Multi-functional gantry end pick-and-place press assembly and disassembly jig system and jig assembly and disassembly method

Abstract

The present application belongs to the technical field of mechanical hand, and particularly relates to a multifunctional gantry end taking and placing press bonding disassembly jig system and a jig disassembly method. The multifunctional gantry end taking and placing press bonding disassembly jig system comprises a control module, a lifting assembly, a visual positioning assembly, a jig press bonding assembly and a jig disassembly assembly. When upper jigs and lower jigs are superimposed, the jig press bonding assembly press bonds the upper jigs and the lower jigs. The jig disassembly assembly hooks the upper jigs in the combined jigs, and pushes the lower jigs in the combined jigs, so as to separate the lower jigs from the upper jigs. The present application positions the jigs by the visual positioning assembly, takes and places the jigs and press bonds the jigs by the lifting assembly cooperating with the jig press bonding assembly, disassembles the jigs by the lifting assembly cooperating with the jig disassembly assembly, and the jig press bonding assembly and the jig disassembly assembly work independently and do not affect each other, so that the positioning, taking and placing, press bonding and disassembly of the combined jigs and other functions are quickly realized.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and in particular relates to a multifunctional gantry end-effector pick-up, place-down, pressing, disassembly fixture system and fixture assembly / disassembly method. Background Technology

[0002] The combination fixtures used in pin insertion equipment need to be frequently disassembled and reassembled as required. That is, it is necessary to press the upper fixture and the lower fixture together to form a combination fixture or to separate the combination fixture into an upper fixture and a lower fixture. However, the existing methods of disassembling and assembling fixtures are mostly done manually. The upper fixture and the lower fixture are stacked and pressed together manually or the combination fixture is disassembled manually. The efficiency of manual operation is low. When pressing or disassembling manually, the upper fixture and the lower fixture cannot be accurately aligned, resulting in deviations in the combined fixture.

[0003] Therefore, there is an urgent need to develop a new multifunctional gantry end-feeding, pressing, and disassembling fixture system and fixture assembly / disassembly method to solve the technical problem of the fixture not being able to accurately align during pressing or disassembly.

[0004] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0005] This disclosure provides at least one multifunctional gantry end-effector loading, unloading, pressing, disassembly fixture system and fixture assembly / disassembly method.

[0006] In a first aspect, embodiments of this disclosure provide a multifunctional gantry end-effector loading, unloading, pressing, and disassembling fixture system, comprising: a control module, a lifting assembly, a vision positioning assembly, a fixture pressing assembly, and a fixture disassembly assembly; wherein the lifting assembly, vision positioning assembly, fixture pressing assembly, and fixture disassembly assembly are electrically connected to the control module, and the vision positioning assembly, fixture pressing assembly, and fixture disassembly assembly are connected to the lifting assembly; the control module is configured to acquire image information below the lifting assembly through the vision positioning assembly to position the upper and lower fixtures; the control module is further configured to drive the lifting assembly. The components drive the fixture pressing component and the fixture disassembly component to rise or fall; the control module is also configured to drive the first gripper unit in the fixture pressing component to grip the corresponding fixture; when the upper fixture and the lower fixture are stacked, the control module is also configured to drive the pressing unit in the fixture pressing component to press the upper fixture and the lower fixture together to form a combined fixture; the control module is also configured to drive the second gripper unit in the fixture disassembly component to hook the upper fixture in the combined fixture, and the control module is also configured to drive the disassembly unit in the fixture disassembly component to push the lower fixture in the combined fixture to separate the lower fixture from the upper fixture.

[0007] In one optional embodiment, the lifting assembly includes: a cable chain drive module and a mounting plate; the cable chain drive module is electrically connected to a control module, the cable chain drive module is connected to the mounting plate, and the vision positioning component, the fixture pressing component, and the fixture disassembly component are connected to the mounting plate; the control module is configured to drive the cable chain drive module to raise or lower the mounting plate, thereby raising or lowering the fixture pressing component and the fixture disassembly component.

[0008] In one optional embodiment, the visual positioning component includes: a visual positioning module; the visual positioning module is connected to the mounting plate and electrically connected to the control module; the control module is configured to acquire image information below the mounting plate through the visual positioning module.

[0009] In one optional embodiment, the fixture pressing assembly includes: a rotating unit, a first gripper unit, and a pressing unit; the rotating unit is connected to a mounting plate, the first gripper unit and the pressing unit are respectively connected to the rotating unit, and the rotating unit, the first gripper unit, and the pressing unit are respectively electrically connected to a control module; the first gripper unit and the pressing unit are offset, and the first gripper unit passes through the pressing unit; the control module is configured to drive the rotating unit to rotate the first gripper unit and the pressing unit; the control module is also configured to drive the first gripper unit to grip the corresponding fixture; the control module is further configured to drive the pressing unit to press the upper fixture and the lower fixture together to form a combined fixture.

[0010] In one optional embodiment, the rotating unit includes: a rotating drive component, a first connecting plate, and a second connecting plate; the rotating drive component is electrically connected to a control module, the first connecting plate is connected to a mounting plate, the rotating drive component is connected to the first connecting plate, the rotating drive component is connected to the second connecting plate, and the first gripper unit and the pressing unit are connected to the second connecting plate; the control module is configured to drive the rotating drive component to rotate the second connecting plate, thereby driving the first gripper unit and the pressing unit to rotate.

[0011] In one optional embodiment, the pressing unit includes: a pressing drive, a plurality of first connecting posts, and a pressing plate; the pressing drive is connected to a second connecting plate and electrically connected to a control module; the pressing plate is connected to the pressing drive through each of the first connecting posts; the control module is configured to drive the pressing drive to move the pressing plate.

[0012] In one optional embodiment, the first gripper unit includes: a first gripper drive and two first gripping claws; the first gripper drive is connected to a second connecting plate and is located between each first connecting post and a pressing plate, and the two first gripping claws are respectively connected to the first gripper drive; the pressing plate has two movable holes, and the two first gripping claws pass through the corresponding movable holes; the control module is configured to drive the first gripper drive to move the two first gripping claws toward each other or away from each other to grip or release the corresponding fixture.

[0013] In one optional embodiment, the fixture disassembly assembly includes: a misalignment unit, a second gripper unit, and a disassembly unit; the misalignment unit is connected to a mounting plate, the second gripper unit and the disassembly unit are respectively connected to the misalignment unit, the second gripper unit and the disassembly unit are misaligned, and the misalignment unit, the second gripper unit, and the disassembly unit are respectively electrically connected to a control module; the control module is configured to drive the misalignment unit to move the second gripper unit and the disassembly unit up and down, so that the second gripper unit and the disassembly unit are misaligned with the fixture pressing assembly in height; the control module is also configured to drive the second gripper unit to hook onto the upper fixture in the combined fixture, and the control module is also configured to drive the disassembly unit to push against the lower fixture in the combined fixture.

[0014] In one optional embodiment, the misalignment unit includes: a misalignment drive component and a gantry frame; the misalignment drive component is connected to a mounting plate, the misalignment drive component is connected to the gantry frame, and the misalignment drive component is electrically connected to a control module; the second gripper unit and the disassembly unit are respectively connected to the gantry frame; the control module is configured to drive the misalignment drive component to raise and lower the gantry frame, thereby raising and lowering the second gripper unit and the disassembly unit.

[0015] In one optional embodiment, the second gripper unit includes: a second gripper drive and two second gripping claws; the second gripper drive is connected to the gantry, and the two second gripping claws are respectively connected to the second gripper drive; the control module is configured to drive the second gripper drive to move the two second gripping claws toward each other or away from each other.

[0016] In one optional embodiment, the disassembly unit includes: a disassembly drive component, at least two second connecting columns, a connecting beam, at least two guide columns, at least two connecting springs, and a pressure head; the disassembly drive component is connected to the gantry frame and electrically connected to a control module; the connecting beam is connected to the disassembly drive component via each of the second connecting columns, and the connecting beam is located below the second gripper drive component; each of the guide columns is connected to the connecting beam, and each guide column extends movably into the pressure head; each connecting spring is respectively fitted onto the corresponding guide column, and the connecting spring is connected to the connecting beam and the pressure head; the control module is configured to drive the disassembly drive component to move the connecting beam, thereby moving the pressure head, and after the pressure head abuts against the lower fixture in the combined fixture, the pressure head squeezes the connecting spring to move relative to the connecting beam.

[0017] Secondly, this disclosure also provides a method for disassembling and assembling a fixture, which includes: using the multi-functional gantry end pick-and-place pressing and disassembling fixture system as described above to position, pick up, place, press and disassemble the fixture.

[0018] The beneficial effects of this invention are that it uses a visual positioning component to visually position the fixture, uses a lifting component in conjunction with a fixture pressing component to complete the picking, placing and pressing of the fixture, and uses a lifting component in conjunction with a fixture disassembly component to complete the disassembly of the fixture. Furthermore, the fixture pressing component and the fixture disassembly component can work independently without affecting each other, thus quickly realizing multiple functions such as positioning, picking, pressing and disassembling of the combined fixture.

[0019] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 A structural diagram of a multifunctional gantry end-feeding, pressing, and disassembling fixture system provided in this embodiment of the disclosure; Figure 2A schematic diagram of a multifunctional gantry end-feeding, pressing, disassembling fixture system provided in this embodiment of the present disclosure; Figure 3 A top structural diagram of a combined fixture provided in an embodiment of this disclosure; Figure 4 A bottom structure diagram of a combined fixture provided in an embodiment of this disclosure; Figure 5 This is a structural diagram of a jig pressing assembly provided in an embodiment of the present disclosure; Figure 6 This is a structural diagram of a jig pressing assembly provided in an embodiment of the present disclosure; Figure 7 This is a structural diagram of a second gripper unit provided in an embodiment of the present disclosure; Figure 8 This is a structural diagram of a disassembly unit provided in an embodiment of the present disclosure.

[0023] In the picture: 1. Lifting assembly; 11. Cable chain drive module; 12. Mounting plate; 2. Visual positioning components; 21. Visual positioning module; 3. Fixture pressing assembly; 31. Rotating unit; 311. Rotating drive component; 312. First connecting plate; 313. Second connecting plate; 32. First gripper unit; 321. First gripper drive component; 322. First clamping gripper; 33. Pressing unit; 331. Pressing drive component; 332. First connecting post; 333. Pressing plate; 333a. Movable hole; 4. Fixture disassembly assembly; 41. Misalignment unit; 411. Misalignment drive component; 412. Gantry frame; 42. Second gripper unit; 421. Second gripper drive component; 422. Second gripper; 43. Disassembly unit; 431. Disassembly drive component; 432. Second connecting column; 433. Connecting crossbeam; 434. Guide column; 435. Connecting spring; 436. Pressure head; 437. Limiting block; 5. Combined jig; 51. Upper jig; 511. Notch; 512. Protrusion; 52. Lower jig. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.

[0026] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0027] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.

[0028] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise clearly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.

[0029] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0030] Research has revealed that the combination jigs used in pin insertion equipment require frequent disassembly and assembly. This involves pressing the upper and lower jigs together to form a combination jig or separating the combination jig into upper and lower jigs. However, existing jig disassembly and assembly methods are mostly done manually. Manually stacking and pressing the upper and lower jigs together or disassembling the combination jig results in low efficiency. Furthermore, since the combination jig contains pins, it is impossible to accurately align the upper and lower jigs during manual pressing or disassembly, which can lead to pin deformation and detachment. Deformed pins can affect the quality of subsequent product processing, while detached pins pose a safety risk.

[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0033] like Figures 1 to 8As shown, at least one embodiment provides a multifunctional gantry end-effector loading, unloading, pressing, and disassembling fixture system, comprising: a control module, a lifting assembly 1, a vision positioning assembly 2, a fixture pressing assembly 3, and a fixture disassembly assembly 4; wherein the lifting assembly 1, the vision positioning assembly 2, the fixture pressing assembly 3, and the fixture disassembly assembly 4 are electrically connected to the control module, and the vision positioning assembly 2, the fixture pressing assembly 3, and the fixture disassembly assembly 4 are connected to the lifting assembly 1; the control module is configured to acquire image information below the lifting assembly 1 through the vision positioning assembly 2 to position the upper fixture 51 and the lower fixture 52; and the control module is further configured to drive the lifting assembly 1 to press the fixture. The assembly component 3 and the fixture disassembly component 4 are raised or lowered; the control module is also configured to drive the first gripper unit 32 in the fixture pressing assembly 3 to grip the corresponding fixture; when the upper fixture 51 and the lower fixture 52 are stacked, the control module is also configured to drive the pressing unit 33 in the fixture pressing assembly 3 to press the upper fixture 51 and the lower fixture 52 together to form the combined fixture 5; the control module is also configured to drive the second gripper unit 42 in the fixture disassembly assembly 4 to hook the upper fixture 51 in the combined fixture 5, and the control module is also configured to drive the disassembly unit 43 in the fixture disassembly assembly 4 to push the lower fixture 52 in the combined fixture 5 to separate the lower fixture 52 from the upper fixture 51.

[0034] Specifically, the control module can be, but is not limited to, a Siemens S7-1200G2 series PLC.

[0035] Specifically, please refer to Figure 3 , Figure 4 The upper fixture 51 has a notch 511 and a protrusion compared to the lower fixture 52. When the second gripper unit 42 hooks the protrusion 512 of the upper fixture 51, the disassembly unit 43 passes through the notch 511 and pushes against the lower fixture 52, thereby separating the lower fixture 52 from the upper fixture 51.

[0036] In at least one embodiment, the fixture is visually positioned by the visual positioning component 2, the fixture is picked up and pressed by the lifting component 1 in conjunction with the fixture pressing component 3, and the fixture is disassembled by the lifting component 1 in conjunction with the fixture disassembly component 4. The fixture pressing component 3 and the fixture disassembly component 4 work independently without affecting each other, thus quickly realizing multiple functions such as positioning, picking up, pressing and disassembling of the combined fixture 5.

[0037] In at least one embodiment, please refer to Figure 1The lifting assembly 1 includes a cable chain drive module 11 and a mounting plate 12. The cable chain drive module 11 is electrically connected to a control module and the mounting plate 12. The visual positioning assembly 2, the fixture pressing assembly 3, and the fixture disassembly assembly 4 are also connected to the mounting plate 12. The control module is configured to drive the cable chain drive module 11 to raise or lower the mounting plate 12, thereby raising or lowering the fixture pressing assembly 3 and the fixture disassembly assembly 4.

[0038] Specifically, the cable chain drive module 11, in conjunction with the mounting plate 12, enables the jig pressing assembly 3 and the jig disassembly assembly 4 to rise or fall synchronously.

[0039] In at least one embodiment, please refer to Figure 1 The visual positioning component 2 includes: a visual positioning module 21; the visual positioning module 21 is connected to the mounting plate 12 and electrically connected to the control module; the control module is configured to acquire image information below the mounting plate 12 through the visual positioning module 21.

[0040] Specifically, the visual positioning module 21 can accurately locate the position of the fixture, and then the control module sends corresponding instructions to the lifting component 1, the fixture pressing component 3, and the fixture disassembly component 4 according to the position of the fixture.

[0041] Specifically, the visual positioning module 21 may be, but is not limited to, Myer Microvision V1-Pro.

[0042] In at least one embodiment, please refer to Figure 5 The fixture pressing assembly 3 includes: a rotating unit 31, a first gripper unit 32, and a pressing unit 33; the rotating unit 31 is connected to the mounting plate 12, the first gripper unit 32 and the pressing unit 33 are respectively connected to the rotating unit 31, and the rotating unit 31, the first gripper unit 32, and the pressing unit 33 are respectively electrically connected to the control module; the first gripper unit 32 and the pressing unit 33 are offset, and the first gripper unit 32 passes through the pressing unit 33; the control module is configured to drive the rotating unit 31 to rotate the first gripper unit 32 and the pressing unit 33; the control module is also configured to drive the first gripper unit 32 to grip the corresponding fixture; the control module is also configured to drive the pressing unit 33 to press the upper fixture 51 and the lower fixture 52 together to form a combined fixture 5.

[0043] Specifically, the function of the rotating unit 31 is to drive the first gripper unit 32 and the pressing unit 33 to rotate, that is, to adjust the angle and position of the first gripper unit 32 and the pressing unit 33, so as to align the first gripper unit 32 and the pressing unit 33 with the fixture, and to achieve precise gripping and pressing of the fixture.

[0044] Specifically, the first gripper unit 32 can grip the fixture alone, or it can work with the pressing unit 33 to press the upper fixture 51 and the lower fixture 52 into a combined fixture 5.

[0045] In at least one embodiment, please refer to Figure 5 The rotating unit 31 includes: a rotating drive component 311, a first connecting plate 312, and a second connecting plate 313; the rotating drive component 311 is electrically connected to the control module, the first connecting plate 312 is connected to the mounting plate 12, the rotating drive component 311 is connected to the first connecting plate 312, the rotating drive component 311 is connected to the second connecting plate 313, and the first gripper unit 32 and the pressing unit 33 are connected to the second connecting plate 313; the control module is configured to drive the rotating drive component 311 to rotate the second connecting plate 313, thereby driving the first gripper unit 32 and the pressing unit 33 to rotate.

[0046] Specifically, the rotary drive 311 may be, but is not limited to, a rotary motor.

[0047] Specifically, the rotary drive component 311 is connected to the mounting plate 12 via the first connecting plate 312, thereby enabling the longitudinal installation of the rotary drive component 311.

[0048] Specifically, the rotary drive 311, in conjunction with the second connecting plate 313, enables the rotation of the first gripper unit 32 and the pressing unit 33.

[0049] In at least one embodiment, please refer to Figure 5 The pressing unit 33 includes: a pressing drive 331, a plurality of first connecting posts 332 and a pressing plate 333; the pressing drive 331 is connected to a second connecting plate 313 and is electrically connected to a control module; the pressing plate 333 is connected to the pressing drive 331 through each of the first connecting posts 332; the control module is configured to drive the pressing drive 331 to move the pressing plate 333.

[0050] Specifically, the pressing drive 331 may be, but is not limited to, a linear cylinder or a push rod.

[0051] Specifically, the first connecting post 332 can provide installation space for the first gripper unit 32, thereby enabling the first gripper unit 32 to cooperate with the pressing plate 333.

[0052] In at least one embodiment, please refer to Figure 5The first gripper unit 32 includes: a first gripper drive 321 and two first gripping claws 322; the first gripper drive 321 is connected to the second connecting plate 313, and the first gripper drive 321 is located between each first connecting post 332 and the pressing plate 333, and the two first gripping claws 322 are respectively connected to the first gripper drive 321; the pressing plate 333 has two movable holes 333a, and the two first gripping claws 322 pass through the corresponding movable holes 333a; the control module is configured to drive the first gripper drive 321 to move the two first gripping claws 322 toward or away from each other, so as to grip or release the corresponding fixture.

[0053] Specifically, the first gripper drive 321 may be, but is not limited to, a thumb cylinder.

[0054] Specifically, the first gripper drive 321 is connected to the second connecting plate 313 through an L-shaped plate, thereby enabling the first gripper drive 321 to be located between the pressing drive 331 and the pressing plate 333.

[0055] Specifically, the two first gripping claws 322 can move in the movable hole 333a, thereby enabling the two first gripping claws 322 to grip or release the fixture.

[0056] In at least one embodiment, please refer to Figure 6 The fixture disassembly assembly 4 includes: a misalignment unit 41, a second gripper unit 42, and a disassembly unit 43; the misalignment unit 41 is connected to the mounting plate 12, the second gripper unit 42 and the disassembly unit 43 are respectively connected to the misalignment unit 41, the second gripper unit 42 and the disassembly unit 43 are misaligned, and the misalignment unit 41, the second gripper unit 42, and the disassembly unit 43 are respectively electrically connected to the control module; the control module is configured to drive the misalignment unit 41 to move the second gripper unit 42 and the disassembly unit 43 up and down, so that the second gripper unit 42 and the disassembly unit 43 are misaligned with the fixture pressing assembly 3 in height; the control module is also configured to drive the second gripper unit 42 to hook the upper fixture 51 in the combined fixture 5, and the control module is also configured to drive the disassembly unit 43 to push against the lower fixture 52 in the combined fixture 5.

[0057] Specifically, the misalignment unit 41 serves to raise and lower the second gripper unit 42 and the disassembly unit 43, thereby preventing the second gripper unit 42 and the disassembly unit 43 from affecting the movement of the fixture pressing assembly 3 and enabling the fixture pressing assembly 3 and the fixture disassembly assembly 4 to work independently.

[0058] Specifically, the second gripper unit 42 is used to grip the upper fixture 51 and, in conjunction with the disassembly unit 43, push the lower fixture 52 to disassemble and assemble the fixture 5.

[0059] In at least one embodiment, please refer to Figure 6 The misalignment unit 41 includes: a misalignment drive component 411 and a gantry frame 412; the misalignment drive component 411 is connected to the mounting plate 12, the misalignment drive component 411 is connected to the gantry frame 412, and the misalignment drive component 411 is electrically connected to the control module; the second gripper unit 42 and the disassembly unit 43 are respectively connected to the gantry frame 412; the control module is configured to drive the misalignment drive component 411 to move the gantry frame 412 up and down, thereby moving the second gripper unit 42 and the disassembly unit 43 up and down.

[0060] Specifically, the misalignment drive 411 may be, but is not limited to, a linear cylinder or a push rod.

[0061] Specifically, the misalignment drive component 411 drives the gantry frame 412 to lift as a whole, thereby driving the second gripper unit 42 and the disassembly unit 43 to lift as a whole.

[0062] In at least one embodiment, please refer to Figure 7 The second gripper unit 42 includes: a second gripper drive 421 and two second gripping claws 422; the second gripper drive 421 is connected to the gantry frame 412, and the two second gripping claws 422 are respectively connected to the second gripper drive 421; the control module is configured to drive the second gripper drive 421 to move the two second gripping claws 422 toward each other or away from each other.

[0063] Specifically, the second gripper drive 421 may be, but is not limited to, a thumb cylinder.

[0064] Specifically, the second gripper drive 421 can hook the protrusion 512 of the upper fixture 51 through the two second gripping claws 422, thereby disassembling the unit 43 to push against the lower fixture 52, thus realizing the separation of the upper fixture 51 and the lower fixture 52.

[0065] In at least one embodiment, please refer to Figure 8The disassembly unit 43 includes: a disassembly drive component 431, at least two second connecting posts 432, a connecting beam 433, at least two guide posts 434, at least two connecting springs 435, and a pressure head 436; the disassembly drive component 431 is connected to the gantry frame 412 and electrically connected to the control module; the connecting beam 433 is connected to the disassembly drive component 431 through each of the second connecting posts 432, and the connecting beam 433 is located below the second gripper drive component 421; each of the guide posts 434 is respectively connected to the connecting beam 436. The crossbeam 433 is connected to the guide post 434, and each guide post 434 extends movably into the pressure head 436; each connecting spring 435 is respectively fitted on the corresponding guide post 434, and the connecting spring 435 is connected to the crossbeam 433 and the pressure head 436; the control module is configured to drive the disassembly drive component 431 to move the crossbeam 433, thereby moving the pressure head 436, and after the pressure head 436 abuts against the lower fixture 52 in the combined fixture 5, the pressure head 436 squeezes the connecting spring 435 to move relative to the crossbeam 433.

[0066] Specifically, the disassembly drive 431 can be performed using, but is not limited to, a linear cylinder or a push rod.

[0067] Specifically, a limit block 437 is also provided on the connecting beam 433 to prevent the pressure head 436 from moving excessively.

[0068] Specifically, the pressure head 436, together with the guide post 434 and the connecting spring 435, flexibly pushes against the lower fixture 52, thus protecting the fixture and itself.

[0069] Based on the same technical concept, at least one embodiment also provides a jig assembly / disassembly method, which includes: using the multi-functional gantry end pick-and-place press-and disassembly jig system as described above to position, pick up, place, press, and disassemble the jig.

[0070] In summary, this invention uses a visual positioning component to visually position the fixture, a lifting component in conjunction with a fixture pressing component to pick up, place, and press the fixture, and a lifting component in conjunction with a fixture disassembly component to disassemble the fixture. Furthermore, the fixture pressing component and the fixture disassembly component can work independently without affecting each other, thus quickly realizing multiple functions such as positioning, picking up, placing, pressing, and disassembling of the combined fixture.

[0071] In the description of the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0072] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence unless expressly indicated herein. Therefore, without departing from the teachings of the exemplary embodiments, the first element, component, region, layer, or segment discussed above may be referred to as a second element, component, region, layer, or segment.

[0073] Spatially relative terms, such as “inside,” “outside,” “below,” “below,” “down,” “above,” “up,” etc., may be used herein to describe the relationship between one element or feature illustrated in the figures and another element or feature. In addition to the orientations depicted in the figures, spatially relative terms may be intended to cover different orientations of the device in use or operation. For example, if the device in the figure is flipped, an element described as “below” or “below” other elements or features would be oriented as “above” other elements or features. Thus, the example term “below” can cover both above and below orientations. The device may be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0074] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.

[0075] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A multifunctional gantry end-effector pick-up, placement, pressing, and disassembly fixture system, characterized in that, include: The control module, lifting assembly (1), vision positioning assembly (2), fixture pressing assembly (3), and fixture disassembly assembly (4); among which The lifting assembly (1), visual positioning assembly (2), fixture pressing assembly (3), and fixture disassembly assembly (4) are electrically connected to the control module, and the visual positioning assembly (2), fixture pressing assembly (3), and fixture disassembly assembly (4) are connected to the lifting assembly (1). The control module is configured to acquire image information below the lifting assembly (1) through the visual positioning component (2) in order to position the upper fixture (51) and the lower fixture (52); The control module is also configured to drive the lifting assembly (1) to raise or lower the fixture pressing assembly (3) and the fixture disassembly assembly (4); The control module is also configured to drive the first gripper unit (32) in the fixture pressing assembly (3) to grip the corresponding fixture; When the upper fixture (51) and the lower fixture (52) are stacked, the control module is also configured to drive the pressing unit (33) in the fixture pressing assembly (3) to press the upper fixture (51) and the lower fixture (52) together to form a combined fixture (5). The control module is also configured to drive the second gripper unit (42) in the jig disassembly assembly (4) to hook the upper jig (51) in the combined jig (5), and the control module is also configured to drive the disassembly unit (43) in the jig disassembly assembly (4) to push the lower jig (52) in the combined jig (5) to separate the lower jig (52) from the upper jig (51). The lifting assembly (1) includes: a drag chain drive module (11) and a mounting plate (12). The cable chain drive module (11) is electrically connected to the control module, the cable chain drive module (11) is connected to the mounting plate (12), and the visual positioning component (2), the fixture pressing component (3) and the fixture disassembly component (4) are connected to the mounting plate (12). The control module is configured to drive the drag chain drive module (11) to raise or lower the mounting plate (12) so as to raise or lower the fixture pressing assembly (3) and the fixture disassembly assembly (4). The fixture pressing assembly (3) includes: a rotating unit (31), a first gripper unit (32), and a pressing unit (33); The rotating unit (31) is connected to the mounting plate (12), the first gripper unit (32) and the pressing unit (33) are respectively connected to the rotating unit (31), and the rotating unit (31), the first gripper unit (32) and the pressing unit (33) are respectively electrically connected to the control module; The first gripper unit (32) is offset from the pressing unit (33), and the first gripper unit (32) passes through the pressing unit (33). The control module is configured to drive the rotating unit (31) to rotate the first gripper unit (32) and the pressing unit (33); The control module is also configured to drive the first gripper unit (32) to grip the corresponding fixture; The control module is also configured to drive the pressing unit (33) to press the upper fixture (51) and the lower fixture (52) together to form a combined fixture (5). The fixture disassembly assembly (4) includes: a misalignment unit (41), a second gripper unit (42), and a disassembly unit (43). The misalignment unit (41) is connected to the mounting plate (12), the second gripper unit (42) and the disassembly unit (43) are respectively connected to the misalignment unit (41), the second gripper unit (42) and the disassembly unit (43) are misaligned, and the misalignment unit (41), the second gripper unit (42) and the disassembly unit (43) are respectively electrically connected to the control module; The control module is configured to drive the misalignment unit (41) to move the second gripper unit (42) and the disassembly unit (43) up and down, so that the second gripper unit (42) and the disassembly unit (43) are misaligned with the fixture pressing assembly (3) in height; The control module is also configured to drive the second gripper unit (42) to hook the upper fixture (51) of the combined fixture (5), and the control module is also configured to drive the disassembly unit (43) to push the lower fixture (52) of the combined fixture (5). The misalignment unit (41) includes: a misalignment drive (411) and a gantry (412). The misalignment drive component (411) is connected to the mounting plate (12), the misalignment drive component (411) is connected to the gantry (412), and the misalignment drive component (411) is electrically connected to the control module. The second gripper unit (42) and the disassembly unit (43) are respectively connected to the gantry frame (412); The control module is configured to drive the misalignment drive component (411) to lift the gantry frame (412) and thereby lift the second gripper unit (42) and the disassembly unit (43).

2. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 1, characterized in that, The visual positioning component (2) includes: a visual positioning module (21); The visual positioning module (21) is connected to the mounting plate (12), and the visual positioning module (21) is electrically connected to the control module; The control module is configured to acquire image information below the mounting plate (12) via the visual positioning module (21).

3. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 1, characterized in that, The rotating unit (31) includes: a rotating drive (311), a first connecting plate (312), and a second connecting plate (313); The rotary drive component (311) is electrically connected to the control module, the first connecting plate (312) is connected to the mounting plate (12), the rotary drive component (311) is connected to the first connecting plate (312), the rotary drive component (311) is connected to the second connecting plate (313), and the first gripper unit (32) and the pressing unit (33) are connected to the second connecting plate (313). The control module is configured to drive the rotary drive component (311) to rotate the second connecting plate (313), thereby driving the first gripper unit (32) and the pressing unit (33) to rotate.

4. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 3, characterized in that, The pressing unit (33) includes: a pressing drive (331), a plurality of first connecting posts (332) and a pressing plate (333); The pressing drive (331) is connected to the second connecting plate (313), and the pressing drive (331) is electrically connected to the control module; The pressing plate (333) is connected to the pressing drive (331) through each of the first connecting posts (332); The control module is configured to drive the pressing drive (331) to move the pressing plate (333).

5. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 4, characterized in that, The first gripper unit (32) includes: a first gripper drive (321) and two first gripping claws (322); The first gripper drive (321) is connected to the second connecting plate (313), and the first gripper drive (321) is located between each first connecting post (332) and the pressing plate (333). The two first gripping claws (322) are respectively connected to the first gripper drive (321). The pressing plate (333) has two movable holes (333a), and the two first clamping claws (322) pass through the corresponding movable holes (333a). The control module is configured to drive the first gripper drive (321) to move the two first gripping grippers (322) toward each other or away from each other, so as to grip or release the corresponding fixture.

6. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 1, characterized in that, The second gripper unit (42) includes: a second gripper drive (421) and two second gripping claws (422); The second gripper drive (421) is connected to the gantry (412), and the two second grippers (422) are respectively connected to the second gripper drive (421); The control module is configured to drive the second gripper drive (421) to move the two second grippers (422) toward each other or away from each other.

7. The multifunctional gantry end-feeding, pressing, disassembling fixture system as described in claim 6, characterized in that, The disassembly unit (43) includes: a disassembly drive (431), at least two second connecting columns (432), a connecting beam (433), at least two guide columns (434), at least two connecting springs (435), and a pressure head (436). The disassembly drive unit (431) is connected to the gantry frame (412), and the disassembly drive unit (431) is electrically connected to the control module; The connecting beam (433) is connected to the disassembly drive unit (431) through each of the second connecting posts (432), and the connecting beam (433) is located below the second gripper drive unit (421); Each of the guide posts (434) is connected to the connecting beam (433), and each of the guide posts (434) extends movably into the pressure head (436); Each of the connecting springs (435) is respectively fitted onto the corresponding guide post (434), and the connecting springs (435) are connected to the connecting beam (433) and the pressure head (436); The control module is configured to drive the disassembly drive component (431) to move the connecting beam (433), thereby moving the pressure head (436). After the pressure head (436) abuts against the lower fixture (52) in the combined fixture (5), the pressure head (436) squeezes the connecting spring (435) to move relative to the connecting beam (433).

8. A method for disassembling and assembling a fixture, characterized in that, include: The multifunctional gantry end pick-and-place, pressing and disassembly fixture system as described in any one of claims 1-7 is used to position, pick up, place, press and disassemble the fixture.

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