 10 need to be mounted on one mounting surface of each first workpiece 11, multiple single-head mounting devices 3 need to be set up, resulting in higher overall equipment costs. Moreover, the parallel arrangement of multiple devices occupies a large area and may have a certain impact on the layout of the production line.

[0091] In addition to the above, the present invention also has the following embodiments:

[0092] Example 2, as Figures 19 to 22 As shown, the difference from Embodiment 1 is that each placement equipment 3 has multiple placement heads 303, which can operate synchronously or asynchronously. Therefore, using multiple placement heads 303 allows for the picking and placement of multiple second workpieces 10 (especially PINs of different specifications), improving the parallel processing capability of the placement operation. The multi-head design shortens the placement cycle, thereby increasing assembly efficiency. Furthermore, since one placement equipment 3 can handle the placement of multiple second workpieces 10 on one assembly surface of the first workpiece 11, the number of placement equipment 3 required is reduced, saving space, lowering equipment purchase and maintenance costs, and improving the overall economic efficiency of the production line.

[0093] Specifically, the structure of the mounting equipment 3 in the first and second group workpiece assembly equipment can be the same as in Embodiment 1. The number of mounting equipment 3 in the third and fourth group workpiece assembly equipment is two. One mounting equipment 3 has three mounting heads 303, and the other mounting equipment 3 has four mounting heads 303.

[0094] In this embodiment, each mounting head 303 includes a ZR robot 320 and a suction nozzle 304. The ZR robot 320 is mounted on a three-axis motion mechanism 302, and the suction nozzle 304 is connected to the ZR robot 320. The ZR robot 320 drives the suction nozzle 304 to move along the z-axis and rotate around the z-axis. The suction nozzle 304 is used to pick up the second workpiece 10. This allows for fine-tuning or precise control of the second workpiece 10 in two degrees of freedom (small Z-axis + R-axis). Combined with the three-axis motion mechanism 302, the entire mounting mechanism 301 can move within a wide range of spatial dimensions (X, Y, and large Z-axis), improving movement efficiency and precisely adjusting the assembly angle of the second workpiece 10, thereby improving assembly quality. Furthermore, the ZR robot 320's high speed and precision, which allows for high-speed movement and rotation of the suction nozzle 304, significantly reduces mounting time, thus improving overall production efficiency and accuracy. Specifically, the ZR 320 series robotic arm is a commercially available product from Speed ​​Precision, model ZRADS-6-16-S45-EC.

[0095] In this embodiment, the curing equipment 4 includes a curing oven 402 and a conveying mechanism 403. The curing oven 402 is mounted on the conveying mechanism 403, which is connected to the mounting equipment 3. The conveying direction of the conveying mechanism 403 is consistent with the output direction of the mounting equipment 3. The transport path of the carrier 1 is a straight line ("I" shaped layout). The assembled workpiece is cured in the curing oven 402 while passing through the conveying mechanism 403, ensuring that after the mounting process is completed, the carrier 1 can be directly transported from the beginning to the end of the curing oven 402, and then enter the working area of ​​the subsequent workpiece clamping and flipping mechanism 5. Thus, the consistent output direction makes the layout of the curing oven 402 and the mounting equipment 3 on the production line more compact, reducing the floor space, improving space utilization, and making the movement path of operators on the production line simpler and clearer. This helps operators better monitor and control the quality during the production process, reduces the number of times and time workpieces are transferred on the production line, facilitates continuous operation of the production line, reduces waiting time and production interruptions, and thus improves production efficiency. The remaining structure is the same as in Embodiment 1.

[0096] According to the workpiece assembly method of this embodiment, the difference from the assembly method of embodiment 1 is that: step S9. Repeat the above steps until the mounting of seven second workpieces 10 on the third assembly surface of the first workpiece 11 is completed (it should be noted here that: the number of mounting devices 3 in the third set of workpiece assembly combination equipment is two, one of which has three mounting heads 303, which can pick up three second workpieces 10 synchronously or asynchronously and mount the three second workpieces 10 on the three dispensing areas of the third assembly surface of the first workpiece 11; the other mounting device 3 has four mounting heads 303, which can pick up four second workpieces 10 synchronously or asynchronously and mount the four second workpieces 10 on the four dispensing areas of the third assembly surface of the first workpiece 11. After mounting, the workpiece clamping and flipping mechanism 5 flips the first workpiece 11 180° and transports it to the dispensing device 2 in the fourth set of workpiece assembly combination equipment).

[0097] Step S10. Repeat the above steps until the mounting of the seven second workpieces 10 on the fourth assembly surface of the first workpiece 11 is completed. (It should be noted that there are two mounting devices 3 in the fourth group of workpiece assembly equipment. One mounting device 3 has three mounting heads 303. The three mounting heads 303 can pick up three second workpieces 10 synchronously or asynchronously and mount the three second workpieces 10 on the three dispensing areas of the fourth assembly surface of the first workpiece 11. The other mounting device 3 has four mounting heads 303. The four mounting heads 303 can pick up four second workpieces 10 synchronously or asynchronously and mount the four second workpieces 10 on the four dispensing areas of the fourth assembly surface of the first workpiece 11. After the mounting is completed, the carrier 1 is transported to the end carrier return lifting device 702.) Therefore, compared with the assembly method of Embodiment 1, this workpiece assembly method allows a multi-head mounting machine 3 to simultaneously handle the mounting process of multiple second workpieces 10, significantly improving production efficiency, reducing the number of mounting machines 3, and reducing the overall equipment footprint, which is conducive to optimizing the layout of the production line. Furthermore, the mounting mechanism 301 adopts the design of ZR robot 320 and nozzle 304. Through the excellent motion control capability and high-precision positioning technology of ZR robot 320, accurate operation and rapid response during the mounting process are ensured.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined by the scope of the claims.

Claims

1. A workpiece assembly production line, characterized in that, It includes a head-end carrier return lifting device (6), a finished product unloading device (7), a return conveying device (8), a feeding device (9), and multiple sets of workpiece assembly combination devices. The multiple sets of workpiece assembly combination devices are arranged sequentially along the production direction. A workpiece clamping and flipping mechanism (5) is connected between two adjacent sets of workpiece assembly combination devices. 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. Each set of workpiece assembly combination devices is adapted to the mounting of one of the assembly surfaces of the first workpiece (11). The first end carrier return lifting device (6) is located at the beginning of the production line, and the finished product unloading device (7) is located at the end of the production line; the return conveying device (8) is located between the first end carrier return lifting device (6) and the finished product unloading device (7), and is used to transport the empty carrier (1); the feeding device (9) is located between the first end carrier return lifting device (6) and the first group of workpiece assembly equipment. The feeding device (9) is used to load the first workpiece (11) onto the empty carrier (1) and transport it to the dispensing device (2) in the first group of workpiece assembly equipment. The equipment (9) includes: a vibratory feeder (901) and a three-axis motion gripper mechanism (902). The vibratory feeder (901) contains a first workpiece (11). The first workpiece (11) is automatically and orderly oriented and arranged by vibration. After being subjected to vibration, the first workpiece (11) in the vibratory feeder (901) will move along a specific track or path and eventually 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 vibratory feeder (901) and place it on the carrier (1). The workpiece clamping and flipping mechanism (5) includes: Three-axis motion assembly (503); A flipping assembly (504) is mounted on the three-axis motion assembly (503), and the three-axis motion assembly (503) is used to drive the flipping assembly (504) to move along the x-axis, y-axis and z-axis directions; A clamping assembly (501) is mounted on the flipping assembly (504). The flipping assembly (504) is used to drive the clamping assembly (501) to rotate around the y-axis. The clamping assembly (501) is used to clamp a first workpiece (11). The first workpiece (11) is flipped 90° or 180° by the flipping assembly (504) in the clamping state. Each set of the workpiece assembly equipment is used to mount the second workpiece (10) onto one assembly surface of the first workpiece (11), including: The dispensing equipment (2) is used to dispense glue onto the assembly surface of the first workpiece (11) output from the previous process station. The dispensing area corresponds to the assembly area where the second workpiece (10) is attached to the first workpiece (11). The first workpiece (11) is placed on the carrier (1) for transportation. The mounting equipment (3) is used to perform mounting operations on the first workpiece (11) that has been dispensed by the dispensing equipment (2). The mounting equipment (3) has a three-axis motion mechanism (302) and a mounting mechanism (301) mounted on the three-axis motion mechanism (302). The mounting mechanism (301) is used to mount the second workpiece (10) onto the dispensing area of ​​the assembly surface of the first workpiece (11). The curing equipment (4) is used to cure the assembled workpiece output by the mounting equipment (3) on which the second workpiece (10) has been mounted on the first workpiece (11), and to transfer the cured assembled workpiece to the next process station. 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 both the curing oven (402) and the conveying mechanism (403) are installed on the side of the carrier transport mechanism (401). The conveying direction of the conveying mechanism (403) is non-linear. A track is installed inside the conveying mechanism (403), and the transmission path of the track is U-shaped. The feed end and discharge end of 403 are both close to the side of the carrier transport mechanism (401). The carrier transport mechanism (401) transports the carrier (1) that is conveyed to the carrier transport mechanism (401) to the feed end of the conveying mechanism (403). The assembled workpiece is cured in the curing oven (402) while passing through the conveying mechanism (403). After curing, the carrier transport mechanism (401) transports the carrier (1) at the discharge end of the conveying mechanism (403) into the carrier transport mechanism (401). Alternatively, the curing equipment (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 equipment (3), and the conveying direction of the conveying mechanism (403) is consistent with the output direction of the mounting equipment (3). The transmission path of the carrier (1) is a straight-line layout. The assembled workpiece is cured by passing through the curing oven (402) while passing through the conveying mechanism (403).

2. The workpiece assembly production line as described in claim 1, characterized in that, The mounting mechanism (301) is adapted with mounting heads (303) for picking up the second workpiece (10), the mounting heads (303) mounting the second workpiece (10) onto the dispensing area of ​​the assembly surface of the first workpiece (11), and the number of mounting heads (303) is the same as the number of second workpieces (10) to be mounted on the assembly surface of the first workpiece (11).

3. The workpiece assembly production line as described in claim 2, characterized in that, The number of mounting heads (303) is multiple, and the multiple mounting heads (303) can operate synchronously or asynchronously.

4. The workpiece assembly production line as described in claim 3, characterized in that, Each of the mounting heads (303) includes a ZR robot (320) and a suction nozzle (304). The ZR robot (320) is mounted on the three-axis motion mechanism (302), and the suction nozzle (304) is connected to the ZR robot (320). The ZR robot (320) is used to drive the suction nozzle (304) to move along the z-axis and rotate around the z-axis. The suction nozzle (304) is used to pick up the second workpiece (10).

5. The workpiece assembly production line as described in claim 2, characterized in that, The number of mounting heads (303) is one. The mounting head (303) includes: a suction nozzle (304), a spline (305) and a servo motor (306). The suction nozzle (304) is used to pick up 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 mounted on the three-axis motion mechanism (302).

6. The workpiece assembly production line as described in claim 2, characterized in that, The mounting equipment (3) further includes: a support platform (321) and a feeder loading device (322). The support platform (321) is used to support the second workpiece (10) to be mounted. The feeder loading device (322) is used to transport the second workpiece (10) onto the support platform (321). The number of feeder loading devices (322) is the same as the number of the second workpiece (10) to be mounted on the mounting surface of the first workpiece (11).

7. The workpiece assembly production line as described in claim 2, characterized in that, The mounting mechanism (301) further includes: A laser calibration module (317) is mounted on the mounting head (303); The first vision module (318) is arranged in parallel with the mounting head (303) and mounted on the three-axis motion mechanism (302).

8. The workpiece assembly production line as described in claim 1, characterized in that, The finished product unloading equipment (7) includes: The unloading device (701) is used to transfer the cured finished workpiece on the carrier (1) to the finished product tray (703); End vehicle return lifting device (702) is used to transfer an empty vehicle (1) to the return conveying device (8).

9. A workpiece assembly method, characterized in that, This assembly method is applicable to the workpiece assembly production line as described in any one of claims 1 to 8, and the workpiece assembly method includes the following steps: Step S1. Place the empty vehicle (1) on the head vehicle return lifting device (6), and the head vehicle return lifting device (6) transports the empty vehicle (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 set of workpiece assembly equipment; Step S3. The dispensing equipment (2) is used to dispense adhesive onto the assembly surface of the first workpiece (11) output by the feeding equipment (9); Step S4. The feeder loading device (322) transports the second workpiece (10) to be mounted onto the support platform (321); Step S5. The mounting equipment (3) is used to mount the first workpiece (11) that has been glued and output by the dispensing equipment (2) and mount the second workpiece (10) onto the glued area of ​​the assembly surface of the first workpiece (11). Step S6. The curing equipment (4) is used to cure the assembled workpiece output by the mounting equipment (3) on which the second workpiece (10) has been mounted on the first workpiece (11); Step S7. The workpiece clamping and flipping mechanism (5) is used to flip the cured assembled workpiece output by the curing device (4) to other assembly surfaces of the first workpiece (11) and output it to the dispensing device (2) in the next group of workpiece assembly assembly equipment. Step S8. Repeat the above steps until the mounting of all assembly surfaces of the first workpiece (11) is completed; Step S9. The unloading device (701) is used to pick up the finished workpieces that have completed all the assembly surface mounting on the carrier (1) and transfer them into the finished product tray (703); Step S10. The end vehicle return lifting device (702) is used to transfer the empty vehicle (1) to the return conveying device (8); Step S11. The return conveying device (8) transports the empty vehicle (1) to the head vehicle return lifting device (6).

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