Assembling machine

Abstract

The invention relates to the technical field of tool equipment, in particular to an assembling machine which comprises an assembling line, a first feeding line, a second feeding line, a first material taking mechanism and a second material taking mechanism, and the assembling line is provided with a first assembling station and a second assembling station; the assembling method of the assembling machine comprises the following assembling steps: an assembling line conveys a material tray A and a workpiece A to a first assembling station, and a first material taking mechanism assembles a workpiece B of a first material supply line to the workpiece A located at a first part of the first assembling station; the assembling line conveys the material disc A and the workpiece A from the first assembling station to the second assembling station, and the second material taking mechanism assembles the workpiece B of the second feeding line to the workpiece A located on the second part of the second assembling station. The two feeding lines are arranged to correspond to the two assembling stations of the assembling line correspondingly, assembling of the workpiece A and the workpiece B is distributed to the two assembling stations for assembling, half of the workpiece A on the material disc A is assembled on each assembling station, and the assembling efficiency is improved.

Description

Technical Field

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

[0002] The assembly machine is used for the automated assembly of two or more parts. The basic process is to assemble part A to part B to form component C, thereby assembling two parts. If more than two parts are to be assembled, the above basic assembly process is repeated. Existing assembly machines usually have workpieces (including part A, part B, component C, etc.) flow in one direction along the assembly line, and the assembly efficiency is low. Summary of the invention

[0003] The object of the present invention is to provide an assembly machine which improves assembly efficiency by bidirectional feeding and batch assembly, so as to solve the problem of low assembly efficiency of the existing assembly machines mentioned above.

[0004] To achieve the above object, the technical solution of the present invention includes: An assembly machine, comprising: An assembly line extending along the X-axis direction and provided with a first assembly station and a second assembly station, for unidirectionally conveying a material tray A and a workpiece A placed thereon along the X-axis direction, wherein the workpiece A placed on the material tray A is divided into a first part and a second part; Two feeding lines, namely a first feeding line and a second feeding line, are respectively arranged on one side of the assembly line in the Y-axis direction, extend along the X-axis direction and are used to convey the material tray B and a plurality of workpieces B placed on the material tray B toward each other; Two material-picking mechanisms, namely a first material-picking mechanism and a second material-picking mechanism, are arranged above the assembly line and the feeding line along the Y-axis direction, and the two material-picking mechanisms are respectively used to grab the workpiece B on one of the feeding lines and assemble it to the workpiece A on the assembly line; The assembly steps of the assembly machine include: The assembly line transports the material tray A and the workpiece A to the first assembly station, and the first material picking mechanism assembles the workpiece B of the first feeding line into the workpiece A located in the first part of the first assembly station; the assembly line transports the material tray A and the workpiece A from the first assembly station to the second assembly station, and the second material picking mechanism assembles the workpiece B of the second feeding line into the workpiece A located in the second part of the second assembly station.

[0005] In one embodiment, the material picking mechanism includes a material suction component and a frame arranged across the assembly line and the feeding line, the material suction component is connected to the frame so as to be movably connected along the Y-axis direction and the Z-axis direction, the two feeding lines and the first assembly station and the second assembly station of the assembly line are respectively provided with a material moving mechanism, the material moving mechanism is used to lift the material tray A or the material tray B to make it separate from the assembly line or the feeding line, and drive the material tray A or the material tray B to move along the X-axis direction, so that the material moving mechanism and the material picking mechanism cooperate to assemble workpieces A and workpiece B.

[0006] In one embodiment, the frame is provided with a slide rail extending along the Y-axis direction, and the slide rail is slidably connected with the suction component, the assembly vision positioning component and the feeding vision positioning component, the assembly vision positioning component is used to photograph and locate the position of the workpiece A, the feeding vision positioning component is used to photograph and locate the position of the workpiece B, and the suction component is used to assemble the workpiece B to the workpiece A according to the positions of the workpiece A and the workpiece B photographed by the assembly vision positioning component and the feeding vision positioning component.

[0007] In one embodiment, the suction assembly includes a ZR motor module and a suction head arranged at the output end of the ZR motor module, the suction head is used to adsorb the workpiece B, and the ZR motor module is used to drive the suction head and the adsorbed workpiece B to rise and fall along the Z-axis direction and rotate around the Z-axis, thereby sucking the workpiece B and applying downward pressure to the workpiece B to assemble it to the workpiece A, and also making the direction of the workpiece B correspond to the workpiece A.

[0008] In one embodiment, along the Y-axis direction, the suction component is arranged between the assembly vision positioning component and the feeding vision positioning component, the suction component and the assembly vision positioning component are driven by the first transverse motor module to move synchronously along the Y-axis direction, and the feeding vision positioning component is driven by the second transverse motor module to move along the Y-axis direction.

[0009] In one embodiment, the material picking and assembly steps of the material picking mechanism include: the assembly vision positioning component photographs the position and direction of the workpiece A, and at the same time, the feeding vision positioning component photographs the position and direction of the workpiece B; the feeding vision positioning component moves away from the workpiece B in a direction away from the assembly line, the suction component and the assembly vision positioning component move synchronously to the position of the workpiece B, the suction component absorbs the workpiece B and then moves to the position of the workpiece A, and assembles the workpiece B to the workpiece A.

[0010] In one embodiment, the first material picking mechanism and the second material picking mechanism are arranged symmetrically in the plane formed by the Y-axis and the Z-axis, and the suction component, the assembly vision positioning component and the feeding vision positioning component of any one of the material picking mechanisms are arranged on the side of the frame away from the other material picking mechanism.

[0011] In one embodiment, it further includes a UV curing lamp assembly disposed on one side of the material suction assembly, and the UV curing lamp assembly and the material suction assembly are disposed to move synchronously along the Y-axis direction.

[0012] In one embodiment, the feeding line and the assembly line are respectively provided with two conveyor belts, and there is a gap between the two conveyor belts. The material moving mechanism is arranged below the conveyor belt, and includes a material moving linear motor module and a lifting cylinder. The lifting cylinder is arranged between the two conveyor belts and is used to lift the material tray A or the material tray B to make it detach from the conveyor belt. The material moving linear motor module extends along the X-axis direction and is used to drive the lifting cylinder and the lifted material tray A or the material tray B to move along the X-axis direction.

[0013] In one embodiment, a closing mechanism is provided between the first feeding line and the second feeding line, and the closing mechanism is used to collect the trays B from the first feeding line and the second feeding line, and the closing mechanism includes a closing belt assembly, a lifting assembly and a plug-in assembly, and the closing belt assembly is connected to the collecting belt to transport the tray B to the top of the lifting assembly, and the lifting assembly is used to lift the tray B located above it upward, and the plug-in assembly includes two oppositely arranged plug-ins, and the two plug-ins are used to move toward each other to receive the tray B lifted by the lifting assembly; the number of the workpieces A in the first part and the number of the workpieces A in the second part are equal.

[0014] The beneficial effects of the present invention are: 1. The present invention arranges two feeding lines corresponding to the two assembly stations of the assembly line respectively, and distributes the assembly of workpieces A and B to the two assembly stations for assembly. Each assembly station assembles half of the workpieces A on the tray A, thereby improving the assembly efficiency and making the conveying speed of the assembly line faster, which is conducive to matching the assembly machine with other equipment.

[0015] 2. The picking mechanism uses two visual positioning components to position workpiece A and workpiece B respectively. The positioning of the two can be carried out simultaneously, reducing the time of visual positioning and further improving assembly efficiency.

[0016] 3. The suction components and visual positioning components of the two feeding mechanisms are respectively arranged toward the side away from each other, which can prevent the suction components and visual positioning components of different feeding mechanisms from motion interference and make the layout of the two feeding mechanisms more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a stereogram of an embodiment of the present invention.

[0018] Figure 2 2 is a top view of an embodiment of the present invention.

[0019] Figure 3 It is a front view of an embodiment of the present invention.

[0020] Figure 4 It is a three-dimensional diagram of the material taking mechanism according to an embodiment of the present invention.

[0021] Figure 5 It is a side view of the material taking mechanism of an embodiment of the present invention.

[0022] Figure 6 It is a structural diagram of the suction component of an embodiment of the present invention.

[0023] Figure 7 1 is a structural diagram of a material transfer mechanism according to an embodiment of the present invention.

[0024] Figure 8 It is an exploded structural diagram of the closing mechanism of an embodiment of the present invention.

[0025] Fig. 9 1 is a structural diagram of workpiece A and workpiece B according to an embodiment of the present invention.

[0026] Among them: 1 assembly line, 2 material supply line, 3 material taking mechanism, 31 frame, 311 slide rail, 32 material suction component, 321ZR motor module, 322 suction head, 33 assembly visual positioning component, 34 material supply visual positioning component, first transverse movement motor module 35, second transverse movement motor module 36, 37 slide rail slider structure, 4 material transfer mechanism, material transfer 41 linear motor module, 42 lifting cylinder, 5UV curing lamp assembly, 6 closing mechanism, 61 closing belt assembly, 611 closing belt, 612 closing motor, 62 top plate assembly, 621 top plate cylinder, 622 top plate plate, 63 plug-in assembly, 631 pair of plug-ins, 632 pair of plug-in cylinders; 101 first assembly station, 102 second assembly station, 201 first feeding line, 202 second feeding line, 301 first material taking mechanism, 302 second material taking mechanism; 10 tray A, 10' workpiece A, 20 tray B, 20' workpiece B. DETAILED DESCRIPTION

[0027] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0028] See also Figures 1 to 3 as well as Fig. 9 As shown, the present invention discloses an assembly machine, including an assembly line 1, two feeding lines 2, and two material-retrieving mechanisms 3. The assembly line 1 extends along the X-axis direction and is provided with a first assembly station 101 and a second assembly station 102. The assembly line 1 is used to unidirectionally convey a material tray A10 and a workpiece A10' placed thereon along the X-axis direction. The workpiece A10' placed on the material tray A10 is divided into a first part and a second part. The two feeding lines 2 are respectively a first feeding line 201 and a second feeding line 202. The first feeding line 201 and the second feeding line 202 are respectively arranged on one side of the assembly line 1 in the Y-axis direction. Both of them extend along the X-axis direction and are used to convey a material tray B20 and a plurality of workpieces B20' placed on the material tray B20 in the direction where the other party is located. The two picking mechanisms 3 are the first picking mechanism 301 and the second picking mechanism 302, which are arranged above the assembly line 1 and the feeding line 2 along the Y-axis direction. The two picking mechanisms 3 are used to grab the workpiece B20' on the feeding line 2 and assemble it to the workpiece A10' on the assembly line 1.

[0029] The assembly steps of the assembly machine include: The assembly line 1 transports the material tray A10 and the workpiece A10' to the first assembly station 101, and the first material picking mechanism 301 assembles the workpiece B20' of the first feeding line 201 into the workpiece A10' of the first part located at the first assembly station 101; at this time, the assembled workpiece A10' of the first part and the unassembled workpiece A10' of the second part are placed on the material tray A10, and the assembly line 1 continues to transport, thereby transporting the material tray A10 and the workpiece A10' from the first assembly station 101 to the second assembly station 102, and the second material picking mechanism 302 assembles the workpiece B20' of the second feeding line 202 into the workpiece A10' of the second part located at the second assembly station 102.

[0030] In this embodiment, the number of the first part of the workpieces A10' and the second part of the workpieces A10' are equal, that is, the assembly of half of the workpieces A10' on the tray A10 is completed at the first assembly station 101, and the assembly of the other half of the workpieces A10' on the tray A10 is completed at the second assembly station 102. Compared with all the workpieces A10' on the tray A10 being assembled at the same assembly station, this embodiment doubles the assembly efficiency, that is, the assembly time is shortened to half. The method of the present invention of dividing the workpieces on a tray into multiple stations for assembly can reduce the assembly time at each station, thereby improving the assembly efficiency, which is conducive to the assembly machine to quickly output the assembled products.

[0031] See also Figures 2 to 4 as well as Figure 7 As shown, the material taking mechanism 3 includes a material suction component 32 and a frame 31 arranged above the assembly line 1 and the feeding line 2. The material suction component 32 is connected to the frame 31 so as to be movable along the Y-axis direction and the Z-axis direction. The two feeding lines 2 and the first assembly station 101 and the second assembly station 102 of the assembly line 1 are respectively provided with a material moving mechanism 4. The material moving mechanism 4 is used to lift the material tray A10 or the material tray B20 to make it separate from the assembly line 1 or the feeding line 2, and drive the material tray A10 or the material tray B20 to move along the X-axis direction, so that the material moving mechanism 4 and the material taking mechanism 3 cooperate to assemble the workpiece A10' and the workpiece B20'. The material taking mechanism 3 drives the workpiece B20' to move in the Y-axis and Z-axis directions, and the material moving mechanism 4 drives the workpiece A10' to move in the X-axis direction, so that the workpiece A10' and the workpiece B20' form a relative movement in the three-dimensional direction, so as to facilitate the alignment and assembly of the two. The material picking mechanism 3 and the material moving mechanism 4 cooperate to realize the relative movement between the assembled workpieces, so that the layout of the mechanisms and power parts that drive the movement of the workpieces is more dispersed, the movement control of each mechanism and power part is simpler, and the maintenance difficulty caused by the accumulation of structural parts can be reduced.

[0032] The assembly line 1 and the feeding line 2 are respectively provided with two conveyor belts, with a gap between the two conveyor belts. The material moving mechanism 4 is arranged below the conveyor belt. The material moving mechanism 4 includes a material moving linear motor module 41 and a lifting cylinder 42. The lifting cylinder 42 is arranged between the two conveyor belts for lifting the material tray A10 or the material tray B20 to make it detach from the conveyor belt. The material moving linear motor module 41 extends along the X-axis direction to drive the lifting cylinder 42 and the lifted material tray A10 or the material tray B20 to move along the X-axis direction. Each material moving mechanism 4 lifts the material tray A or the material tray B located above it to separate it from the corresponding conveyor belt to prevent it from moving under the action of the conveyor belt. The material moving linear motor module 41 drives the lifting cylinder 42 and the corresponding material tray A or the material tray B to move along the X-axis direction. In this embodiment, the material moving mechanism 4 is arranged below the conveyor belts of the assembly line 1 and the feeding line 2, which reduces the space occupied above the conveyor belts and prevents the existence of the material moving mechanism 4 from affecting the conveyor belts conveying the material trays and workpieces, making the overall structural layout more reasonable.

[0033] See also Figures 4 to 5 As shown, the frame 31 is provided with a slide rail 311 extending along the Y-axis direction, and the slide rail 311 is slidably connected with a suction component 32, an assembly visual positioning component 33 and a feeding visual positioning component 34. The assembly visual positioning component 33 is used to photograph and locate the position of the workpiece A10', and the feeding visual positioning component 34 is used to photograph and locate the position of the workpiece B20'. The suction component 32 is used to assemble the workpiece B20' to the workpiece A10' according to the positions of the workpiece A10' and the workpiece B20' photographed by the assembly visual positioning component 33 and the feeding visual positioning component 34. When positioning the workpiece, two groups of visual positioning components, namely the assembly visual positioning component 33 and the feeding visual positioning component 34, are used to position the workpiece A10' and the workpiece B20' respectively. The positioning of the workpiece A10' and the workpiece B20' can be carried out simultaneously. Compared with using a group of visual positioning components to position the workpieces A10' and B20' in sequence, the time required for positioning can be shortened, and the efficiency of positioning the workpiece can be improved. The present invention can also reduce the time of the visual positioning component moving between workpiece A10' and workpiece B20', further improving the efficiency of workpiece positioning. The present invention improves the working efficiency of the assembly machine by combining two measures: batch and station assembly and simultaneous positioning of the dual positioning components, so that the assembly machine can output the assembled products faster.

[0034] The positioning principle of the assembly visual positioning component 33 and the feeding visual positioning component 34 is the same, and each includes a camera for photographing the workpiece A10' and the workpiece B20', and transmits the photographed image to the controller to determine the position of the photographed workpiece A10' and the workpiece B20', so that the controller controls the suction component to move to accurately suck the workpiece B20' and assemble it to the workpiece A10'. The principle of visual positioning is a prior art and will not be repeated here.

[0035] Along the Y-axis direction, the suction component 32 is arranged between the assembly visual positioning component 33 and the feeding visual positioning component 34. The suction component 32 and the assembly visual positioning component 33 are driven by the first transverse motor module 35 to move synchronously along the Y-axis direction, and the feeding visual positioning component 34 is driven by the second transverse motor module 36 to move along the Y-axis direction. The first transverse motor module 35 and the second transverse motor module 36 are linear motor modules respectively. The suction component 32 and the assembly visual positioning component 33 are connected to the same transverse connecting plate. The first transverse motor module 35 drives the transverse connecting plate to move along the slide rail 311 to drive the suction component 32 and the assembly visual positioning component 33 to move synchronously along the Y-axis direction. The feeding visual positioning component 34 is connected to another transverse connecting plate. The second transverse motor module 36 drives the transverse connecting plate to move along the slide rail 311 to drive the feeding visual positioning component 34 to move along the Y-axis direction. Only two sets of linear motor modules are needed to realize the movement of multiple components that need to move along the Y-axis, simplifying the structure of the material picking mechanism and its control method.

[0036] See also Figures 4 to 6 As shown, the suction assembly 32 includes a ZR motor module 321 and a suction head 322 arranged at the output end of the ZR motor module 321. The suction head 322 is used to absorb the workpiece B20'. The ZR motor module 321 is used to drive the suction head 322 and the workpiece B20' absorbed by it to rise and fall along the Z-axis direction and rotate around the Z-axis, so as to absorb the workpiece B20' and apply downward pressure to the workpiece B20' to assemble it to the workpiece A10', and also make the direction of the workpiece B20' correspond to the workpiece A10' so that the two are accurately assembled. During assembly, except for a few circular products that do not require alignment, the two workpieces to be assembled usually have certain alignment requirements, and the rotating drive member can serve the purpose of aligning the two workpieces to be assembled. In this embodiment, the ZR motor module drives the suction head 322 to rise and fall and rotate, that is, the suction head can be lifted and lowered along the Z-axis and rotated around the Z-axis by a ZR motor module. A slide rail slider structure 37 is also provided between the ZR motor module and the transverse connecting plate to buffer the suction head. The suction head 322 is also connected to a negative pressure suction device, so that the suction head 322 sucks the workpiece B by means of negative pressure suction.

[0037] The material picking and assembly steps of the picking mechanism 3 include: the assembly visual positioning component 33 photographs the position and direction of the workpiece A10', and at the same time, the feeding visual positioning component 34 photographs the position and direction of the workpiece B20'; the feeding visual positioning component 34 moves away from the workpiece B20' in the direction away from the assembly line 1 under the driving action of the second transverse motor module 36, and the suction component 32 and the assembly visual positioning component 33 move synchronously to the position where the workpiece B20' is located, and after the ZR motor module 321 of the suction component 32 drives the suction head 322 to suck the workpiece B20', the suction component 32 moves to the position where the workpiece A10' is located, and the ZR motor module 321 drives the suction head 322 to descend to assemble the workpiece B20' to the workpiece A10'. Before assembling the workpiece B20' to the workpiece A10', if necessary, the suction head 322 should be rotated to make the direction of the workpiece B20' correspond to the workpiece A10'.

[0038] See also Figures 1 to 3 As shown, the first material picking mechanism 301 and the second material picking mechanism 302 are arranged symmetrically in the plane formed by the Y axis and the Z axis, and the suction component 32, the assembly visual positioning component 33 and the feeding visual positioning component 34 of any material picking mechanism 3 are arranged on the side of the frame 21 away from the other material picking mechanism 3. It can prevent the suction components 32 and the visual positioning components of different material picking mechanisms 3 from interfering with each other in motion, and can also make the layout of the two material picking mechanisms 3 more compact. If the suction components 32, the assembly visual positioning component 33 and the feeding visual positioning component 34 of the two material picking mechanisms 3 are arranged on one side, then it is necessary to reserve a larger space between the two material picking mechanisms 3 to prevent the two from interfering with each other in motion, and to reserve space for maintaining the material picking mechanisms 3.

[0039] See also Figures 4 to 5 As shown, it also includes a UV curing lamp assembly 5 arranged on one side of the material suction assembly 32, and the UV curing lamp assembly 5 and the material suction assembly 32 are arranged to move synchronously along the Y-axis direction. That is, the UV curing lamp assembly 5, the material suction assembly 32 and the assembly visual positioning assembly 33 are connected to the same transverse connecting plate, and the first transverse motor module 35 controls their movement along the Y-axis direction.

[0040] In this embodiment, there is glue between the assembled workpieces A and B, and the glue needs to be cured under UV light, so that the combination of workpieces A and B is more firm. Fig. 9 As shown, workpiece A of this embodiment is the first coil module of the camera, and workpiece B is the second coil module of the camera. Workpiece A is pre-coated with glue. After workpiece B is assembled to workpiece A, the glue is cured under the irradiation of a UV lamp so that workpiece A and workpiece B are bonded.

[0041] See also Figure 2 and Figure 8As shown, since the assembly of the present invention is to assemble workpiece B onto workpiece A, the material tray B20 is gradually emptied, and a closing mechanism 6 is provided between the first feeding line 201 and the second feeding line 202. The closing mechanism 6 is used to collect the material tray B20 from the first feeding line 201 and the second feeding line 202. The closing mechanism 6 is provided between the first feeding line 201 and the second feeding line 202, so that the two feeding lines 2 can share the closing mechanism 6, simplifying the structural layout of the assembly machine. And the material tray B20 is emptied intermittently until it needs to be closed, so that it is feasible for one closing mechanism 6 to collect the material trays of two feeding lines 2.

[0042] The closing mechanism 6 includes a closing belt assembly 61, a top plate assembly 62, and a plug-in assembly 63. The closing belt assembly 61 is connected to the material collection belt for conveying the material tray B20 to the top of the top plate assembly 62. The top plate assembly 62 includes a top plate cylinder 621 and a top plate plate 622 for lifting the material tray B20 located above it upward. The plug-in assembly 63 includes two oppositely arranged plug-in units 631 and a plug-in cylinder 632 for driving the plug-in units 631. The two pairs of plug-ins 631 are used to move toward each other to receive the material tray B20 lifted by the top plate assembly 62. The output end of the top plate cylinder 621 is connected to the top plate plate 622, which drives the top plate plate 622 to rise and fall along the Z axis, thereby lifting the material tray B20. The closing belt assembly 61 includes a closing belt 611 and a closing motor 612. The closing motor 612 rotates bidirectionally to drive the closing belt 6 to convey the material tray B20 bidirectionally, so that no matter whether the material tray B20 comes from the first feeding line 201 or the second feeding line 202, the closing belt assembly 61 can convey it to the top of the top plate assembly 62.

[0043] The workflow of the present invention is as follows: Assembly line 1 transports material tray A10 and workpiece A10' to the first assembly station 101. The assembly vision positioning component 33 of the first material picking mechanism 301 captures the position and direction of the workpiece A10' on the first assembly station 101. At the same time, the feeding vision positioning component 34 captures the position and direction of the workpiece B20' on the first feeding line 201. Driven by the second transverse motor module 36, the feeding vision positioning component 34 moves in the direction away from the assembly line 1 and away from the workpiece B20', and the suction component 32 and the assembly vision positioning component 33 move synchronously to the position of the workpiece B20' on the first feeding line 201. After the ZR motor module 321 of the suction component 32 drives the suction head 322 to suck the workpiece B20', the suction component 32 moves to the position of the workpiece A10' on the first assembly station 101. The ZR motor module 321 drives the suction head 322 to descend and assemble the workpiece B20' to the workpiece A10'. Before assembling the workpiece B20' to the workpiece A10', if necessary, the suction head 322 should be rotated to make the direction of the workpiece B20' correspond to that of the workpiece A10'. The workpiece B20' of the first feeding line 201 is assembled to the workpiece A10' of the first part located at the first assembly station 101, and the UV curing lamp assembly 5 irradiates the glue between the assembled workpieces A10' and B20', thereby preliminarily curing the glue to make the connection between the workpieces A10' and B20' more secure.

[0044] At this time, half of the assembled workpieces A10' and the other half of the unassembled workpieces A10' are placed on the material tray A10, and the assembly line 1 continues to transport, thereby transporting the material tray A10 and the workpieces A10' from the first assembly station 101 to the second assembly station 102, and the second material picking mechanism 302 performs the same steps as the above-mentioned first material picking mechanism 301 to assemble the workpiece B20' of the second feeding line 202 onto the other half of the workpiece A10' located at the second assembly station 102. At this time, a tray of workpieces A10' is assembled.

[0045] The assembly work at the first assembly station 101 and the second assembly station 102 can be carried out simultaneously, that is, after half of the workpieces A of the previous tray are assembled at the first assembly station 101, they are transported to the second assembly station 102 for further assembly, and the next tray of workpieces A can be assembled at the first assembly station 101 at the same time, thereby increasing the assembly efficiency by half.

[0046] When the tray B20 on any feed line 2 is emptied and needs to be closed, the closing belt assembly 61 moves the tray B20 from the corresponding feed line 2 to the top of the top tray assembly 62, and the two pairs of plug-ins 631 of the plug-in assembly 63 move away from each other under the action of the plug-in cylinder 632, so that the tray B20 can be lifted by the top tray assembly 62 to a position above the plug-in 631. When the tray B20 is lifted by the top tray assembly 62 to a position higher than the plug-in 631, the two pairs of plug-ins 631 move towards each other under the action of the plug-in cylinder 632 until they are inserted under the tray B20, and the top tray assembly 62 descends, and the tray B20 is held by the plug-in 631 under the obstruction of the plug-in 631. Repeat the above closing action, each new tray B20 is lifted to the bottom of the original tray B20, thereby forming a stack of trays B stacked up and down.

[0047] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that the remaining undescribed portions are prior art, and that various changes made to the present invention in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims shall fall within the scope of protection of the present invention.

Claims

1. An assembly machine, characterized in that: include: An assembly line extending along the X-axis direction and provided with a first assembly station and a second assembly station, for unidirectionally conveying a material tray A and a workpiece A placed thereon along the X-axis direction, wherein the workpiece A placed on the material tray A is divided into a first part and a second part; Two feeding lines, namely a first feeding line and a second feeding line, are respectively arranged on one side of the assembly line in the Y-axis direction, extend along the X-axis direction and are used to convey the material tray B and a plurality of workpieces B placed on the material tray B toward each other; Two material-picking mechanisms, namely a first material-picking mechanism and a second material-picking mechanism, are arranged above the assembly line and the feeding line along the Y-axis direction, and the two material-picking mechanisms are respectively used to grab the workpiece B on one of the feeding lines and assemble it to the workpiece A on the assembly line; The assembly steps of the assembly machine include: The assembly line transports the material tray A and the workpiece A to the first assembly station, and the first material-picking mechanism assembles the workpiece B of the first material-feeding line into the workpiece A located in the first part of the first assembly station; The assembly line transports the material tray A and the workpiece A from the first assembly station to the second assembly station, and the second material picking mechanism assembles the workpiece B of the second feeding line into the workpiece A located in the second part of the second assembly station.

2. An assembly machine according to claim 1, characterized in that: The material picking mechanism includes a material suction component and a frame arranged across the assembly line and the feeding line. The material suction component is connected to the frame so as to be movably connected along the Y-axis direction and the Z-axis direction. The two feeding lines and the first assembly station and the second assembly station of the assembly line are respectively provided with a material moving mechanism. The material moving mechanism is used to lift the material tray A or the material tray B to make it separate from the assembly line or the feeding line, and drive the material tray A or the material tray B to move along the X-axis direction, so that the material moving mechanism and the material picking mechanism cooperate to assemble workpieces A and B.

3. An assembly machine according to claim 2, characterized in that: The frame is provided with a slide rail extending along the Y-axis direction, and the slide rail is slidably connected with the suction component, the assembly vision positioning component and the feeding vision positioning component. The assembly vision positioning component is used to photograph and locate the position of the workpiece A, and the feeding vision positioning component is used to photograph and locate the position of the workpiece B. The suction component is used to assemble the workpiece B to the workpiece A according to the positions of the workpiece A and the workpiece B photographed by the assembly vision positioning component and the feeding vision positioning component.

4. An assembly machine according to claim 3, characterized in that: The suction assembly includes a ZR motor module and a suction head arranged at the output end of the ZR motor module, the suction head is used to suck the workpiece B, and the ZR motor module is used to drive the suction head and the workpiece B sucked thereon to rise and fall along the Z-axis direction and rotate around the Z-axis, thereby sucking the workpiece B and applying downward pressure to the workpiece B to assemble it to the workpiece A, and also making the direction of the workpiece B correspond to the workpiece A.

5. An assembly machine according to claim 3, characterized in that: Along the Y-axis direction, the suction component is arranged between the assembly vision positioning component and the feeding vision positioning component. The suction component and the assembly vision positioning component are driven by the first transverse motor module to move synchronously along the Y-axis direction, and the feeding vision positioning component is driven by the second transverse motor module to move along the Y-axis direction.

6. An assembly machine according to claim 5, characterized in that: The material picking and assembling steps of the material picking mechanism include: the assembly vision positioning component photographs the position and direction of the workpiece A, and at the same time, the feeding vision positioning component photographs the position and direction of the workpiece B; the feeding vision positioning component moves away from the workpiece B in a direction away from the assembly line, the suction component and the assembly vision positioning component move synchronously to the position of the workpiece B, the suction component absorbs the workpiece B and then moves to the position of the workpiece A, and assembles the workpiece B to the workpiece A.

7. An assembly machine according to claim 3, characterized in that: The first material picking mechanism and the second material picking mechanism are arranged symmetrically in the plane formed by the Y-axis and the Z-axis, and the suction component, the assembly vision positioning component and the feeding vision positioning component of any one of the material picking mechanisms are arranged on the side of the frame away from the other material picking mechanism.

8. An assembly machine according to claim 2, characterized in that: It also includes a UV curing lamp assembly arranged on one side of the material suction assembly, and the UV curing lamp assembly and the material suction assembly are arranged to move synchronously along the Y-axis direction.

9. An assembly machine according to claim 2, characterized in that: The feeding line and the assembly line are respectively provided with two conveyor belts, with a gap between the two conveyor belts. The material moving mechanism is arranged below the conveyor belts, and includes a material moving linear motor module and a lifting cylinder. The lifting cylinder is arranged between the two conveyor belts and is used to lift the material tray A or the material tray B to make it detach from the conveyor belts. The material moving linear motor module extends along the X-axis direction and is used to drive the lifting cylinder and the lifted material tray A or the material tray B to move along the X-axis direction.

10. An assembly machine according to claim 1, characterized in that: A closing mechanism is provided between the first feeding line and the second feeding line, and the closing mechanism is used for collecting the trays B from the first feeding line and the second feeding line. The closing mechanism comprises a closing belt assembly, a lifting assembly and a plug-in assembly. The closing belt assembly is connected to the collecting belt and is used for conveying the tray B to the top of the lifting assembly. The lifting assembly is used for lifting the tray B located above it upwards, and the plug-in assembly comprises two oppositely arranged plug-in units, and the two plug-in units are used for moving towards each other to receive the tray B lifted by the lifting assembly. The number of the workpieces A in the first part and the number of the workpieces A in the second part are equal.

Images