Product picking device, product assembling device and product assembling method

Abstract

The invention discloses a product picking device, a product assembling device and a product assembling method. The product pick-up device comprises a pair of pick-up claws used for picking up a product and placing the picked-up product to a preset assembly position; and a pair of pressing claws for pressing on the product so that the product is held at a predetermined assembly position. After the product is placed at the preset assembling position, the pair of pressing claws keep the product at the preset assembling position until the pair of picking claws are separated from the product. According to the invention, the assembled product is kept at the preset assembling position by the pressing claw and does not move along with the lug boss of the picking claw, so that the assembling precision and the assembling efficiency of the product are improved.

Description

Technical Field

[0001] The invention relates to a product picking device, including a product assembling device of the product picking device and a product assembling method. Background Art

[0002] In the prior art, in order to prevent dust, it is usually necessary to install an end cap on the port of the connector housing. In order to improve the assembly efficiency, a robot equipped with a picking device is usually used to complete the assembly operation of the end cap. The picking device includes a pair of picking claws, the picking claws have a protrusion suitable for inserting into the picking hole on the product, and the protrusions of the pair of picking claws are suitable for moving between an engagement position engaged with the inner wall surface at both ends of the picking hole and a release position separated from the inner wall surface at both ends of the picking hole. After the picked product is placed in the predetermined assembly position, the protrusions of the pair of picking claws are first moved to the release position and then pulled out of the picking hole of the product. However, due to manufacturing errors, sometimes there is an interference fit between the protrusion of the picking claw and the inner wall surface of the picking hole. At this time, the product follows the protrusion of the picking claw, which will cause the product to deviate from its predetermined assembly position, and even cause the product assembly to fail and need to be reassembled, which will reduce the assembly accuracy and assembly efficiency of the product. Summary of the invention

[0003] The purpose of the present invention is to solve at least one aspect of the above-mentioned problems and defects in the prior art.

[0004] According to one aspect of the present invention, a product picking device is provided. The product picking device comprises: a pair of picking claws for picking up a product and placing the picked up product in a predetermined assembly position; and a pair of pressing claws for pressing on the product so that the product is held in the predetermined assembly position. After the product is placed in the predetermined assembly position, the pair of pressing claws holds the product in the predetermined assembly position until the pair of picking claws are separated from the product.

[0005] According to an exemplary embodiment of the present invention, the picking claw has a protrusion suitable for inserting into the picking hole on the product, and the protrusion of the pair of picking claws is suitable for moving between an engagement position engaged with the inner wall surfaces at both ends of the picking hole and a release position separated from the inner wall surfaces at both ends of the picking hole; after the product is placed in the predetermined assembly position, the pair of pressing claws holds the product in the predetermined assembly position until the protrusion of the pair of picking claws is pulled out of the picking hole of the product.

[0006] According to another exemplary embodiment of the present invention, the protrusion has a semicircular outer circumference, and the end of the picking hole has a semicircular inner circumference, and the semicircular outer circumference of the protrusion is used to engage with the semicircular inner circumference of the end of the picking hole to pick up and position the product.

[0007] According to another exemplary embodiment of the present invention, the product picking device further comprises: a driving device connected to the pair of picking claws, for driving the protrusions of the pair of picking claws to move between the engaging position and the releasing position along a first horizontal direction.

[0008] According to another exemplary embodiment of the present invention, the driving device is a cylinder, a hydraulic cylinder or a motor.

[0009] According to another exemplary embodiment of the present invention, the pair of picking claws has left and right sides opposite to each other in a second horizontal direction perpendicular to the first horizontal direction, and the pair of pressing claws are respectively located on the left and right sides of the pair of picking claws.

[0010] According to another exemplary embodiment of the present invention, vertical grooves allowing the pressing claws to move in the vertical direction are respectively formed on the left and right sides of the pair of picking claws, and the tip portion of the pressing claw is located in the vertical groove and is suitable for moving along the vertical groove so as to be able to abut against the outer wall surface of the product.

[0011] According to another exemplary embodiment of the present invention, the product picking device further includes: a pair of drivers respectively connected to the pair of pressing claws, for driving the pair of pressing claws to move between a pressing state in contact with the product and a retracted state separated from the product.

[0012] According to another exemplary embodiment of the present invention, the driver is a cylinder, which includes a cylinder body, a piston, a piston rod and a spring, wherein the piston and the spring are arranged in the cylinder body, the spring is compressed between the inner wall of the cylinder body and the piston, and the piston rod extends from the cylinder body and is connected to the pressing claw. When the pressing claw abuts against the product, the spring applies a predetermined pressing force on the product.

[0013] According to another exemplary embodiment of the present invention, the product picking device further comprises: a mounting base for mounting and fixing the driving device and the driver, the mounting base being suitable for being connected to a flange at the end of the robot so as to be able to connect the product picking device to the robot.

[0014] According to another aspect of the present invention, a product assembly device is provided. The product assembly device comprises: a product picking device and a robot. The product picking device is connected to a flange at the end of the robot. The robot picks up a product through the product picking device and places the picked up product to a predetermined assembly position to complete the assembly operation of the product.

[0015] According to another aspect of the present invention, a product assembly method is provided. The method comprises the following steps:

[0016] S10: providing the aforementioned product picking device or product assembling device;

[0017] S20: inserting the protrusions of the pair of picking claws of the product picking device into the picking holes on the product;

[0018] S30: moving the protrusions of the pair of picking claws to an engagement position engaging with the inner wall surfaces at both ends of the picking hole to pick up the product;

[0019] S40: placing the picked-up product at a predetermined assembly position to complete the assembly operation of the product;

[0020] S50: moving a pair of pressing claws of the product picking device to a pressing state in contact with the product, so as to press and hold the product in the predetermined assembly position by the pair of pressing claws;

[0021] S60: moving the protrusions of the pair of picking claws to a release position separated from the inner wall surfaces at both ends of the picking hole and pulling the protrusions of the pair of picking claws out of the picking hole; and

[0022] S70: Moving the pair of pressing claws to a retracted state separated from the product.

[0023] In the aforementioned various exemplary embodiments according to the present invention, the assembled product is held in a predetermined assembly position by the pressing claw and does not move with the protrusion of the picking claw, thereby improving the assembly accuracy and efficiency of the product.

[0024] Other objects and advantages of the present invention will become apparent from the following description of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A three-dimensional schematic diagram showing a product picking device according to an exemplary embodiment of the present invention;

[0026] Figure 2 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention when viewed from the bottom;

[0027] Figure 3 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein a protrusion on the picking claw is inserted into a picking hole on the product and is in a release position not engaged with the picking hole;

[0028] Figure 4 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein a protrusion on the picking claw is inserted into a picking hole on the product and is in an engaging position with the picking hole;

[0029] Figure 5 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein the product is placed in a predetermined assembly position and a pressing claw holds the product in the predetermined assembly position;

[0030] Figure 6 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein a protrusion on a picking claw is pulled out of a picking hole on a product and the product is held in a predetermined assembly position by a pressing claw;

[0031] Figure 7 A schematic diagram showing a cylinder with a spring according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0032] The technical solution of the present invention is further specifically described below by examples and in conjunction with the accompanying drawings. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present invention with reference to the accompanying drawings is intended to explain the overall inventive concept of the present invention and should not be construed as a limitation of the present invention.

[0033] In addition, in the detailed description below, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the disclosed embodiments. However, it is apparent that one or more embodiments may be implemented without these specific details. In other cases, known structures and devices are embodied in a schematic manner to simplify the accompanying drawings.

[0034] According to an overall technical concept of the present invention, a product picking device is provided. The product picking device comprises: a pair of picking claws for picking up a product and placing the picked up product in a predetermined assembly position; and a pair of pressing claws for pressing on the product so that the product is held in the predetermined assembly position. After the product is placed in the predetermined assembly position, the pair of pressing claws holds the product in the predetermined assembly position until the pair of picking claws are separated from the product.

[0035] According to another general technical concept of the present invention, a product assembly device is provided. The product assembly device includes: a product picking device and a robot. The product picking device is connected to a flange at the end of the robot. The robot picks up a product through the product picking device and places the picked up product to a predetermined assembly position to complete the assembly operation of the product.

[0036] According to another general technical concept of the present invention, a product assembly method is provided. The method includes the following steps: providing the aforementioned product picking device or product assembly device; inserting the protrusions of a pair of picking claws of the product picking device into the picking hole on the product; moving the protrusions of the pair of picking claws to an engagement position engaging with the inner wall surfaces at both ends of the picking hole to pick up the product; placing the picked product to a predetermined assembly position to complete the assembly operation of the product; moving a pair of pressing claws of the product picking device to a pressing state in contact with the product to press and hold the product at the predetermined assembly position by the pair of pressing claws; moving the protrusions of the pair of picking claws to a release position separated from the inner wall surfaces at both ends of the picking hole and pulling the protrusions of the pair of picking claws out of the picking hole; and moving the pair of pressing claws to a retracted state separated from the product.

[0037] Figure 1 A three-dimensional schematic diagram showing a product picking device according to an exemplary embodiment of the present invention; Figure 2 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention when viewed from the bottom; Figure 3 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein the protrusion 11 on the picking claw 1 is inserted into the picking hole 61 on the product 6 and is in a release position not engaged with the picking hole 61; Figure 4 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein the protrusion 11 on the picking claw 1 is inserted into the picking hole 61 on the product 6 and is in an engaging position with the picking hole 61; Figure 5 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein a product 6 is placed in a predetermined assembly position and a pressing claw 3 holds the product 6 in the predetermined assembly position; Figure 6 A perspective schematic diagram showing a product picking device according to an exemplary embodiment of the present invention, wherein the protrusion 11 on the picking claw 1 is pulled out from the picking hole 61 on the product 6 and the product 6 is held in a predetermined assembly position by the pressing claw 3; Figure 7 A schematic diagram showing a cylinder 4 with a spring 44 according to an exemplary embodiment of the present invention.

[0038] like Figures 1 to 7 As shown, in an exemplary embodiment of the present invention, a product picking device is disclosed. The product picking device includes a pair of picking claws 1 and a pair of pressing claws 3. The pair of picking claws 1 is used to pick up a product 6 and place the picked product 6 in a predetermined assembly position. For example, the product 6 can be used to assemble to the end cap on the port of the connector housing (not shown), and the pair of picking claws 1 pick up the product 6 and assemble the picked product 6 to the connector housing. The pair of pressing claws 3 is used to press on the product 6 so that the product 6 is maintained in a predetermined assembly position. In the illustrated embodiment, after the product 6 is placed in the predetermined assembly position, the pair of pressing claws 3 maintains the product 6 in the predetermined assembly position until the pair of picking claws 1 are separated from the product 6. In this way, the problem of following the movement of the picking claws after the product is assembled in place can be effectively prevented, thereby improving the assembly accuracy and assembly efficiency of the product.

[0039] like Figures 1 to 7 As shown, in the illustrated embodiment, the pick-up claws 1 have a protrusion 11 suitable for being inserted into the pick-up hole 61 on the product 6, and the protrusions 11 of the pair of pick-up claws 1 are suitable for moving between an engagement position in which the protrusions 11 engage with the inner wall surfaces at both ends of the pick-up hole 61 and a release position in which the protrusions 11 are separated from the inner wall surfaces at both ends of the pick-up hole 61. After the product 6 is placed in the predetermined assembly position, the pair of pressing claws 3 holds the product 6 in the predetermined assembly position until the protrusions 11 of the pair of pick-up claws 1 are pulled out of the pick-up hole 61 of the product 6.

[0040] like Figures 1 to 7 As shown, in the illustrated embodiment, the protrusion 11 has a semicircular outer circumference, and the end of the picking hole 61 has a semicircular inner circumference. The semicircular outer circumference of the protrusion 11 is used to engage with the semicircular inner circumference of the end of the picking hole 61 to pick up and position the product 6.

[0041] like Figures 1 to 7 As shown, in the illustrated embodiment, the product picking device further comprises a driving device 2, which is connected to the pair of picking claws 1 and is used to drive the protrusions 11 of the pair of picking claws 1 to move along the first horizontal direction X between the engaging position and the releasing position.

[0042] like Figures 1 to 7 As shown, in an exemplary embodiment of the present invention, the driving device 2 can be a cylinder, a hydraulic cylinder or a motor.

[0043] like Figures 1 to 7 As shown, in the illustrated embodiment, a pair of picking claws 1 has left and right sides opposite to each other in a second horizontal direction Y perpendicular to the first horizontal direction X, and a pair of pressing claws 3 are respectively located on the left and right sides of the pair of picking claws 1 .

[0044] like Figures 1 to 7As shown, in the illustrated embodiment, vertical grooves 101 are respectively formed on the left and right sides of a pair of picking claws 1 to allow the pressing claw 3 to move along the vertical direction Z. The end portion 3a of the pressing claw 3 is located in the vertical groove 101 and is suitable for moving along the vertical groove 101 so as to be able to abut against the outer wall surface 62 of the product 6.

[0045] like Figures 1 to 7 As shown, in the illustrated embodiment, the product picking device also includes a pair of drivers 4, which are respectively connected to the pair of pressing claws 3 and are used to drive the pair of pressing claws 3 to move between a pressing state in contact with the product 6 and a retracted state separated from the product 6.

[0046] like Figures 1 to 7 As shown, in the illustrated embodiment, the driver 4 may be, for example Figure 7 The cylinder shown in the figure comprises a cylinder body 41, a piston 42, a piston rod 43 and a spring 44. The piston 42 and the spring 44 are arranged in the cylinder body 41, the spring 44 is compressed between the inner wall of the cylinder body 41 and the piston 42, and the piston rod 43 extends from the cylinder body 41 and is connected to the pressing claw 3. When the pressing claw 3 abuts against the product 6, the spring 44 applies a predetermined pressing force on the product 6, so that the product 6 can be reliably maintained in a predetermined assembly position.

[0047] like Figures 1 to 7 As shown, in the illustrated embodiment, the product picking device further comprises a mounting seat 5, which is used to mount and fix the drive device 2 and the driver 4. The mounting seat 5 is suitable for being connected to a flange at the end of the robot so as to be able to connect the product picking device to the robot.

[0048] like Figures 1 to 7 As shown, in another exemplary embodiment of the present invention, a product assembly device is also disclosed. The product assembly device includes the aforementioned product picking device and a robot (not shown), and the product picking device is connected to a flange at the end of the robot. The robot picks up a product 6 through the product picking device and places the picked up product 6 at a predetermined assembly position to complete the assembly operation of the product 6.

[0049] like Figures 1 to 7 As shown, in another exemplary embodiment of the present invention, a product assembly method is also disclosed. The product assembly method comprises the following steps:

[0050] S10: providing the aforementioned product picking device or product assembling device;

[0051] S20: inserting the protrusions 11 of the pair of picking claws 1 of the product picking device into the picking holes 61 on the product 6;

[0052] S30: moving the protrusions 11 of the pair of picking claws 1 to an engagement position with the inner wall surfaces at both ends of the picking hole 61 to pick up the product 6;

[0053] S40: placing the picked-up product 6 at a predetermined assembly position to complete the assembly operation of the product 6;

[0054] S50: moving the pair of pressing claws 3 of the product picking device to a pressing state in contact with the product 6, so as to press and hold the product 6 at a predetermined assembly position by the pair of pressing claws 3;

[0055] S60: moving the protrusions 11 of the pair of picking claws 1 to a release position separated from the inner wall surfaces at both ends of the picking hole 61 and pulling the protrusions 11 of the pair of picking claws 1 out of the picking hole 61; and

[0056] S70: The pair of pressing claws 3 are moved to a retracted state separated from the product 6.

[0057] Those skilled in the art will appreciate that the embodiments described above are exemplary and may be improved upon by those skilled in the art. The structures described in the various embodiments may be freely combined without causing any conflicts in structure or principle, and these changes should fall within the scope of protection of the present invention.

[0058] Although the present invention has been described in conjunction with the accompanying drawings, the embodiments disclosed in the accompanying drawings are intended to exemplify the preferred implementations of the present invention and should not be construed as limiting the present invention.

[0059] Although some embodiments of the general inventive concept have been shown and described, it will be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the general inventive concept, the scope of which is defined in the claims and their equivalents.

[0060] It should be noted that the word "comprising" does not exclude other elements or steps, and the word "a" or "an" does not exclude a plurality. In addition, any element reference signs in the claims shall not be construed as limiting the scope of the present invention.

Claims

1. A product picking device, It is characterized in that include: A pair of picking claws (1) for picking up a product (6) and placing the picked up product (6) at a predetermined assembly position; and a pair of pressing claws (3) for pressing on the product (6) so that the product (6) is held in a predetermined assembly position, After the product (6) is placed in the predetermined assembly position, the pair of pressing claws (3) holds the product (6) in the predetermined assembly position until the pair of picking claws (1) are separated from the product (6).

2. The product picking device according to claim 1, Features: The picking claws (1) have a protrusion (11) suitable for being inserted into a picking hole (61) on the product (6), and the protrusions (11) of the pair of picking claws (1) are suitable for moving between an engagement position in which the protrusions (11) engage with the inner wall surfaces at both ends of the picking hole (61) and a release position in which the protrusions (11) are separated from the inner wall surfaces at both ends of the picking hole (61); After the product (6) is placed in the predetermined assembly position, the pair of pressing claws (3) holds the product (6) in the predetermined assembly position until the protrusions (11) of the pair of picking claws (1) are pulled out of the picking holes (61) of the product (6).

3. The product picking device according to claim 2, Features: The protrusion (11) has a semicircular outer circumference, and the end of the picking hole (61) has a semicircular inner circumference. The semicircular outer circumference of the protrusion (11) is used to engage with the semicircular inner circumference of the end of the picking hole (61) to pick up and position the product (6).

4. The product picking device according to claim 2, It is characterized in that Also includes: A driving device (2) is connected to the pair of picking claws (1) and is used to drive the protruding parts (11) of the pair of picking claws (1) to move along a first horizontal direction (X) between the engaging position and the releasing position.

5. The product picking device according to claim 4, Features: The driving device (2) is a cylinder, a hydraulic cylinder or a motor.

6. The product picking device according to claim 4, Features: The pair of picking claws (1) have left and right sides opposite to each other in a second horizontal direction (Y) perpendicular to the first horizontal direction (X), and the pair of pressing claws (3) are respectively located on the left and right sides of the pair of picking claws (1).

7. The product picking device according to claim 6, Features: Vertical grooves (101) are respectively formed on the left and right sides of the pair of picking claws (1) to allow the pressing claw (3) to move in the vertical direction (Z); the tip end (3a) of the pressing claw (3) is located in the vertical groove (101) and is suitable for moving along the vertical groove (101) so as to be able to abut against the outer wall surface (62) of the product (6).

8. The product picking device according to claim 4, It is characterized in that Also includes: A pair of drivers (4) are respectively connected to the pair of pressing claws (3) and are used to drive the pair of pressing claws (3) to move between a pressing state in contact with the product (6) and a retracted state separated from the product (6).

9. The product picking device according to claim 8, Features: The driver (4) is a cylinder, comprising a cylinder body (41), a piston (42), a piston rod (43) and a spring (44); the piston (42) and the spring (44) are arranged in the cylinder body (41); the spring (44) is compressed between the inner wall of the cylinder body (41) and the piston (42); the piston rod (43) extends from the cylinder body (41) and is connected to the pressing claw (3); When the pressing claw (3) abuts against the product (6), the spring (44) applies a predetermined pressing force to the product (6).

10. The product picking device according to claim 9, It is characterized in that Also includes: A mounting seat (5) is used to mount and fix the driving device (2) and the driver (4). The mounting seat (5) is adapted to be connected to a flange at the end of a robot so as to be able to connect the product picking device to the robot.

11. A product assembly device, It is characterized in that include: The product picking device according to any one of claims 1 to 10; and A robot, wherein the product picking device is connected to a flange at the end of the robot, The robot picks up the product (6) through the product picking device and places the picked up product (6) at a predetermined assembly position to complete the assembly operation of the product (6).

12. A method for assembling a product, It is characterized in that The following steps are involved: S10: Provide a product picking device according to any one of claims 1 to 10 or a product assembling device according to claim 11; S20: inserting the protrusions (11) of the pair of picking claws (1) of the product picking device into the picking holes (61) on the product (6); S30: moving the protruding portions (11) of the pair of picking claws (1) to an engagement position with the inner wall surfaces at both ends of the picking hole (61) to pick up the product (6); S40: placing the picked-up product (6) at a predetermined assembly position to complete the assembly operation of the product (6); S50: moving a pair of pressing claws (3) of the product picking device to a pressing state in contact with the product (6), so as to press and hold the product (6) in the predetermined assembly position by the pair of pressing claws (3); S60: moving the protruding portions (11) of the pair of picking claws (1) to a release position separated from the inner wall surfaces at both ends of the picking hole (61) and pulling the protruding portions (11) of the pair of picking claws (1) out of the picking hole (61); and S70: Move the pair of pressing claws (3) to a retracted state separated from the product (6).

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