Assembly method and assembly system

Abstract

The invention discloses an assembling method and an assembling system.The assembling method is based on the assembling system.The assembling system comprises a conveying device, a visual detection device and an adjusting device, the conveying device extends in the first direction and is used for conveying an assembled product in the first direction, and the visual detection device is used for adjusting the visual detection device; the visual detection device and the adjusting device are located on one side of the conveying device in the second direction, the visual detection device is located on the upstream of the adjusting device, and the assembling method comprises the steps that in the running process of the conveying device, a real-time image of a target part in a product detected by the visual detection device is obtained; comparing the real-time image with a preset standard image to obtain an angle offset; and according to the angle offset, an adjusting device is controlled to adjust the angle where the target part in the product is located. The technical scheme provided by the invention is used for meeting the high-precision automatic assembly requirement of the production system.

Description

Technical Field

[0001] The present invention relates to the technical field of product production and assembly, and in particular to an assembly method and an assembly system. Background Art

[0002] In order to achieve real physical force feedback, the buttons of the game controller are designed with a pendulum motor to drive the gear to transmit feedback force to the trigger button of the controller through the pendulum. During the assembly of the above structure, the pendulum assembly needs to be precisely aligned with the teeth of the driving gear, which makes the automatic assembly of the pendulum difficult. Summary of the invention

[0003] The main purpose of the present invention is to provide an assembly method and an assembly system, aiming to meet the high-precision automated assembly requirements of a production system.

[0004] To achieve the above-mentioned object, the present invention proposes an assembly method, based on an assembly system, wherein the assembly system is provided with an inspection station and an adjustment station, the assembly system comprises a conveying device, a visual inspection device and an adjustment device, the conveying device extends along a first direction, and the conveying trajectory passes through the inspection station and the adjustment station, the conveying device is used to convey the assembled product along the first direction, the visual inspection device is arranged at the inspection station, the adjustment device is arranged at the adjustment station, and the visual inspection device and the adjustment device are located on one side of the conveying device in the second direction, the visual inspection device is located upstream of the adjustment device, and the adjustment device is used to adjust the angle of the target component in the product around the axial direction of the second direction, and the steps of the assembly method include:

[0005] During the operation of the conveying device, obtaining a real-time image of a target component in the product inspected by the visual inspection device;

[0006] Compare the real-time image with a preset standard image to obtain an angle offset;

[0007] According to the angle offset, the adjusting device is controlled to adjust the angle of the target component in the product.

[0008] In one embodiment, the adjustment device includes a bracket, a first movable seat, and a rotation adjustment component, the first movable seat can be movably mounted on the bracket along the second direction, the rotation adjustment component is mounted on one end of the first movable seat close to the conveying device, and the step of controlling the adjustment device to adjust the angle of the target component in the product according to the angle offset includes:

[0009] Control the first movable seat to move toward the conveying device by a first set distance, so that the rotation adjustment component cooperates with a target component in the product;

[0010] According to the angular offset, controlling the rotation adjustment assembly to drive the target component in the product to rotate axially around a second direction;

[0011] The first movable seat is controlled to retreat so that the rotation adjustment component is separated from the target component in the product.

[0012] In one embodiment, the assembly system is further provided with an assembly station, the conveying track of the conveying device also passes through the assembly station, the assembly system further includes a loading device and an assembly device, the assembly device is provided at the assembly station, and the assembly device includes a picking component movable along a second direction, the picking component is used to pick up the assembly parts output by the loading device, and after the step of controlling the adjustment device to adjust the angle of the target component in the product according to the angle offset, the step further includes:

[0013] When the picking component picks up an assembly part and the conveying device conveys the product to the assembly station, the picking component is controlled to move toward the conveying device by a second set distance so that the assembly part matches the target component in the product;

[0014] Controlling the pickup assembly to release the assembly parts;

[0015] The picking-up component is controlled to retract so as to separate the picking-up component from the assembly part.

[0016] The present invention also proposes an assembly system, wherein an inspection station and an adjustment station are provided on the assembly system, and the assembly system includes a conveying device, a visual inspection device and an adjustment device. The conveying device extends along a first direction, and the conveying trajectory passes between the inspection station and the adjustment station. The conveying device is used to convey the assembled products along the first direction. The visual inspection device is arranged at the inspection station, and the adjustment device is arranged at the adjustment station. The visual inspection device and the adjustment device are located on one side of the conveying device in the second direction, and the visual inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of the target component in the product around the axis of the second direction.

[0017] In one embodiment, the assembly system also includes a control device, which is electrically connected to the conveying device, the visual inspection device, and the adjustment device. The control device includes a memory, a processor, and a control program of the assembly method stored in the memory and executable on the processor. The control program of the assembly system is configured to implement the steps of any of the above assembly methods.

[0018] In one embodiment, the adjustment device includes a bracket, a first movable seat and a rotation adjustment component, the first movable seat can be movably installed on the bracket along the second direction, and the rotation adjustment component is installed on one end of the first movable seat close to the conveying device.

[0019] In one embodiment, the rotation adjustment assembly includes a rotating shaft and a sleeve sleeved on the output end of the rotating shaft, the rotating shaft is extended along the second direction, and the output end of the rotating shaft is provided with a matching portion, the matching portion is used to match with a target component in a product, the sleeve can be movably sleeved on the rotating shaft along the axial direction of the rotating shaft, and the sleeve has an initial state in which the sleeve sleeves the matching portion and an adjustment state in which the matching portion exposes the sleeve in the movable stroke, and an elastic reset member is further provided between the sleeve and the rotating shaft, and the elastic reset member is used to reset the sleeve to the initial state; and / or,

[0020] A first elastic member is arranged between the rotation adjustment assembly and the first movable seat.

[0021] In one embodiment, an assembly station is further provided on the assembly system, and the conveying track of the conveying device also passes through the assembly station. The assembly system also includes a loading device and an assembly device. The assembly device is arranged at the assembly station, and the assembly device includes a picking component movable along a second direction, and the picking component is used to pick up assembly parts output by the loading device.

[0022] In one embodiment, the assembling device further comprises a second movable seat, which is movably arranged along a second direction, the picking component is installed at one end of the second movable seat close to the conveying device, and a second elastic member is arranged between the picking component and the second movable seat.

[0023] In one embodiment, the pickup assembly is mounted on the second movable seat so as to be axially rotatable around the second direction.

[0024] In the technical solution of the present invention, the assembly system includes the conveying device, the visual inspection device and the adjustment device. The conveying device is used to undertake the task of conveying products in the assembly system. Therefore, when the inspection station and the adjustment station are provided on the assembly system, the conveying trajectory of the conveying device should pass through the inspection station and the adjustment station. The visual inspection device is provided at the inspection station, and its function is to obtain a real-time image of the target component in the product for comparison with a preset standard image to obtain the offset of the target component. The adjustment device is provided at the adjustment station, and the adjustment device is located downstream of the visual inspection device. The adjustment device is used to receive the above-mentioned offset and adjust the target component, so that the state of the target component is consistent with the state in the preset standard image, thereby ensuring the accuracy of subsequent component assembly. Based on the above structure, the present application proposes the corresponding assembly method. Specifically, during the operation of the conveying device, the product will be continuously conveyed through the inspection station and the adjustment station. When the product passes through the inspection station, a real-time image of the target component in the product detected by the visual inspection device is obtained. After obtaining the real-time image, the real-time image is compared with the preset standard image, and the angle offset is obtained based on the comparison structure. The angle offset information is then transmitted to the adjustment device. When the product is conveyed to the adjustment station, the adjustment device adjusts the angle of the target component in the product according to the angle offset information so that it is consistent with the angle in the preset standard image, thereby improving the assembly accuracy of the assembly system and meeting the requirements for high-precision product assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0026] Figure 1 A schematic flow chart of a first embodiment of an assembly method provided by the present invention;

[0027] Figure 2 A schematic flow chart of a second embodiment of an assembly method provided by the present invention;

[0028] Figure 3 A schematic flow chart of a third embodiment of an assembly method provided by the present invention;

[0029] Figure 4 for Figure 1A schematic diagram of the structure of the control system of the hardware operating environment involved in the embodiment scheme;

[0030] Figure 5 A simplified plan view of the structure of an embodiment of an assembly system provided by the present invention;

[0031] Figure 6 for Figure 5 A schematic diagram of the three-dimensional structure of the regulating device;

[0032] Figure 7 for Figure 6 A schematic diagram of the local three-dimensional structure of the middle rotation adjustment component;

[0033] Figure 8 for Figure 5 Schematic diagram of the local three-dimensional structure of the pickup component.

[0034] Description of Figure Numbers:

[0035] 100. Assembly system; 1. Conveying device; 2. Visual inspection device; 3. Adjustment device; 31. Bracket; 32. First movable seat; 33. Rotation adjustment component; 331. Rotation shaft; 332. Sleeve; 333. Fitting part; 34. First elastic member; 4. Control device; 5. Loading device; 6. Assembly device; 61. Pick-up component; 62. Second movable seat; 63. Second elastic member.

[0036] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0040] In order to achieve real physical force feedback, the buttons of the game controller are designed with a pendulum motor to drive the gear to transmit feedback force to the trigger button of the controller through the pendulum. During the assembly of the above structure, the pendulum assembly needs to be precisely aligned with the teeth of the driving gear, which makes the automatic assembly of the pendulum difficult.

[0041] In view of this, the present invention proposes an assembly method, please refer to Figures 1 to 3 , is an embodiment of the assembly method proposed in this application, and the assembly method will be described in detail below with reference to specific drawings.

[0042] See also Figures 1 to 3 The assembly method is based on an assembly system 100, wherein the assembly system 100 is provided with an inspection station and an adjustment station, the assembly system 100 comprises a conveying device 1, a visual inspection device 2 and an adjustment device 3, the conveying device 1 extends along a first direction, and the conveying track passes through the inspection station and the adjustment station, the conveying device 1 is used to convey the assembled product along the first direction, the visual inspection device 2 is arranged at the inspection station, the adjustment device 3 is arranged at the adjustment station, and the visual inspection device 2 and the adjustment device 3 are located on one side of the conveying device 1 in the second direction, the visual inspection device 2 is located upstream of the adjustment device 3, and the adjustment device 3 is used to adjust the angle of the target component in the product around the axial direction of the second direction, and the steps of the assembly method include:

[0043] S100: during the operation of the conveying device 1, obtaining a real-time image of a target component in a product detected by the visual inspection device 2;

[0044] S200: Compare the real-time image with a preset standard image to obtain an angle offset;

[0045] S300: According to the angle offset, controlling the adjusting device 3 to adjust the angle of the target component in the product.

[0046] In the technical solution of the present invention, the assembly system 100 includes the conveying device 1, the visual inspection device 2 and the adjustment device 3. The conveying device 1 is used to undertake the task of conveying products in the assembly system 100. Therefore, when the inspection station and the adjustment station are provided on the assembly system 100, the conveying trajectory of the conveying device 1 should pass through the inspection station and the adjustment station. The visual inspection device 2 is provided at the inspection station, and its function is to obtain a real-time image of the target component in the product for comparison with a preset standard image to obtain the offset of the target component. The adjustment device 3 is provided at the adjustment station, and the adjustment device 3 is located downstream of the visual inspection device 2. The adjustment device 3 is used to receive the above-mentioned offset and adjust the target component, so as to make the state of the target component consistent with the state in the preset standard image, so as to ensure the accuracy of subsequent component assembly. On the basis of the above structure, the present application proposes the corresponding assembly method. Specifically, during the operation of the conveying device 1, the product will be continuously conveyed through the inspection station and the adjustment station. When the product passes through the inspection station, a real-time image of the target component in the product detected by the visual inspection device 2 is obtained. After obtaining the real-time image, the real-time image is compared with the preset standard image, and the angle offset is obtained based on the comparison structure. The angle offset information is then passed to the adjustment device 3. When the product is conveyed to the adjustment station, the adjustment device 3 adjusts the angle of the target component in the product according to the angle offset information so that it is consistent with the angle in the preset standard image, thereby improving the assembly accuracy of the assembly system 100 and meeting the high-precision product assembly requirements.

[0047] It can be understood that the types of products and target components in the products to which the assembly method is applicable are not limited herein. It is sufficient that the assembly accuracy of the products and target components in the products can be improved through the assembly method. In this embodiment, the target components in the product are pre-assembled gear structures, which need to engage with the teeth on the pendulum structure in the game controller, so higher assembly accuracy is required. The assembly method proposed in this application is intended to meet the above required assembly accuracy to ensure the stability of the high-precision automated assembly process of the assembly system 100.

[0048] Specifically, the adjusting device 3 in this embodiment is mainly used to adjust the rotation angle of the gear to adjust the angular position of the tooth portion thereof. Based on this, the adjusting device 3 includes a bracket 31, a first movable seat 32 and a rotation adjusting assembly 33. The first movable seat 32 can be movably mounted on the bracket 31 along the second direction. The rotation adjusting assembly 33 is mounted on one end of the first movable seat 32 close to the conveying device 1. The rotation adjusting assembly 33 is mainly used to contact the gear and drive the gear to rotate. The step S300 includes:

[0049] S310: Control the first movable seat 32 to move toward the conveying device 1 by a first set distance, so that the rotation adjustment component 33 cooperates with a target component in the product;

[0050] S320: According to the angle offset, controlling the rotation adjustment component 33 to drive the target component in the product to rotate axially around the second direction;

[0051] S330: Control the first movable seat 32 to retreat, so that the rotation adjustment component 33 is separated from the target component in the product.

[0052] The first movable seat 32 is moved in the second direction to drive the rotation adjustment component 33 to cooperate with or separate from the target component in the product. Based on this, when the product is conveyed to the adjustment station, the first movable seat 32 is controlled to move toward the conveying device 1 by the first set distance. The value of the first set distance is mainly based on actual needs, and it can ensure that the rotation adjustment component 33 cooperates with the target component in the product. Then, based on the obtained angle offset, the rotation adjustment component 33 is controlled to drive the target component in the product to rotate axially around the second direction until the angle of the target component is consistent with the preset standard image, and the adjustment of the target component is completed. At this time, the first movable seat 32 is controlled to retract, so that the rotation adjustment component 33 is separated from the target component. In this way, the adjustment process of the target component is completed, preparing for subsequent high-precision assembly.

[0053] In addition, an assembly station is also provided on the assembly system 100, and the conveying track of the conveying device 1 also passes through the assembly station. The assembly system 100 also includes a loading device 5 and an assembly device 6. The assembly device 6 is arranged at the assembly station, and the assembly device 6 includes a picking component 61 movable along the second direction, and the picking component 61 is used to pick up the assembly parts output by the loading device 5. The assembly station is arranged downstream of the adjustment station, so that when the adjusted product moves to the assembly station, the assembly operation can be directly performed, and the assembly accuracy is high to meet the requirements. After the step S300, the steps are also included:

[0054] S340: When the picking component 61 picks up an assembly part and the conveying device 1 conveys the product to the assembly station, the picking component 61 is controlled to move toward the conveying device 1 by a second set distance so that the assembly part matches the target component in the product;

[0055] S350: Control the pickup assembly 61 to release the assembly parts;

[0056] S360: Control the picking component 61 to retreat so that the picking component 61 is separated from the assembly part.

[0057] Generally, the picking component 61 has a picking and positioning function, that is, the state of the assembly part picked up by the picking component 61 is a preset state. Here, the preset state is paired with the preset standard image of the target component, so there is no need to adjust the angle of the assembly part picked up by the picking component 61, which simplifies the operation and ensures the assembly accuracy. It should be noted here that the specific value of the second set distance is also not limited, and is based on actual needs. It can enable the picking component 61 to extend the assembly part into the interior of the product and cooperate with the target component for installation. Thereafter, after completing the step of coordinating the assembly part with the target component, the picking component 61 is controlled to release the assembly part and retreat away from the assembly part to complete the automated process of accurately installing the assembly part to the target component. The steps are simple, easy to set up, and high accuracy meets functional requirements.

[0058] See also Figures 4 to 8The present application also proposes an assembly system 100, wherein an inspection station and an adjustment station are provided on the assembly system 100, and the assembly system 100 includes a conveying device 1, a visual inspection device 2 and an adjustment device 3. The conveying device 1 extends along a first direction, and a conveying trajectory passes between the inspection station and the adjustment station. The conveying device 1 is used to convey the assembled product along the first direction, the visual inspection device 2 is arranged at the inspection station, the adjustment device 3 is arranged at the adjustment station, and the visual inspection device 2 and the adjustment device 3 are located on one side of the conveying device 1 in the second direction, the visual inspection device 2 is located upstream of the adjustment device 3, and the adjustment device 3 is used to adjust the angle of the target component in the product around the axis of the second direction. The specific functional settings of the conveying device 1, the visual inspection device 2 and the adjustment device 3 have been described in detail above. Specifically, the conveying device 1 is used to undertake the task of conveying products in the assembly system 100. The visual inspection device 2 is arranged at the inspection station, and its function is to obtain a real-time image of the target component in the product for comparison with the preset standard image to obtain the offset of the target component. The adjustment device 3 is arranged at the adjustment station, and the adjustment device 3 is used to receive the above-mentioned offset and adjust the target component, so that the state of the target component is consistent with the state in the preset standard image, so as to ensure the accuracy of subsequent component assembly.

[0059] Furthermore, the assembly system 100 further comprises a control device 4, the control device 4 being electrically connected to the conveying device 1, the visual inspection device 2 and the adjustment device 3. To implement the control method of the assembly system 100 as described above, please refer to Figure 4 , the control device 4 includes: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0060] Those skilled in the art will understand that Figure 4The structure of the control device 4 shown in the figure does not constitute a limitation on the control device 4, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0061] like Figure 4 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a control program of the assembly system 100.

[0062] exist Figure 4 In the control device 4 shown, the control program of the assembly system 100 stored in the memory 1005 is called by the processor 1001, and the assembly method is executed.

[0063] In addition, the adjustment device 3 includes a bracket 31, a first movable seat 32 and a rotation adjustment component 33, the first movable seat 32 can be movably mounted on the bracket 31 along the second direction, and the rotation adjustment component 33 is mounted on one end of the first movable seat 32 close to the conveying device 1. The adjustment device 3 includes the bracket 31, the first movable seat 32 and the rotation adjustment component 33, which have been described in detail above and will not be repeated here.

[0064] Furthermore, the rotation adjustment component 33 includes a rotating shaft 331 and a sleeve 332 sleeved on the output end of the rotating shaft 331, the rotating shaft 331 is extended along the second direction, and the output end of the rotating shaft 331 is provided with a matching portion 333, the matching portion 333 is used to match with the target component in the product, the sleeve 332 can be movably sleeved on the rotating shaft 331 along the axial direction of the rotating shaft 331, and the sleeve 332 has an initial state in which the sleeve 332 sleeves the matching portion 333 and an adjustment state in which the matching portion 333 exposes the sleeve 332 in the movable stroke, and an elastic reset member is also provided between the sleeve 332 and the rotating shaft 331, and the elastic reset member is used to reset the sleeve 332 to the initial state. It can be understood that in order to ensure that the target component does not deflect abnormally before and after adjustment to ensure that there is no angular deviation, the sleeve 332 is provided at the end of the rotating shaft 331 used for rotation adjustment in this embodiment, and the elastic reset member is provided between the sleeve 332 and the rotating shaft 331. In this way, driven by the elastic reset member, the sleeve 332 is always in the initial state, that is, the matching portion 333 of the rotating shaft 331 is built into the sleeve 332. At this time, when the rotation adjustment component 33 moves toward the target component, the sleeve 332 is able to be pressed against the end face of the target component first, and in the process of continuing the movement, the elastic reset member is compressed to increase the pressure of the sleeve 332 pressing against the end face of the target component, thereby limiting the abnormal deflection of the target component before rotation adjustment and ensuring the adjustment accuracy. When the rotation adjustment assembly 33 continues to move toward the target component, the matching portion 333 of the rotation shaft 331 contacts the target component, and the rotation of the rotation shaft 331 can drive the target component to rotate, thereby adjusting the angle of the target component. After that, when the angle adjustment is completed, the sleeve 332 is still pressed against the target component, so the target component still cannot deflect abnormally, thereby ensuring the accuracy of the adjusted target component.

[0065] In addition, a first elastic member 34 is provided between the rotation adjustment component 33 and the first movable seat 32. In order to prevent the first movable seat 32 from continuing to move toward the target component after the mating portion 333 of the rotation shaft 331 is mated with the target component, so that the mating portion 333 abuts and applies pressure to the target component, resulting in damage or even destruction of the target component, the first elastic member 34 is further provided between the first movable seat 32 and the rotation adjustment component 33 in this embodiment, so that the rotation adjustment component 33 is arranged in a floating manner. When encountering the above situation, the first elastic member 34 can be compressed without causing serious damage to the target component, and the provision of the first elastic member 34 also increases the error tolerance of selecting a specific value of the first set distance.

[0066] In addition, the assembly system 100 is also provided with an assembly station, and the conveying track of the conveying device 1 also passes through the assembly station. The assembly system 100 also includes a loading device 5 and an assembly device 6. The assembly device 6 is provided at the assembly station, and the assembly device 6 includes a pickup assembly 61 movable along the second direction, and the pickup assembly 61 is used to pick up the assembly parts output by the loading device 5. The loading device 5 and the assembly device 6 have been described in detail above, and will not be described one by one here.

[0067] Specifically, the assembly device 6 further includes a second movable seat 62, which can be movably arranged along the second direction, the pick-up assembly 61 is installed on one end of the second movable seat 62 close to the conveying device 1, and a second elastic member 63 is arranged between the pick-up assembly 61 and the second movable seat 62. Similar to the function of the first elastic member 34 arranged between the rotation adjustment assembly 33 and the first movable seat 32, the second elastic member 63 is arranged between the second movable seat 62 and the pick-up assembly 61 in this embodiment, so that the pick-up assembly 61 is arranged to float in the second direction. After the second movable seat 62 drives the pick-up assembly 61 to deliver the assembly parts into the product, if the second movable seat 62 continues to move, the second elastic member 63 will be compressed, and will not be pressed against the product to cause damage to the product, thereby also improving the tolerance rate of the specific value selection of the second set distance.

[0068] In addition, the pick-up component 61 can be axially rotatably mounted on the second movable seat 62 around the second direction. In order to ensure that the installation angle of the assembly part picked up by the pick-up component 61 fits the angle of the target part in the preset standard image, the present embodiment sets the pick-up component 61 to be rotatably mounted on the second movable seat 62, so that before assembly production, the pick-up component 61 can be adjusted according to the preset standard image to ensure that the assembly part picked up by the pick-up component 61 can accurately match the adjusted target part. In this way, there is no need to adjust the preset standard image, which ensures the uniqueness of the standard and avoids the problem of abnormal standard selection after multiple standard adjustments, which leads to abnormal assembly matching.

[0069] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An assembly method, based on an assembly system, characterized in that: The assembly system is provided with an inspection station and an adjustment station, and the assembly system includes a conveying device, a visual inspection device and an adjustment device. The conveying device extends along a first direction, and the conveying track passes through the inspection station and the adjustment station. The conveying device is used to convey the assembled product along the first direction. The visual inspection device is arranged at the inspection station, and the adjustment device is arranged at the adjustment station. The visual inspection device and the adjustment device are located on one side of the conveying device in the second direction, and the visual inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of the target component in the product around the axis of the second direction. The steps of the assembly method include: During the operation of the conveying device, obtaining a real-time image of a target component in the product inspected by the visual inspection device; Compare the real-time image with a preset standard image to obtain an angle offset; According to the angle offset, the adjusting device is controlled to adjust the angle of the target component in the product.

2. The assembly method according to claim 1, characterized in that: The adjusting device comprises a bracket, a first movable seat and a rotation adjusting assembly, wherein the first movable seat can be movably mounted on the bracket along a second direction, and the rotation adjusting assembly is mounted on one end of the first movable seat close to the conveying device. The step of controlling the adjusting device to adjust the angle of the target component in the product according to the angle offset comprises: Control the first movable seat to move toward the conveying device by a first set distance, so that the rotation adjustment component cooperates with a target component in the product; According to the angular offset, controlling the rotation adjustment assembly to drive the target component in the product to rotate axially around a second direction; The first movable seat is controlled to retreat so that the rotation adjustment component is separated from the target component in the product.

3. The assembly method according to claim 1, characterized in that: The assembly system is also provided with an assembly station, and the conveying track of the conveying device also passes through the assembly station. The assembly system also includes a loading device and an assembly device. The assembly device is provided at the assembly station, and the assembly device includes a picking component movable along a second direction, and the picking component is used to pick up the assembly parts output by the loading device. After the step of controlling the adjustment device to adjust the angle of the target component in the product according to the angle offset, the step further includes: When the picking component picks up an assembly part and the conveying device conveys the product to the assembly station, the picking component is controlled to move toward the conveying device by a second set distance so that the assembly part matches the target component in the product; Controlling the pickup assembly to release the assembly parts; The picking-up component is controlled to retract so as to separate the picking-up component from the assembly part.

4. An assembly system, characterized in that: The assembly system is provided with an inspection station and an adjustment station, and the assembly system includes a conveying device, a visual inspection device and an adjustment device. The conveying device extends along a first direction, and a conveying trajectory passes between the inspection station and the adjustment station. The conveying device is used to convey the assembled products along the first direction. The visual inspection device is arranged at the inspection station, and the adjustment device is arranged at the adjustment station. The visual inspection device and the adjustment device are located on one side of the conveying device in the second direction, and the visual inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of the target component in the product around the axis of the second direction.

5. The assembly system according to claim 4, characterized in that: The assembly system also includes a control device, which is electrically connected to the conveying device, the visual inspection device and the adjustment device. The control device includes a memory, a processor and a control program of the assembly method stored in the memory and executable on the processor. The control program of the assembly system is configured to implement the steps of the assembly method as described in any one of claims 1 to 3.

6. The assembly system according to claim 4, characterized in that: The adjusting device comprises a bracket, a first movable seat and a rotation adjusting assembly. The first movable seat can be movably mounted on the bracket along a second direction, and the rotation adjusting assembly is mounted on one end of the first movable seat close to the conveying device.

7. The assembly system according to claim 6, characterized in that: The rotation adjustment assembly comprises a rotating shaft and a sleeve sleeved on an output end of the rotating shaft, the rotating shaft is extended along the second direction, and a matching portion is provided at the output end of the rotating shaft, the matching portion is used to match with a target component in a product, the sleeve can be movably sleeved on the rotating shaft along the axial direction of the rotating shaft, and the sleeve has an initial state in which the sleeve sleeves the matching portion and an adjustment state in which the matching portion exposes the sleeve in the movable stroke, an elastic reset member is further provided between the sleeve and the rotating shaft, and the elastic reset member is used to reset the sleeve to the initial state; and / or, A first elastic member is arranged between the rotation adjustment assembly and the first movable seat.

8. The assembly system according to claim 4, characterized in that: An assembly station is also provided on the assembly system, and the conveying track of the conveying device also passes through the assembly station. The assembly system also includes a loading device and an assembly device. The assembly device is arranged at the assembly station, and the assembly device includes a picking component that can move along a second direction, and the picking component is used to pick up assembly parts output by the loading device.

9. The assembly system according to claim 8, characterized in that: The assembling device further comprises a second movable seat, which is movable along a second direction. The picking assembly is mounted on one end of the second movable seat close to the conveying device, and a second elastic member is arranged between the picking assembly and the second movable seat.

10. The assembly system according to claim 9, characterized in that: The pickup assembly is axially rotatably mounted on the second movable seat around the second direction.

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