Product assembling method and assembling device

Abstract

The invention discloses a product assembling method and an assembling device.The assembling device comprises a driving structure and an adjusting structure, the driving structure is used for driving two product parts to move relatively, and the adjusting structure is used for adjusting the two product parts to move relatively. The adjusting structure is used for adjusting the state of the tooth part on at least one product part, and the product assembling method comprises the steps that the adjusting structure is controlled to adjust the tooth parts on the product parts so that the tooth parts on the two product parts can be aligned; and a driving structure is controlled to drive the two product parts to be close to each other, so that the tooth parts on the two product parts are meshed with each other. 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 particularly relates to a product assembly method and an assembly device. Background Art

[0002] In the assembly process of many electronic products, there are mechanisms with gear transmissions. For some products, the assembly space may be small, and specific gear meshing positions are required, making the assembly difficult. Generally, manual operations are needed to complete the assembly, resulting in low efficiency and low precision, which does not meet the requirements of automated production. Summary of the Invention

[0003] The main object of the present invention is to propose a product assembly method and an assembly device, aiming to meet the requirements of high-precision automated assembly in the production system.

[0004] To achieve the above object, the present invention proposes a product assembly method, which is based on an assembly device and is used to assemble two product components with tooth parts. Among them, the assembly device includes a driving structure and an adjusting structure. The driving structure is used to drive the two product components to move relative to each other, and the adjusting structure is used to at least adjust the state of the tooth part on one of the product components. The steps of the product assembly method include:

[0005] Control the adjusting structure to adjust the tooth part on the product component so that the tooth parts on the two product components are in relative position;

[0006] Control the driving structure to drive the two product components closer to each other so that the tooth parts on the two product components are engaged.

[0007] In one embodiment, the step of controlling the adjusting structure to adjust the tooth part on the product component so that the tooth parts on the two product components are in relative position includes:

[0008] Control the adjusting structure to adjust the tooth part on the product component to a preset state so that the tooth parts on the two product components are in relative position.

[0009] In one embodiment, the assembly device further includes a visual detection device. The step of controlling the adjusting structure to adjust the tooth part on the product component to a preset state so that the tooth parts on the two product components are in relative position includes:

[0010] Obtain a real-time image of the tooth part on the product component;

[0011] Compare the real-time image with a preset image and obtain an adjustment parameter;

[0012] Control the adjustment structure according to the adjustment parameters to adjust the tooth part on the product part to a preset state.

[0013] In one embodiment, there are two adjustment structures, and the two adjustment structures respectively adjust the tooth part on one product part.

[0014] In one embodiment, gear structures are rotatably arranged on both product parts, the tooth part is arranged on the gear structure, and the steps of controlling the adjustment structure to adjust the tooth part on the product part so that the tooth parts on the two product parts are in relative position include:

[0015] Control the adjustment structure to rotate and adjust the gear structure on the product part so that the tooth parts on the two product parts are in relative position.

[0016] In one embodiment, during the process of the driving structure driving the two product parts to move relative to each other, the two product parts at least have a pre-assembly position where the tooth parts face each other in the first direction, and a meshing position where the two product parts approach each other along the first direction from the pre-assembly position so that the tooth parts are meshed;

[0017] The steps of controlling the driving structure to drive the two product parts closer to each other so that the tooth parts on the two product parts are meshed include:

[0018] Control the driving structure to drive the two product parts to move relative to each other to the pre-assembly position;

[0019] Control the driving structure to drive the two product parts to move relative to each other along the first direction to the meshing position.

[0020] In one embodiment, a limiting structure is arranged between the two product parts, and the limiting structure is used to limit the tooth parts on the two product parts from deviating from each other; after the steps of controlling the driving structure to drive the two product parts closer to each other so that the tooth parts on the two product parts are meshed, the steps further include:

[0021] Control the driving structure to drive the product parts with the meshed tooth parts to move relative to each other to the limiting fit of the limiting structure.

[0022] In one embodiment, during the process of the driving structure driving the two product parts to move relative to each other, the two product parts at least have a meshing position where they approach each other along the first direction so that the tooth parts are meshed, and an assembly position where the two product parts move relative to each other along the second direction from the meshing position to the limiting fit of the limiting structure;

[0023] The step of the control driving structure driving the two product components to approach each other so that the tooth parts on the two product components are engaged includes:

[0024] The control driving structure drives the two product components to move relative to each other in the first direction to the engagement position;

[0025] The step of the control driving structure driving the product components with the two tooth parts engaged to move relative to each other to the limit structure for limit fitting includes:

[0026] The control driving structure drives the two product components at the engagement position to move relative to each other in the second direction to the assembly position.

[0027] In an embodiment, the limit structure includes a limit groove and a limit member. The limit member can extend into the limit groove in the second direction. The limit member is arranged on one of the two product components, and the limit groove is arranged on the other of the two product components.

[0028] In an embodiment, a damping member is further arranged on the product component, and the damping member is used for positioning the tooth part.

[0029] The present invention also provides an assembly device, wherein the assembly device includes:

[0030] A driving structure; and,

[0031] At least one adjusting structure for adjusting the state of the tooth part on one of the product components; and,

[0032] A control device. The control device is electrically connected to the driving structure and the adjusting structure. The control device includes a memory, a processor, and a control program of the product assembly method stored on the memory and operable on the processor. The control program of the assembly device is configured to implement the steps of the above-mentioned product assembly method.

[0033] In an embodiment, the adjusting structure includes a rotating shaft and a sleeve sleeved on the output end of the rotating shaft. The rotating shaft extends along the third direction, and a fitting part is arranged at the output end of the rotating shaft for fitting with the tooth part. The sleeve is sleeved on the rotating shaft in an axially movable manner, and in the moving stroke of the sleeve, there is an initial state in which the sleeve sleeves the fitting part and an adjusting state in which the fitting part exposes the sleeve. An elastic reset member is further arranged between the sleeve and the rotating shaft, and the elastic reset member is used for resetting the sleeve to the initial state.

[0034] In one embodiment, one of the sleeve and the rotating shaft is provided with a first limiting groove extending in a third direction, and the other of the sleeve and the rotating shaft is provided with a first limiting protrusion, and the first limiting protrusion extends into the first limiting groove to limit the range of movement of the sleeve relative to the rotating shaft.

[0035] In one embodiment, the rotating shaft includes a connecting section and a driving section, the driving section is movably mounted on the connecting section along the third direction, and an elastic member is provided between the driving section and the connecting section, and the engaging portion and the sleeve are provided at the driving end of the driving section.

[0036] In one embodiment, an accommodating groove extending in the third direction is formed at an end of the connecting section, the driving section extends into the accommodating groove, and the elastic member is provided between the bottom of the accommodating groove and the driving section.

[0037] In one embodiment, one of the groove wall of the accommodating groove and the driving section is provided with a second limiting groove extending in the third direction, and the other of the groove wall of the accommodating groove and the driving section is provided with a second limiting protrusion, and the second limiting protrusion extends into the second limiting groove to limit the range of movement of the driving section in the accommodating groove.

[0038] In one embodiment, the elastic reset member is sleeved on the driving section, one end of the elastic reset member abuts against the end of the connecting section, and the other end of the elastic reset member abuts against the sleeve.

[0039] In one embodiment, the assembling device further includes a vision detection device for obtaining the installation angle of the tooth portion around the third direction axis.

[0040] In the technical solution of the present invention, the assembling device is mainly used for assembling two of the product components with tooth portions. Specifically, the difficulty in assembling the product components with tooth portions lies in the alignment of the tooth portions on the two product components. Therefore, in this application, the assembling device includes the driving structure and the adjusting structure, and the adjusting structure is used to at least adjust the state of the tooth portion on one of the product components, so as to ensure the alignment state of the tooth portions on the two product components, and then drive the two product components to move relative to each other through the driving structure, so that the two tooth portions are engaged, thereby solving the problem that the tooth portions are difficult to be aligned and installed during the automatic assembly of the two product components with tooth portions, and meeting the functional requirements. Description of the Drawings

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0042] Figure 1 Schematic flowchart of the first embodiment of the product assembly method provided by the present invention;

[0043] Figure 2 Schematic flowchart of the second embodiment of the product assembly method provided by the present invention;

[0044] Figure 3 Schematic flowchart of the third embodiment of the product assembly method provided by the present invention;

[0045] Figure 4 Schematic flowchart of the fourth embodiment of the product assembly method provided by the present invention;

[0046] Figure 5 Schematic flowchart of the fifth embodiment of the product assembly method provided by the present invention;

[0047] Figure 6 Schematic flowchart of the sixth embodiment of the product assembly method provided by the present invention;

[0048] Figure 7 Schematic flowchart of the seventh embodiment of the product assembly method provided by the present invention;

[0049] Figure 8 For Figure 1 Schematic structural diagram of the control device of the hardware operating environment involved in the embodiment solution;

[0050] Figure 9 Schematic three-dimensional structural diagram of an embodiment of the adjustment structure provided by the present invention;

[0051] Figure 10 For Figure 9 Cross-sectional schematic diagram;

[0052] Figure 11 Schematic plan view of a product component proposed in the present invention;

[0053] Figure 12 Schematic plan view of another product component proposed in the present invention;

[0054] Figure 13 Schematic plan view of two product components in the pre-installed position proposed in the present invention;

[0055] Figure 14 It is a structural schematic diagram of two product components in the meshing position proposed in the present invention;

[0056] Figure 15 It is a structural schematic diagram of two product components in the assembled position proposed in the present invention.

[0057] Explanation of the reference numerals in the attached drawings:

[0058] 100, assembling device; 1, adjusting structure; 11, rotating shaft; 111, connecting section; 111a, accommodating groove; 111b, second limiting groove; 112, driving section; 112a, second limiting protrusion; 113, elastic member; 114, first limiting protrusion; 12, sleeve; 121, first limiting groove; 13, mating part; 131, positioning post; 132, limiting post; 14, elastic reset member; 2, control device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory; 200, product component; 201, tooth part; 202, limiting groove; 203, limiting member.

[0059] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the attached drawings. Specific embodiments

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the attached drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0061] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0062] In addition, if the embodiments of the present invention involve descriptions such as "first" and "second", the descriptions of "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, if "and / or" or "and / or" appears throughout the text, its meaning includes three parallel scenarios. Taking "A and / or B" as an example, it includes scenario A, or scenario B, or the scenario where both A and B are satisfied simultaneously. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] In the assembly process of many electronic products, there are mechanisms with gear transmissions. For some of these products, the assembly space may be small, and at the same time, specific gear meshing positions are required, making the assembly difficult. Generally, manual operations are needed to complete it, resulting in low efficiency and low precision, and not meeting the requirements of automated production.

[0064] In view of this, the present invention proposes a product assembly method. Please refer to Figures 1 to 7 , which is an embodiment of the product assembly method proposed in this application. The following will specifically describe the product assembly method with reference to the accompanying drawings.

[0065] Please refer to Figures 1 to 7 , the product assembly method is based on an assembly device 100 for assembling two product components 200 with tooth parts 201. Among them, the assembly device 100 includes a driving structure and an adjusting structure 1. The driving structure is used to drive the two product components 200 to move relative to each other, and the adjusting structure 1 is used to at least adjust the state of the tooth part 201 on one of the product components 200. The steps of the product assembly method include:

[0066] S100: Control the adjusting structure 1 to adjust the tooth part 201 on the product component 200 so that the tooth parts 201 on the two product components 200 are in relative position;

[0067] S200: Control the driving structure to drive the two product components 200 to approach each other so that the tooth parts 201 on the two product components 200 are engaged.

[0068] In the technical solution of the present invention, the assembly device 100 is mainly used to assemble two of the product components 200 with tooth parts 201. Specifically, the difficulty in assembling the product components 200 with tooth parts 201 lies in the alignment of the tooth parts 201 on the two product components 200. Therefore, in this application, the assembly device 100 includes the driving structure and the adjusting structure 1, and the adjusting structure 1 is used to at least adjust the state of the tooth part 201 on one of the product components 200, so as to ensure the alignment state of the tooth parts 201 on the two product components 200. Then, the driving structure is used to drive the two product components 200 to move relative to each other, so that the two tooth parts 201 are engaged, thereby solving the problem that the tooth parts 201 are difficult to be aligned and installed during the automatic assembly process of the two product components 200 with tooth parts 201, and meeting the functional requirements.

[0069] Further, the step S100 includes:

[0070] S110: Control the adjusting structure 1 to adjust the tooth part 201 on the product component 200 to a preset state, so that the tooth parts 201 on the two product components 200 are aligned with each other.

[0071] It can be understood that there are various ways to adjust the tooth parts 201 on the two product components 200 to be aligned with each other through the adjusting structure 1. For example, the state of the tooth part 201 on one product component 200 can be used as a reference to adjust the state of the tooth part 201 on the other product component 200, or a preset state can be set, and the tooth part 201 on the product component 200 is adjusted to the preset state. In this embodiment, the method of setting the preset state is adopted, so that the tooth parts 201 on the product component 200 can be adjusted to fixed positions. On the one hand, the control logic is simplified, on the other hand, the stability of the adjustment is ensured, and on the third hand, the tooth parts 201 are all adjusted to fixed positions to ensure the consistency of the subsequent assembly process related to the tooth parts 201 and facilitate the assembly operation.

[0072] Further, the assembly device 100 further includes a vision detection device, and the step S110 includes:

[0073] S111: Obtain a real-time image of the tooth part 201 on the product component 200;

[0074] S112: Compare the real-time image with a preset image and obtain adjustment parameters;

[0075] S113: Control the adjusting structure 1 to adjust the tooth part 201 on the product component 200 to a preset state according to the adjustment parameters.

[0076] On the basis of setting the preset state where the tooth part 201 needs to be adjusted, to adjust the tooth part 201 to the preset state, it is necessary to determine the scale of adjustment required for the tooth part 201. To determine this scale, it is necessary to determine the state of the tooth part 201 before adjustment. Based on this, the state of the tooth part 201 can be determined by the direct contact between the adjustment structure 1 and the tooth part 201, or the state of the tooth part 201 can be measured by other contact measurement structures. However, the direct contact method obviously has low accuracy and there is also a problem of damaging the tooth part 201. Therefore, in this embodiment, the visual detection device is provided to obtain the real-time image of the tooth part 201 to obtain the state of the tooth part 201, and at the same time, compare the real-time image with the preset image corresponding to the preset state to obtain the adjustment parameter required for the tooth part 201. In this way, on the one hand, it is convenient for the adjustment structure 1 to be adjusted to a state corresponding to the real-time state of the tooth part 201 and then engage with the tooth part 201, so as to avoid the alignment deviation in the matching process between the adjustment structure 1 and the tooth part 201, and further avoid the problem of misalignment and damage or even damage between the adjustment structure 1 and the tooth part 201. On the other hand, it can ensure the accuracy of the adjustment structure 1 to adjust the tooth part 201 to the preset state and meet the functional requirements.

[0077] Based on the requirement in this application to accurately engage the tooth parts 201 on the two product components 200, before assembly, it can be that the tooth part 201 on one product component 200 is positioned and then the tooth part 201 on the other product component 200 is adjusted to be aligned with it, or it can be that the states of the tooth parts 201 on the two product components 200 are not limited, and the tooth parts 201 on the two product components 200 are adjusted separately. In this embodiment, the tooth parts 201 on the two product components 200 are not pre-positioned, and are adjusted by the adjustment structure 1. Therefore, two adjustment structures 1 are provided so that the two adjustment structures 1 respectively adjust the tooth part 201 on one product component 200.

[0078] Specifically, gear structures are rotatably provided on both of the two product components 200, and the tooth part 201 is provided on the gear structure. The step S100 includes:

[0079] S120: Control the adjustment structure 1 to rotate and adjust the gear structure on the product component 200 so that the tooth parts 201 on the two product components 200 are aligned.

[0080] It can be understood that the specific mating structure of the tooth portions 201 on the two product components 200 can be that the tooth portions 201 on the two gear structures are in relative position mating, or the tooth portion 201 on one gear structure is in relative position mating with the tooth portion 201 on a rack. In this embodiment, the tooth portions 201 on the two product components 200 are both of the tooth portion 201 structure on the gear structure. Based on this, the adjustment structure 1 adjusts the tooth portions 201 on the two product components 200 by rotating and adjusting the gear structure on the product component 200 to meet the functional requirements.

[0081] Further, please refer to Figures 11 to 14 , during the process of the driving structure driving the two product components 200 to move relative to each other, the two product components 200 at least have a pre-assembly position where the tooth portions 201 face each other in the first direction, and a meshing position where the two product components 200 move closer to each other along the first direction from the pre-assembly position so that the tooth portions 201 mesh with each other;

[0082] The step S200 includes:

[0083] S210: Control the driving structure to drive the two product components 200 to move relative to each other to the pre-assembly position;

[0084] S220: Control the driving structure to drive the two product components 200 to move relative to each other along the first direction to the meshing position.

[0085] To ensure the stable meshing of the two tooth portions 201 during the assembly process of the two product components 200, in this embodiment, during the stroke of the driving structure driving the two product components 200 to approach each other, a pre-assembly position is set, so that when the two product components 200 are at the pre-assembly position, the two tooth portions 201 can be at a better meshing angle. That is, preferably, when the two product components 200 are at the pre-assembly position, the two tooth portions 201 are aligned in the first direction. In this way, when driving the two product components 200 to continue to approach along the first direction to complete the meshing action of the tooth portions 201, the tolerance rate for the offset amount is higher, that is, the accuracy of the meshing of the two tooth portions 201 can be improved, and further the assembly accuracy of the assembly device 100 can be improved.

[0086] In addition, a limiting structure is provided between the two product components 200, and the limiting structure is used to limit the tooth portions 201 on the two product components 200 from departing from each other; after the step S200, the following steps are further included:

[0087] S300: Control the driving structure to drive the product components 200 where the two tooth parts 201 are engaged to move relative to each other until they are in limit fit with the limiting structure.

[0088] To ensure the mutual positioning of the two product components 200 after assembly, a limiting structure is provided between the two product components 200. It can be understood that the limiting structure can be a movable limiting structure, that is, during the movement stroke of the limiting structure, there is an avoidance state for avoiding the assembly process of the two product components 200 and a locking state for locking and limiting the two product components 200 after counterposition assembly. However, with such a setting, additional driving parts and / or driving control steps are required to adjust the state of the limiting structure, which is relatively cumbersome. In this application, a fixed limiting structure is provided between the two product components 200 to be assembled. This application mainly sets the assembly steps for the limiting structure fixed on the product component 200. Specifically, to avoid the limitation of the limiting structure on the relative movement of the two product components 200, in this embodiment, the two product components 200 are preferentially controlled to complete the engagement of the tooth parts 201, and then the driving structure is used to drive the two product components 200 to move relative to each other, so that during the process of the limiting structure cooperating, maintaining the meshing state of the tooth parts 201 on the two product components 200 can ensure the stable meshing of the two tooth parts 201 after the limiting structure cooperation is completed, that is, ensure the stable assembly process of the two product components 200 and meet the functional requirements.

[0089] Further, please refer to Figure 14 and Figure 15 , during the process of the driving structure driving the two product components 200 to move relative to each other, the two product components 200 at least have an engagement position where they move closer to each other along a first direction to make the tooth parts 201 engaged, and an assembly position where the two product components 200 move relative to each other along a second direction from the engagement position to be in limit fit with the limiting structure;

[0090] The control step S200 includes:

[0091] S230: Control the driving structure to drive the two product components 200 to move relative to each other along the first direction to the engagement position;

[0092] The step S300 includes:

[0093] S310: Control the driving structure to drive the two product components 200 at the engagement position to move relative to each other along the second direction to the assembly position.

[0094] The tooth parts 201 on the two product parts 200 are arranged to be opposite to each other in the first direction. In this way, by driving the two product parts 200 to move relatively in the first direction through the driving structure, the meshing of the two tooth parts 201 can be completed. On this basis, when the tooth parts 201 are the tooth parts 201 on the gear structure, the second direction is the tangential direction of the two gear structures. With such an arrangement, when the two tooth parts 201 are not meshed, the limiting structures on the two product parts 200 cannot be aligned in the second direction, that is, the tooth parts 201 will limit the limiting cooperation of the limiting structures. On the contrary, after the two tooth parts 201 are meshed, when the driving structure is controlled to drive the two tooth parts 201 to move relatively in the second direction by a certain distance, the two tooth parts 201 will not come out of engagement and can still maintain the meshing state. At the same time, the limiting structures can complete the limiting cooperation, and the limiting structures that have completed the limiting cooperation will limit the relative disengagement of the two tooth parts 201, ensuring the meshing stability of the two tooth parts 201. Based on the above structure, in this embodiment, the corresponding control logic is proposed, that is, when the two product parts 200 are opposite to each other in the first direction, the driving structure is preferentially controlled to drive the two product parts 200 to move relatively in the first direction to complete the meshing of the two tooth parts 201, and then the driving structure is controlled to drive the two product parts 200 to move relatively in the second direction. At this time, the two tooth parts 201 rotate relatively but do not come out of engagement, and the limiting structures complete the limiting cooperation. And after the limiting structures complete the limiting cooperation, the relative movement of the two product parts 200 in the first direction is restricted, thereby restricting the mutual disengagement of the two tooth parts 201, ensuring the meshing stability of the tooth parts 201 after the product parts 200 are assembled.

[0095] Specifically, in order to restrict the relative movement of the two product parts 200 in the first direction after the limiting structures complete the limiting cooperation, in this embodiment, the limiting structures are arranged as a structure in which a limiting groove 202 and a limiting member 203 are relatively matched. Specifically, the limiting member 203 can extend into the limiting groove 202 in the second direction. The limiting member 203 is arranged on one of the two product parts 200, and the limiting groove 202 is arranged on the other of the two product parts 200. In this way, after the limiting member 203 is matched with the limiting groove 202, the groove wall of the limiting groove 202 can restrict the movement of the limiting member 203 in the first direction, thereby restricting the relative movement of the two product parts 200 in the first direction, meeting the functional requirements, and having a simple structure and good effect.

[0096] In addition, in order to position the tooth portion 201 on the product component 200 in the preset state when the tooth portion 201 is adjusted to the preset state, facilitating subsequent assembly operations, a damping member is further provided on the product component 200 in this embodiment, and the damping member is used to position the tooth portion 201.

[0097] Please refer to Figures 8 to 10 , this application also proposes an assembly device 100. Among them, the assembly device 100 includes a driving structure, at least one adjusting structure 1, and a control device 2. The adjusting structure 1 is used to adjust the state of the tooth portion 201 on a product component 200. The functions of the driving structure and the adjusting structure 1 have been described in detail above and will not be elaborated here one by one. The control device 2 is electrically connected to the driving structure and the adjusting structure 1. To meet the implementation of the above product assembly method, please refer to Figure 8 , the control device 2 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) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further 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. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0098] Those skilled in the art can understand that Figure 8 the structure of the control device 2 shown in

[0099] does not constitute a limitation on the control device 2, and may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements. Figure 8 As shown in

[0100] In Figure 8 the control device 2 shown, the control program of the assembly device 100 stored in the memory 1005 is called by the processor 1001, and the product assembly method is executed.

[0101] To implement the above product assembly method, the detailed structural features of the adjusting structure 1 are proposed in this application. Specifically, please refer toFigure 9 and Figure 10 As shown in Figure 10 , the adjusting structure 1 includes a rotating shaft 11 and a sleeve 12 sleeved on the output end of the rotating shaft 11. The rotating shaft 11 extends along the third direction, and a mating portion 13 is provided at the output end of the rotating shaft 11. The mating portion 13 is used to cooperate with the tooth portion 201. The sleeve 12 is axially movably sleeved on the rotating shaft 11, and in the moving stroke of the sleeve 12, there are an initial state where the sleeve 12 sleeves the mating portion 13 and an adjusting state where the mating portion 13 exposes the sleeve 12. An elastic reset member 14 is further provided between the sleeve 12 and the rotating shaft 11, and the elastic reset member 14 is used to reset the sleeve 12 to the initial state.

[0102] Based on the above structure, when the adjusting structure 1 approaches the gear structure on the product component 200, the sleeve 12 preferentially contacts the gear structure. As the adjusting structure 1 moves, the sleeve 12 gradually compresses the elastic reset member 14, so that the sleeve 12 presses against the gear structure for pre-positioning. During this process, the mating portion 13 gradually exposes the sleeve 12 to cooperate with the gear structure, so that the adjusting structure 1 and the gear structure are stably matched. The rotation of the rotating shaft 11 can drive the rotation of the gear structure to realize the state adjustment of the tooth portion 201 and meet the functional requirements. On this basis, the sleeve 12 is mainly used to pre-position the gear structure before the mating portion 13 cooperates with the gear structure, which is convenient for the cooperation between the mating portion 13 and the gear structure. After adjustment, the sleeve 12 can also be used to stabilize the gear structure when the mating portion 13 disengages from the gear structure, avoiding the gear structure being driven to generate installation angle errors, thereby improving the accuracy.

[0103] Furthermore, the structure of the mating part 13 is not limited as long as it can stably cooperate with the gear structure and drive the gear structure to rotate. In this embodiment, the mating part 13 includes a positioning post 131 and a limiting post 132 located on one side of the positioning post 131. The positioning post 131 is coaxially arranged with the rotating shaft 11, and the limiting post 132 is used to cooperate with the limiting part on the gear structure. The positioning post 131 is mainly used to position the gear structure so that the axis of its rotating shaft 11 coincides with the axis of the rotating shaft 11 of the rotating shaft 11, ensuring the relative accuracy of the rotation of the rotating shaft 11 driving the gear structure. The limiting post 132 is arranged on one side of the positioning post 131 and is mainly used to cooperate with the limiting part on the gear structure to drive the gear structure to rotate with the rotating shaft 11. With such an arrangement, there will be no relative movement between the limiting post 132 and the limiting part on the gear structure, thereby ensuring the accuracy of the rotation of the rotating shaft 11 driving the gear structure, and thus ensuring the accuracy of the state adjustment of the tooth part 201 by the adjustment structure 1 to meet the high-precision assembly requirements of the assembly device 100.

[0104] It can be understood that the positioning post 131 is mainly used to position the gear structure so that the axis of its rotating shaft 11 coincides with the axis of the rotating shaft 11 of the rotating shaft 11. In this embodiment, the inner diameter of the positioning post 131 is gradually decreased in the direction away from the rotating shaft 11 to form a guiding structure. When the positioning post 131 extends to the gear structure, it can guide the gear structure to coincide with the axis of the rotating shaft 11, with a simple structure and good effect.

[0105] In addition, one of the sleeve 12 and the rotating shaft 11 is provided with a first limiting groove 121 extending in the third direction, and the other of the sleeve 12 and the rotating shaft 11 is provided with a first limiting protrusion 114. The first limiting protrusion 114 extends into the first limiting groove 121 to limit the movement range of the sleeve 12 relative to the rotating shaft 11. The sleeve 12 is sleeved on the rotating shaft 11, and an elastic reset member 14 is provided between the sleeve 12 and the rotating shaft 11. Here, the elastic reset member 14 can be connected to the sleeve 12 and the rotating shaft 11 so that the elastic reset member 14 can also be used to prevent the sleeve 12 from disengaging from the rotating shaft 11. However, it is obvious that connecting the elastic reset member 14 to the sleeve 12 and the rotating shaft 11 is rather cumbersome, and there is a risk that the connection at the joint is not firm and the sleeve 12 may disengage from the rotating shaft 11. Therefore, in this embodiment, a matching structure of the first limiting groove 121 and the first limiting protrusion 114 is additionally provided between the sleeve 12 and the rotating shaft 11. Thus, the movement stroke of the sleeve 12 relative to the rotating shaft 11 is limited by the movement stroke of the first limiting protrusion 114 in the first limiting groove 121. The structure has a good stability effect, and there is no need to connect the elastic reset member 14 to the sleeve 12 and the rotating shaft 11, which is convenient for installation and operation.

[0106] Specifically, during the process of the adjusting structure 1 moving relatively close to the gear structure, it is possible that after the engaging portion 13 abuts against the gear structure, the adjusting structure 1 continues to move closer to the gear structure. At this time, it is easy to cause the gear structure to shift or even be damaged. Therefore, in this embodiment, the rotating shaft 11 is provided to include a connecting section 111 and a driving section 112. The driving section 112 is movably installed on the connecting section 111 along the third direction, and an elastic member 113 is provided between the driving section 112 and the connecting section 111. The engaging portion 13 and the sleeve 12 are provided at the driving end of the driving section 112. By providing the rotating shaft 11 in sections and providing the elastic member 113 between the connecting section 111 and the driving section 112, there is a certain distance buffer between the connecting section 111 and the driving section 112, so as to avoid the situation that the gear structure is damaged caused by the excessive movement of the adjusting structure 1 as described above, improve the tolerance of the movement distance of the adjusting structure 1, and improve the reliability of the adjusting structure 1 to adjust the state of the tooth portion 201.

[0107] It can be understood that the connecting section 111 is used to connect the power source. To ensure the rotation accuracy of the rotating shaft 11, the driving section 112 needs to be coaxially arranged with the connecting section 111. Therefore, in this embodiment, a receiving groove 111a extending in the third direction is formed at the end of the connecting section 111, the driving section 112 extends into the receiving groove 111a, and the elastic member 113 is arranged between the bottom of the receiving groove 111a and the driving section 112. Here, it can be understood that the receiving groove 111a can also be formed in the driving section 112, and the connecting section 111 extends into the driving section 112. However, as the upstream structure for power transmission, setting the size of the connecting section 111 larger than that of the driving section 112 can make the structure of the rotating shaft 11 more coordinated and stable.

[0108] Further, similar to the structure in which the sleeve 12 is movably arranged on the rotating shaft 11, to prevent the driving section 112 from movably disengaging from the connecting section 111, in this embodiment, a second limiting groove 111b extending in the third direction is formed in one of the groove walls of the receiving groove 111a and the driving section 112, and a second limiting protrusion 112a is arranged on the other of the groove walls of the receiving groove 111a and the driving section 112. The second limiting protrusion 112a extends into the second limiting groove 111b to limit the movement range of the driving section 112 in the receiving groove 111a.

[0109] Based on the segmented structure setting of the rotating shaft 11 described above, the specific setting position of the elastic reset member 14 is defined in this embodiment. Specifically, the elastic reset member 14 is sleeved on the driving section 112, one end of the elastic reset member 14 abuts against the end of the connecting section 111, and the other end of the elastic reset member 14 abuts against the sleeve 12. In this way, the end face located outside the receiving groove 111a formed by opening the receiving groove 111a on the connecting section 111 abuts against the elastic reset member 14, and there is no need to additionally set an abutting surface, and the structure is ingenious and convenient for installation.

[0110] It should be noted here that the coaxial setting method between the connecting section 111 and the driving section 112 is to set the receiving groove 111a for sleeving. Moreover, the connection between the connecting section 111 and the power source also needs to ensure the connection accuracy. Therefore, corresponding positioning structures can also be provided between the power source and the connecting section 111. However, the power source is generally a mature product, and it is not easy to change the structure. In addition, a detachable connection method for the power source is generally more convenient for later overall maintenance. Therefore, in this embodiment, the power source is connected to the connecting section 111 through a coupling, so that it is not necessary to align the rotation axis 11 of the power source with the rotation axis 11 of the connecting section 111, and the rotation accuracy of the connecting section 111 can be ensured. Moreover, the connection through the coupling is more convenient for disassembly and assembly, meeting the above requirements.

[0111] In addition, a vision detection device is also provided in this embodiment. The vision detection device is used to obtain the installation angle of the tooth part 201 around the axial direction of the third direction, so as to obtain the adjustment amount of the gear structure and ensure the adjustment accuracy.

[0112] The above is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the technical concept of the present invention by using the content of the specification and drawings of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A product assembly method, based on an assembly device, for assembling two product parts with teeth, characterized in that: The assembly device comprises a driving structure and an adjusting structure, wherein the driving structure is used to drive the two product components to move relative to each other, and the adjusting structure is used to adjust the state of the tooth portion on at least one of the product components. The steps of the product assembly method include: Controlling the adjusting structure to adjust the teeth on the product component so that the teeth on two product components are positioned relative to each other; The control driving structure drives the two product components to approach each other so that the teeth on the two product components are meshed with each other.

2. The product assembly method according to claim 1, characterized in that: The step of controlling the adjusting structure to adjust the teeth on the product component so that the teeth on two product components are positioned relative to each other comprises: The adjusting structure is controlled to adjust the teeth on the product component to a preset state so that the teeth on two product components are positioned relative to each other.

3. The product assembly method according to claim 2, characterized in that: The assembly device further includes a visual inspection device, and the step of controlling the adjustment structure to adjust the teeth on the product component to a preset state so that the teeth on the two product components are aligned with each other includes: Acquire a real-time image of the tooth portion on the product component; Compare the real-time image with the preset image and obtain adjustment parameters; The adjusting structure is controlled according to the adjusting parameter to adjust the tooth portion on the product component to a preset state.

4. The product assembly method according to any one of claims 1 to 3, characterized in that: The adjusting structures are provided with two, and the two adjusting structures respectively adjust the tooth portion on one of the product components.

5. The product assembly method according to any one of claims 1 to 3, characterized in that: The two product components are both rotatably provided with a gear structure, the toothed portion is provided on the gear structure, and the step of controlling the adjustment structure to adjust the toothed portion on the product component so that the toothed portions on the two product components are relatively positioned comprises: The adjusting structure is controlled to rotate and adjust the gear structure on the product component so that the teeth on the two product components are positioned relative to each other.

6. The product assembly method according to claim 1, characterized in that: In the process of the driving structure driving the two product components to move relative to each other, the two product components at least have a pre-installed position where the teeth are relative to each other in the first direction, and a meshing position where the two product components approach each other along the first direction from the pre-installed position so that the teeth are meshed with each other; The step of controlling the driving structure to drive the two product components to approach each other so that the teeth on the two product components mesh with each other comprises: Controlling the driving structure to drive the two product components to move relative to each other to the pre-installed position; The control driving structure drives the two product components to move relatively along the first direction to the meshing position.

7. The product assembly method according to claim 1, characterized in that: A limiting structure is provided between the two product components, and the limiting structure is used to limit the teeth on the two product components from moving away from each other; after the step of the control drive structure driving the two product components to move closer together so that the teeth on the two product components mesh with each other, the step further includes: The control driving structure drives the two product components meshing with each other's teeth to move relatively until the limiting structure is in limiting engagement.

8. The product assembly method according to claim 7, characterized in that: In the process of the driving structure driving the two product components to move relative to each other, the two product components at least have a meshing position where they approach each other along a first direction so that the teeth are meshed, and the two product components move relative to each other along a second direction from the meshing position to an assembly position where the limiting structure is engaged; The step of controlling the driving structure to drive the two product components to approach each other so that the teeth on the two product components mesh with each other comprises: Controlling the driving structure to drive the two product components to move relatively along the first direction to the meshing position; The step of the control driving structure driving the two meshing toothed parts of the product components to move relatively to the limiting structure to limit the engagement includes: The control driving structure drives the two product components located at the meshing position to move relatively along the second direction to the assembling position.

9. The product assembly method according to claim 8, characterized in that: The limiting structure includes a limiting groove and a limiting member, the limiting member can extend into the limiting groove along the second direction, the limiting member is arranged on one of the two product components, and the limiting groove is arranged on the other of the two product components.

10. The product assembly method according to claim 1, characterized in that: The product component is also provided with a damping member, and the damping member is used for positioning the tooth portion.

11. An assembly device, characterized in that: include: Drive structure; as well as, at least one adjustment structure for adjusting the state of the tooth portion on the product component; as well as, A control device, wherein the control device is electrically connected to the drive structure and the adjustment structure, the control device comprises a memory, a processor, and a control program of the product assembly method stored in the memory and executable on the processor, the control program of the assembly device being configured to implement the steps of the product assembly method as described in any one of claims 1 to 10.

12. The assembly device according to claim 11, characterized in that: The adjustment structure includes a rotating shaft and a sleeve sleeved on the output end of the rotating shaft, the rotating shaft is extended along a third direction, and a matching portion is provided at the output end of the rotating shaft, the matching portion is used to match with the tooth portion, 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 is sleeved on 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 also provided between the sleeve and the rotating shaft, and the elastic reset member is used to reset the sleeve to the initial state.

13. The assembly device according to claim 12, characterized in that: One of the sleeve and the rotating shaft is provided with a first limiting groove extending along a third direction, and the other of the sleeve and the rotating shaft is provided with a first limiting protrusion, which extends into the first limiting groove to limit the movable range of the sleeve relative to the rotating shaft.

14. The assembly device according to claim 12, characterized in that: The rotating shaft includes a connecting section and a driving section. The driving section can be movably installed on the connecting section along a third direction. An elastic member is arranged between the driving section and the connecting section. The matching portion and the sleeve are arranged at the driving end of the driving section.

15. The assembly device according to claim 14, characterized in that: An accommodating groove extending along a third direction is formed at the end of the connecting section, the driving section extends into the accommodating groove, and the elastic member is arranged between the groove bottom of the accommodating groove and the driving section.

16. The assembly device according to claim 15, characterized in that: A second limiting groove extending along a third direction is formed on one of the groove wall of the accommodating groove and the driving section, and a second limiting protrusion is formed on the other of the groove wall of the accommodating groove and the driving section. The second limiting protrusion extends into the second limiting groove to limit the range of movement of the driving section in the accommodating groove.

17. The assembly device according to claim 15, characterized in that: The elastic reset member is sleeved on the driving section, and one end of the elastic reset member abuts against the end of the connecting section, and the other end of the elastic reset member abuts against the sleeve.

18. The assembly device according to any one of claims 11 to 17, characterized in that: The assembling device further comprises a visual detection device, and the visual detection device is used to obtain the axial installation angle of the tooth portion around the third direction.

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