Assembly method and assembly system

Abstract

The application discloses an assembling method and an assembling system, and relates to the technical field of product production and assembling, wherein 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 along a first direction and is used for conveying assembled products along the first direction. The visual detection device and the adjusting device are located on one side of the conveying device in a second direction. The visual detection device is located upstream of the adjusting device. The steps of the assembling method comprise the following steps: obtaining real-time images of target parts in products detected by the visual detection device during operation of the conveying device; comparing the real-time images with preset standard images to obtain an angle offset; and controlling the adjusting device to adjust the angle of the target parts in the products according to the angle offset. The technical scheme provided by the application is used for meeting the high-precision automatic assembling requirements of a production system.

Description

Technical Field

[0001] This invention relates to the field of product manufacturing and assembly technology, and in particular to an assembly method and assembly system. Background Technology

[0002] To achieve realistic physical force feedback, the game controller's buttons are designed with a pendulum motor that drives gears to transmit feedback force to the controller's trigger buttons via a pendulum. During the assembly of this structure, the pendulum assembly requires precise alignment with the teeth of the drive gear, making automatic pendulum assembly difficult. Summary of the Invention

[0003] The main objective of this invention is to propose an assembly method and assembly system that aims to meet the high-precision automated assembly requirements of production systems.

[0004] To achieve the above objectives, the present invention proposes an assembly method based on an assembly system. The assembly system includes a detection 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 its conveying trajectory passes through the detection station and the adjustment station. The conveying device is used to convey assembled products along the first direction. The visual inspection device is located at the detection station, and the adjustment device is located at the adjustment station. The visual inspection device and the adjustment device are located on one side of the conveying device in a second direction. The visual inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of a target component within the product about the second axial direction. The assembly method includes the following steps:

[0005] During the operation of the conveying device, real-time images of the target components inside the product detected by the vision inspection device are acquired;

[0006] The real-time image is compared with a preset standard image to obtain the angle offset.

[0007] Based on the stated angular offset, the adjustment device is controlled to adjust the angle of the target component within the product.

[0008] In one embodiment, the adjusting device includes a bracket, a first movable seat, and a rotation adjusting assembly. The first movable seat is movably mounted on the bracket along a second direction. The rotation adjusting assembly is mounted on the end of the first movable seat near the conveying device. The step of controlling the adjusting device to adjust the angle of the target component within the product according to the angular offset includes:

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

[0010] Based on the stated angular offset, the rotation adjustment assembly is controlled to drive the target component inside the product to rotate axially around the second direction;

[0011] Control the first movable seat to retract, so that the rotation adjustment assembly disengages from the target component inside the product.

[0012] In one embodiment, the assembly system further includes an assembly station, and the conveying trajectory of the conveying device passes through the assembly station. The assembly system also includes a feeding device and an assembly device. The assembly device is located at the assembly station and includes a picking component movable in a second direction. The picking component is used to pick up the assembly parts output by the feeding device. After the step of controlling the adjusting device to adjust the angle of the target component within the product based on the angular offset, the system further includes the step of:

[0013] When the picking component picks up an assembly part and the conveying device transports the product to the assembly station, the picking component is controlled to move a second predetermined distance toward the conveying device so that the assembly part mates with the target component inside the product.

[0014] Control the pickup component to release the assembled parts;

[0015] Control the pickup component to retract, so that the pickup component is disengaged from the assembled part.

[0016] The present invention also proposes an assembly system, wherein the assembly system is provided with a detection station and an adjustment station, the assembly system includes a conveying device, a vision inspection device, and an adjustment device, the conveying device extends along a first direction and the conveying trajectory passes between the detection station and the adjustment station, the conveying device is used to convey the assembled product along the first direction, the vision inspection device is disposed at the detection station, the adjustment device is disposed at the adjustment station, and the vision inspection device and the adjustment device are located on one side of the conveying device in a second direction, the vision 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.

[0017] In one embodiment, the assembly system further includes a control device 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 for 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 described in any of the above embodiments.

[0018] In one embodiment, the adjusting device includes a bracket, a first movable seat, and a rotation adjusting assembly. The first movable seat is movably mounted on the bracket along a second direction, and the rotation adjusting assembly is mounted on one end of the first movable seat near the conveying device.

[0019] In one embodiment, the rotation adjustment assembly includes a rotating shaft and a sleeve fitted onto the output end of the rotating shaft. The rotating shaft extends along a second direction, and the output end of the rotating shaft is provided with a mating portion for mating with a target component within the product. The sleeve is movably fitted onto the rotating shaft along its axial direction, and during its travel, the sleeve has an initial state where the sleeve is fitted onto the mating portion, and an adjusted state where the mating portion is exposed within the sleeve. An elastic reset member is also provided between the sleeve and the rotating shaft, the elastic reset member being used to reset the sleeve to the initial state; and / or,

[0020] A first elastic element is provided between the rotation adjustment component and the first movable seat.

[0021] In one embodiment, the assembly system is further provided with an assembly station, and the conveying trajectory of the conveying device passes through the assembly station. The assembly system also includes a feeding device and an assembly device. The assembly device is located at the assembly station and includes a picking component that can move along a second direction. The picking component is used to pick up the assembly parts output by the feeding device.

[0022] In one embodiment, the assembly device further includes a second movable seat, which is movably disposed along a second direction. The pickup component is mounted on one end of the second movable seat near the conveying device, and a second elastic element is disposed between the pickup component and the second movable seat.

[0023] In one embodiment, the pickup assembly is rotatably mounted on the second movable seat about the second direction.

[0024] In the technical solution of this invention, the assembly system includes the conveying device, the visual inspection device, and the adjusting device. The conveying device is used to transport products within the assembly system. Therefore, when the assembly system is equipped with the inspection station and the adjusting station, the conveying trajectory of the conveying device should pass through the inspection station and the adjusting station. The visual inspection device is located at the inspection station and its function is to acquire real-time images of target components within the product for comparison with a preset standard image to obtain the offset of the target component. The adjusting device is located at the adjusting station and downstream of the visual inspection device. The adjusting device is used to receive the aforementioned offset and adjust the target component to ensure 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, this application proposes the assembly method accordingly. Specifically, during the operation of the conveying device, products are continuously conveyed through the detection station and the adjustment station. When a product passes through the detection station, a real-time image of the target component inside the product detected by the vision inspection device is acquired. After acquiring the real-time image, the real-time image is compared with a preset standard image, and the angle offset is obtained based on the comparison structure. Then, the angle offset information is transmitted to the adjustment device. When the product is conveyed to the adjustment station, the adjustment device adjusts the angle of the target component inside 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 of high-precision product assembly. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 A schematic flowchart of the first embodiment of the assembly method provided by the present invention;

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

[0028] Figure 3 A schematic flowchart of the third embodiment of the assembly method provided by the present invention;

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

[0030] Figure 5 A simplified planar structural diagram of an embodiment of the assembly system provided by the present invention;

[0031] Figure 6 for Figure 5 A three-dimensional structural diagram of the adjustment device in the middle;

[0032] Figure 7 for Figure 6 A partial three-dimensional structural diagram of the central rotation adjustment component;

[0033] Figure 8 for Figure 5 A partial 3D structural diagram of the pickup component.

[0034] Explanation of icon numbers:

[0035] 100. Assembly system; 1. Conveying device; 2. Vision inspection device; 3. Adjusting device; 31. Support; 32. First movable seat; 33. Rotation adjustment assembly; 331. Rotating shaft; 332. Sleeve; 333. Mating part; 34. First elastic element; 4. Control device; 5. Feeding device; 6. Assembly device; 61. Picking assembly; 62. Second movable seat; 63. Second elastic element.

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

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort 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 positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0039] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0040] To achieve realistic physical force feedback, the game controller's buttons are designed with a pendulum motor that drives gears to transmit feedback force to the controller's trigger buttons via a pendulum. During the assembly of this structure, the pendulum assembly requires precise alignment with the teeth of the drive gear, making automatic pendulum assembly difficult.

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

[0042] Please see Figures 1 to 3 The assembly method is based on an assembly system 100, which includes a detection station and an adjustment station. The assembly system 100 includes a conveying device 1, a vision inspection device 2, and an adjustment device 3. The conveying device 1 extends along a first direction, and its conveying trajectory passes through the detection station and the adjustment station. The conveying device 1 is used to convey the assembled product along the first direction. The vision inspection device 2 is located at the detection station, and the adjustment device 3 is located at the adjustment station. The vision inspection device 2 and the adjustment device 3 are located on one side of the conveying device 1 in a second direction. The vision inspection device 2 is located upstream of the adjustment device 3. The adjustment device 3 is used to adjust the angle of the target component within the product around the second axial direction. The assembly method includes the following steps:

[0043] S100: During the operation of the conveying device 1, real-time images of the target parts inside the product detected by the vision inspection device 2 are acquired;

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

[0045] S300: Based on the stated angular offset, control the adjustment device 3 to adjust the angle of the target component within 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 adjusting device 3. The conveying device 1 is used to transport products within the assembly system 100. Therefore, when the assembly system 100 is equipped with the inspection station and the adjusting station, the conveying trajectory of the conveying device 1 should pass through the inspection station and the adjusting station. The visual inspection device 2 is located at the inspection station and its function is to acquire real-time images of target components within the product for comparison with a preset standard image to obtain the offset of the target component. The adjusting device 3 is located at the adjusting station and is downstream of the visual inspection device 2. The adjusting device 3 is used to receive the aforementioned 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, this application proposes the assembly method accordingly. Specifically, during the operation of the conveying device 1, products are continuously conveyed through the detection station and the adjustment station. When a product passes through the detection station, a real-time image of the target component inside the product detected by the vision inspection device 2 is acquired. After acquiring the real-time image, the real-time image is compared with a preset standard image, and the angle offset is obtained according to the comparison structure. Then, the angle offset information is transmitted 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 inside 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 requirements of high-precision product assembly.

[0047] It is understood that the types of products to which the assembly method is applicable and the types of target components within the products are not limited here. As long as the assembly method can improve the assembly accuracy of the products and the target components within the products, it is acceptable. In this embodiment, the target component within the product is a pre-assembled gear structure, which needs to mesh with the teeth on the pendulum structure inside the game controller. Therefore, a high assembly accuracy is required. The assembly method proposed in this application aims to meet the above-mentioned required assembly accuracy in order to ensure the stability of the high-precision automated assembly process of the assembly system 100.

[0048] Specifically, in this embodiment, the adjusting device 3 is mainly used to adjust the rotation angle of the gear to adjust the angular position of its teeth. Based on this, the adjusting device 3 includes a bracket 31, a first movable seat 32, and a rotation adjusting component 33. The first movable seat 32 is movably mounted on the bracket 31 along a second direction. The rotation adjusting component 33 is mounted on the end of the first movable seat 32 near the conveying device 1. The rotation adjusting component 33 is mainly used to contact the gear and drive the gear to rotate. Step S300 includes:

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

[0050] S320: Based on the angular offset, control the rotation adjustment component 33 to drive the target component inside the product to rotate around the second axial direction;

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

[0052] The first movable seat 32 moves in the second direction to drive the rotation adjustment component 33 to engage or disengage with the target component inside the product. Based on this, when the product is transported to the adjustment station, the first movable seat 32 is controlled to move towards the conveying device 1 a first set distance. The value of the first set distance is based on actual needs and can ensure that the rotation adjustment component 33 engages with the target component inside the product. Then, based on the obtained angular offset, the rotation adjustment component 33 is controlled to drive the target component inside the product to rotate around the second axial direction until the angle of the target component is consistent with the preset standard image, thus completing the adjustment of the target component. At this time, the first movable seat 32 is controlled to retract, so that the rotation adjustment component 33 disengages from the target component. This completes the adjustment process of the target component and prepares for subsequent high-precision assembly.

[0053] In addition, the assembly system 100 is also provided with an assembly station, and the conveying trajectory of the conveying device 1 passes through the assembly station. The assembly system 100 also includes a feeding device 5 and an assembly device 6. The assembly device 6 is located at the assembly station, and the assembly device 6 includes a picking component 61 that can move along a second direction. The picking component 61 is used to pick up the assembly parts output by the feeding device 5. The assembly station is located downstream of the adjustment station, so that when the adjusted product moves to the assembly station, it can be directly assembled, and the assembly accuracy is high, meeting the requirements. After step S300, the following step is 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 towards the conveying device 1 a second predetermined distance so that the assembly part mates with the target component inside the product.

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

[0056] S360: Control the pickup component 61 to retract, so that the pickup component 61 is disengaged from the assembled part.

[0057] Generally, the pickup component 61 has a pickup positioning function, meaning that the assembled part picked up by the pickup component 61 is in a preset state. This preset state is paired with the preset standard image of the target component, eliminating the need for additional angle adjustment of the assembled part picked up by the pickup component 61, simplifying operation and ensuring assembly accuracy. It should be noted that the specific value of the second set distance is not limited; it depends on actual needs, ensuring that the pickup component 61 can insert the assembled part into the product to mate with the target component. After the assembly part mates with the target component, the pickup component 61 releases the assembled part and retracts away from it, completing the automated process of accurately installing the assembled part onto the target component. The process is simple, easy to set, and highly accurate, meeting functional requirements.

[0058] Please see Figures 4 to 8This application also proposes an assembly system 100, wherein the assembly system 100 is provided with a detection station and an adjustment station, the assembly system 100 includes a conveying device 1, a vision inspection device 2 and an adjustment device 3, the conveying device 1 extends along a first direction and the conveying trajectory passes between the detection station and the adjustment station, the conveying device 1 is used to convey assembled products along the first direction, the vision inspection device 2 is disposed at the detection station, the adjustment device 3 is disposed at the adjustment station, and the vision inspection device 2 and the adjustment device 3 are located on one side of the conveying device 1 in a second direction, the vision 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 second axial direction. The specific functional settings of the conveying device 1, the visual inspection device 2, and the adjusting device 3 have been described in detail above. Specifically, the conveying device 1 is used to transport products within the assembly system 100. The visual inspection device 2 is located at the inspection station and its function is to acquire real-time images of target components within the product for comparison with a preset standard image to obtain the offset of the target component. The adjusting device 3 is located at the adjusting station and is used to receive the aforementioned 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.

[0059] Furthermore, the assembly system 100 also includes a control device 4, which is electrically connected to the conveying device 1, the vision inspection device 2, and the adjustment device 3. For implementation of the control method of the assembly system 100 described above, please refer to [link to relevant documentation]. 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. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also 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. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

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

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

[0063] Furthermore, the adjusting device 3 includes a bracket 31, a first movable seat 32, and a rotation adjusting component 33. The first movable seat 32 is movably mounted on the bracket 31 along a second direction, and the rotation adjusting component 33 is mounted on the end of the first movable seat 32 near the conveying device 1. The adjusting device 3, including the bracket 31, the first movable seat 32, and the rotation adjusting component 33, has been described in detail above and will not be repeated here.

[0064] Furthermore, the rotation adjustment assembly 33 includes a rotation shaft 331 and a sleeve 332 sleeved on the output end of the rotation shaft 331. The rotation shaft 331 extends along a second direction, and the output end of the rotation shaft 331 is provided with a mating part 333. The mating part 333 is used to mate with a target component inside the product. The sleeve 332 is movably sleeved on the rotation shaft 331 along the axial direction of the rotation shaft 331. During the movement stroke of the sleeve 332, there is an initial state in which the sleeve 332 is sleeved on the mating part 333, and an adjusted state in which the mating part 333 is exposed on the sleeve 332. An elastic reset member is also provided between the sleeve 332 and the rotation shaft 331. The elastic reset member is used to reset the sleeve 332 to the initial state. Understandably, to ensure that the target component does not deflect abnormally before and after adjustment, and to prevent angular deviation, this embodiment provides a sleeve 332 at the end of the rotating shaft 331 used for rotation adjustment, and an elastic reset member is provided between the sleeve 332 and the rotating shaft 331. With this configuration, driven by the elastic reset member, the sleeve 332 is always in the initial state, that is, the mating part 333 of the rotating shaft 331 is built into the sleeve 332. At this time, when the rotation adjustment assembly 33 moves toward the target component, the sleeve 332 can preferentially press against the end face of the target component, and during the continued movement, it compresses the elastic reset member to increase the pressure of the sleeve 332 against the end face of the target component, thereby limiting the abnormal deflection of the target component before rotation adjustment and ensuring adjustment accuracy. As the rotation adjustment assembly 33 continues to move towards the target component, the mating part 333 of the rotation shaft 331 contacts the target component. At this time, the rotation of the rotation shaft 331 can drive the target component to rotate, thereby adjusting the angle of the target component. Afterwards, when the angle adjustment is completed, the sleeve 332 still presses against the target component, so the target component cannot undergo abnormal deflection, thus ensuring the accuracy of the adjusted target component.

[0065] Furthermore, a first elastic element 34 is provided between the rotation adjustment component 33 and the first movable seat 32. To prevent the first movable seat 32 from continuing to move towards the target component after the mating part 333 of the rotating shaft 331 mates with the target component, causing the mating part 333 to press against and exert pressure on the target component, resulting in damage or even destruction of the target component, this embodiment also provides the first elastic element 34 between the first movable seat 32 and the rotation adjustment component 33, so that the rotation adjustment component 33 is floating. In the event of the above situation, the first elastic element 34 can be compressed without causing serious damage to the target component. Moreover, the provision of the first elastic element 34 also increases the tolerance rate for selecting the specific value of the first set distance.

[0066] In addition, the assembly system 100 is provided with an assembly station, and the conveying trajectory of the conveying device 1 passes through the assembly station. The assembly system 100 also includes a feeding device 5 and an assembly device 6. The assembly device 6 is disposed at the assembly station, and the assembly device 6 includes a picking component 61 that can move along a second direction. The picking component 61 is used to pick up the assembly parts output by the feeding device 5. The feeding device 5 and the assembly device 6 have been described in detail above and will not be repeated here.

[0067] Specifically, the assembly device 6 further includes a second movable seat 62, which is movably disposed along a second direction. The pickup component 61 is mounted on one end of the second movable seat 62 near the conveying device 1, and a second elastic element 63 is disposed between the pickup component 61 and the second movable seat 62. Similar to the function of the first elastic element 34 disposed between the rotation adjustment component 33 and the first movable seat 32, this embodiment provides a second elastic element 63 between the second movable seat 62 and the pickup component 61, allowing the pickup component 61 to float in the second direction. After the second movable seat 62 drives the pickup component 61 to feed the assembly part into the product, if the second movable seat 62 continues to move, it will compress the second elastic element 63, preventing it from pressing against the product and causing damage. This also improves the tolerance rate of the specific value selection of the second set distance.

[0068] Furthermore, the pickup component 61 is rotatably mounted on the second movable seat 62 about the second direction. To ensure that the installation angle of the assembly part picked up by the pickup component 61 matches the angle of the target component in the preset standard image, this embodiment sets the pickup component 61 to be rotatably mounted on the second movable seat 62. Before assembly production, the pickup component 61 can be adjusted according to the preset standard image to ensure that the assembly part picked up by the pickup component 61 can accurately match the adjusted target component. In this way, there is no need to adjust the preset standard image, ensuring the uniqueness of the standard and avoiding the problem of abnormal standard selection after multiple standard adjustments, which would lead to abnormal assembly fit.

[0069] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An assembly method, based on an assembly system, characterized in that, The assembly system includes a detection station and an adjustment station. The assembly system comprises a conveying device, a vision inspection device, and an adjustment device. The conveying device extends along a first direction, and its conveying trajectory passes through the detection station and the adjustment station. The conveying device is used to convey assembled products along the first direction. The vision inspection device is located at the detection station, and the adjustment device is located at the adjustment station. The vision inspection device and the adjustment device are located on one side of the conveying device in a second direction. The vision inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of a target component within the product around the second axial direction. The adjustment device includes a bracket, a first movable seat, and a rotation adjustment assembly. The first movable seat is movably mounted on the bracket along the second direction. The rotation adjustment assembly is mounted on the end of the first movable seat near the conveying device. The assembly method includes the following steps: During the operation of the conveying device, real-time images of the target components inside the product detected by the vision inspection device are acquired; The real-time image is compared with a preset standard image to obtain the angle offset. Based on the stated angular offset, the adjustment device is controlled to adjust the angle of the target component within the product; The step of controlling the adjustment device to adjust the angle of the target component within the product based on the angular offset includes: Control the first movable seat to move a first set distance toward the conveying device, so that the rotation adjustment component cooperates with the target component inside the product; Based on the stated angular offset, the rotation adjustment assembly is controlled to drive the target component inside the product to rotate axially around the second direction; Control the first movable seat to retract, so that the rotation adjustment assembly disengages from the target component inside the product.

2. The assembly method as described in claim 1, characterized in that, The assembly system also includes an assembly station, and the conveying trajectory of the conveying device passes through the assembly station. The assembly system further includes a feeding device and an assembly device. The assembly device is located at the assembly station and includes a picking component movable in a second direction. The picking component is used to pick up the assembly parts output by the feeding device. After the step of controlling the adjusting device to adjust the angle of the target component within the product based on the angular offset, the system further includes the following step: When the picking component picks up an assembly part and the conveying device transports the product to the assembly station, the picking component is controlled to move a second predetermined distance toward the conveying device so that the assembly part mates with the target component inside the product. Control the pickup component to release the assembled parts; Control the pickup component to retract, so that the pickup component is disengaged from the assembled part.

3. An assembly system, characterized in that, The assembly system includes a detection station and an adjustment station. The assembly system comprises a conveying device, a vision inspection device, and an adjustment device. The conveying device extends along a first direction, and its conveying trajectory passes between the detection station and the adjustment station. The conveying device is used to convey assembled products along the first direction. The vision inspection device is located at the detection station, and the adjustment device is located at the adjustment station. The vision inspection device and the adjustment device are located on one side of the conveying device in a second direction. The vision inspection device is located upstream of the adjustment device. The adjustment device is used to adjust the angle of target components within the product around the second axial direction. The adjustment device includes a bracket, a first movable seat, and a rotation adjustment assembly. The first movable seat is movably mounted on the bracket along the second direction, and the rotation adjustment assembly is mounted on the end of the first movable seat near the conveying device.

4. The assembly system as described in claim 3, characterized in that, The assembly system further 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 for 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 2.

5. The assembly system as described in claim 3, characterized in that, The rotation adjustment assembly includes a rotating shaft and a sleeve fitted onto the output end of the rotating shaft. The rotating shaft extends along a second direction, and the output end of the rotating shaft is provided with a mating part for mating with a target component within the product. The sleeve is movably fitted onto the rotating shaft along its axial direction, and during its stroke, the sleeve has an initial state where the sleeve is fitted onto the mating part, and an adjusted state where the mating part is exposed within the sleeve. An elastic reset member is also provided between the sleeve and the rotating shaft, the elastic reset member being used to reset the sleeve to the initial state; and / or, A first elastic element is provided between the rotation adjustment component and the first movable seat.

6. The assembly system as described in claim 3, characterized in that, The assembly system is also equipped with an assembly station, and the conveying trajectory of the conveying device passes through the assembly station. The assembly system also includes a feeding device and an assembly device. The assembly device is located at the assembly station and includes a picking component that can move along a second direction. The picking component is used to pick up the assembly parts output by the feeding device.

7. The assembly system as described in claim 6, characterized in that, The assembly device further includes a second movable seat, which is movably disposed along a second direction. The pickup component is mounted on one end of the second movable seat near the conveying device, and a second elastic element is disposed between the pickup component and the second movable seat.

8. The assembly system as described in claim 7, characterized in that, The pickup component is rotatably mounted on the second movable seat about the second direction.

Images