An assembly machine with secondary positioning

Abstract

The application provides an assembling machine table with secondary positioning, which is used for front and back surface assembly on a tooling, comprising a workbench, a feeding mechanism is arranged on one side of the workbench, a positioning and dust removal assembly is arranged on one side of the feeding mechanism, a carrier conveying line assembly is arranged on the other side of the workbench, a turnover mechanism is arranged on one side of the carrier conveying line assembly, and a mechanical arm assembly is arranged between the feeding mechanism and the carrier conveying line assembly, so that the front and back surface assembly of components can be realized, and dust removal and secondary positioning can be realized.

Description

Technical Field

[0001] This invention relates to the field of component assembly technology, and more specifically to an assembly machine with secondary positioning. Background Technology

[0002] In the assembly process of components such as power distribution boxes, the parts first need to be clamped onto the fixture for assembly. After assembling electronic components onto the fixture, other parts need to be assembled at the bottom of the fixture. This requires the fixture, such as the power distribution box, to be assembled on both sides. In the current assembly process, a feeding mechanism transports the parts to a preset position, waiting for the robotic arm to clamp them onto the fixture. Before the robotic arm clamps the parts, it can pre-position them to ensure that the parts are in the optimal position when clamped, thereby improving the accuracy and efficiency of clamping. After the parts are placed on the front of the fixture, they are initially fixed. Then, they are manually flipped over for the reverse assembly, which results in low overall efficiency. Furthermore, since the fixture needs to be transported by a conveyor component, and the parts are gripped and placed onto the fixture after being transported, deviations during gripping or transport can easily lead to inaccurate assembly.

[0003] For example, patent document with patent application number 202322571978.0 and publication date of June 25, 2024 discloses an automatic loading and assembly equipment for PCBA control boards, including a protective frame and a machine base. The protective frame is equipped with a double material cart station for parking material carts, a material picking mechanism for grabbing PCBA control boards, an upper camera module and a lower camera module for photographic detection, and a secondary positioning mechanism for positioning PCBA control boards. The material picking mechanism, the upper camera module, the lower camera module, and the secondary positioning mechanism are all located at the upper end of the machine base, and the double material cart station is located on one side of the machine base. The material picking mechanism includes a robotic arm, a 3D camera, and a suction cup. The 3D camera and the suction cup are both located at the movable end of the robotic arm. A conveyor line assembly is provided above the machine base. The aim is to provide an automatic loading and assembly equipment for PCBA control boards that is structurally stable and reliable, meets the needs of lean production, has a high yield, and high production efficiency.

[0004] The above-mentioned literature describes a method where a robotic arm controls a suction cup to precisely pick up a PCBA control board and place it in a tray on a conveyor assembly for installation. A secondary positioning mechanism then performs secondary positioning. However, this secondary positioning mechanism can only perform secondary positioning of the PCBA control board, requiring an additional secondary positioning mechanism and thus complicating the entire system. Furthermore, this equipment only supports front-side assembly of the PCBA control board and cannot perform reverse-side assembly. Additionally, it lacks a pre-assembly dust removal process or device, allowing parts to become contaminated with dust or other impurities during transportation and storage. If these impurities are not removed before assembly, they may adversely affect the product's performance and quality. Summary of the Invention

[0005] This invention provides an assembly machine with secondary positioning. After the parts are positioned twice, they are placed into the tooling, which can assemble the components from both sides. The equipment is simple and the assembly reliability is high.

[0006] To achieve the above objectives, the technical solution of the present invention is: an assembly machine with secondary positioning for assembling tooling and parts, including a worktable, a feeding mechanism on one side of the worktable, a positioning dust removal assembly on one side of the feeding mechanism, the positioning dust removal assembly including a positioning dust removal seat, a positioning seat in the middle of the positioning dust removal seat, a positioning groove matching the part on the positioning seat, dust removal devices on both sides of the positioning seat, a carrier conveyor assembly on the other side of the worktable, a flipping mechanism on one side of the carrier conveyor assembly, a carrier lifting mechanism on the carrier conveyor assembly, the carrier lifting mechanism pushes the tooling out and separates it from the carrier conveyor assembly and is flipped by the flipping mechanism, a robotic arm assembly is located between the feeding mechanism and the carrier conveyor, the robotic arm assembly picks up parts from the feeding mechanism and puts them into the positioning groove, and then picks up parts that have been secondary positioned from the positioning groove and puts them into the tooling.

[0007] The above setup involves a feeding mechanism that provides parts for assembly on the tooling. When the robotic arm assembly picks up a part from the feeding mechanism, it needs to be initially positioned to ensure it can grasp the part. The picked-up part is then moved to a positioning and dust removal component and placed into a positioning groove. During placement, the robotic arm assembly undergoes secondary positioning to ensure the part fits perfectly into the groove. This secondary positioning, achieved through matching the part with the groove, ensures that even if the robotic arm assembly is affected by external factors or if there are deviations in the feeding mechanism's position, the secondary positioning accurately moves the part onto the tooling, guaranteeing the reliability of the part. The positioning and dust removal component also removes dust from the part, preventing dust from affecting its operation. After the part is installed on the workpiece, a flipping mechanism flips the tooling to allow for assembly on the reverse side, enabling double-sided installation. This centralized setup of the dust removal component and secondary positioning, along with the unified front and back-side installation, results in a simple structure and high operational reliability.

[0008] Furthermore, the vehicle conveyor assembly includes a vehicle transport line and a vehicle assembly. A vehicle lifting mechanism is provided between the two vehicle transport lines. The vehicle lifting mechanism includes a vehicle fixing plate, a vehicle lifting cylinder, and a vehicle lifting plate. The vehicle fixing plate is fixedly connected to the two vehicle transport lines. The vehicle lifting cylinder is connected to the vehicle fixing plate. The output shaft of the vehicle lifting cylinder is connected to the vehicle lifting plate. A vehicle lifting block is provided on the surface of the vehicle lifting plate. A vehicle guide rod is provided around the bottom surface of the vehicle lifting plate. A vehicle guide sleeve is provided on the vehicle fixing plate at the position corresponding to the vehicle guide rod. The vehicle guide sleeve is slidably connected to the vehicle guide rod. The vehicle assembly includes a vehicle body, the bottom of which is provided with a vehicle lifting hole, which is matched with a vehicle lifting block.

[0009] The above configuration includes two vehicle transport lines in the vehicle transport line assembly. These are existing transport lines and will not be described in detail here. They are mainly used to transport vehicle components. A vehicle lifting mechanism is set between the two vehicle transport lines. The vehicle fixing plate is fixedly connected to the bottom of the two vehicle transport lines and does not interfere with each other's operation. The vehicle lifting cylinder is connected to the vehicle fixing plate, and the output shaft of the vehicle lifting cylinder is connected to the vehicle lifting plate. The output shaft of the vehicle lifting cylinder can drive the vehicle lifting plate to move along the direction of the vehicle guide rod. The vehicle guide sleeve is slidably connected to the vehicle guide rod, which can guide the movement of the vehicle lifting plate. The bottom of the vehicle body is provided with a vehicle lifting hole, which is matched with a vehicle lifting block. When the vehicle lifting plate moves, the vehicle lifting block can be inserted into the vehicle lifting hole to position the vehicle body, so that the vehicle lifting plate can stably drive the vehicle body to move.

[0010] Furthermore, the flipping mechanism includes a flipping support base, which is fixedly connected to the worktable. The flipping support base is equipped with a flipping motor, one side of which is connected to one side of the flipping connecting plate. The flipping connecting plate moves along the length of the tooling on the flipping support base, and a flipping clamping plate is rotatably mounted on the flipping connecting plate.

[0011] In the above setup, the tooling is transported via a carrier and on a carrier conveyor assembly. When it reaches the assembly position, a robotic arm assembly places the part on the front of the tooling for frontal assembly. Then, a flipping connecting plate moves along the length of the tooling on a flipping support to clamp both sides of the tooling. The carrier lifting mechanism then contacts the bottom of the tooling and pushes the tooling with the part mounted on the front out of the carrier conveyor assembly. The tooling is flipped by the flipping clamping plate, allowing for assembly of the flipped tooling. This enables front and back assembly of the tooling, resulting in a simple structure and high operational efficiency.

[0012] Furthermore, the flipping mechanism also includes a flipping support plate, one end of which is fixedly connected to a flipping support base. The flipping support base is provided with a cavity for accommodating a flipping motor. One side of the flipping motor is connected to one side of a flipping connecting plate. A flipping movable plate is provided on the other side of the flipping connecting plate. A movable plate slider is provided on one side of the flipping movable plate. A movable plate guide rail is provided on the flipping support plate relative to the movable plate slider. The movable plate slider and the movable plate guide rail are slidably connected. A movable connecting plate is provided on the other side of the flipping movable plate. A connecting plate rotating shaft is provided on the movable connecting plate. A flipping clamping plate is provided on one side of the connecting plate rotating shaft. A connecting plate rotating gear is provided on the other side of the connecting plate rotating shaft. A flipping motor gear is provided on the output shaft of the flipping motor. The flipping motor gear and the connecting plate rotating gear are connected by a rotating belt.

[0013] The above configuration involves a rotating support base fixedly connected to the worktable, and two rotating support bases fixedly connected to a rotating support plate. The rotating support bases provide support for the rotating support plate. Each rotating support base has a cavity to accommodate the rotating motor, but the cavity does not contact the rotating motor. The rotating motor is connected to a rotating connecting plate, which is also connected to a rotating moving plate. A moving plate slider is provided on one side of the rotating moving plate, and a moving plate guide rail is provided on the rotating support plate relative to the moving plate slider. The moving plate slider and the moving plate guide rail are slidably connected. Therefore, the weight of the rotating motor is transferred to the rotating moving plate through the rotating connecting plate. Thus, when an external force is applied to the rotating connecting plate, the rotating motor and the rotating moving plate can move simultaneously along the moving plate guide rail. Furthermore, a movable connecting plate is provided on the other side of the flipping movable plate. The movable connecting plate is provided with a connecting plate rotation shaft. A flipping clamping plate is provided on one side of the connecting plate rotation shaft, and a connecting plate rotation gear is provided on the other side of the connecting plate rotation shaft. The rotation of the output shaft of the flipping motor drives the connecting plate rotation gear to rotate, which in turn drives the connecting plate rotation shaft to rotate. The rotation of the connecting plate rotation shaft drives the flipping clamping plate to rotate.

[0014] Furthermore, the flip clamping plate is provided with a flip clamping block, and flip clamping holes are provided on both sides of the tooling. The flip clamping holes are matched with the flip clamping blocks. The tooling is provided with an assembly hole, and a top plate is provided on the tooling. The top plate is provided with an assembly protrusion at the position corresponding to the assembly hole, and the assembly protrusion is matched with the assembly hole.

[0015] The above configuration, where the flip clamping block and the flip clamping hole are engaged, means that the flip clamping block extends into the flip clamping hole, thereby enabling the flip clamping block to stably clamp the tooling. When flipping is required, the mounting protrusion on the top plate engages with the mounting hole on the tooling, so that the top plate and the tooling form a space for sealing the part. Then, the flipping motor drives the flip clamping block to rotate, thereby causing the tooling to flip over. After the parts are assembled on the front of the fixture and initially secured, place the top plate on the fixture. The top plate can further prevent the parts from falling off during the flipping process.

[0016] Furthermore, a moving drive device is provided on the lower side of the tilting support relative to the cavity. The moving drive device is fixedly connected to the tilting support, and the output shaft of the moving drive device passes through the tilting support and is connected to the tilting connecting plate.

[0017] In the above configuration, the output shaft of the mobile drive device passes through the flip support base and connects to the flip connecting plate. That is, the mobile drive device can drive the flip connecting plate to move along the mobile plate guide rail. When the carrier body reaches the corresponding position of the flip mechanism through the carrier lifting mechanism, the mobile drive device drives the flip clamping block on the flip clamping plate to extend into the flip clamping hole to complete the gravity support of the tooling. Then, the carrier lifting mechanism drives the carrier body away from the workpiece, ensuring that when the flip motor drives the tooling to rotate, the carrier body will not interfere with the rotation of the tooling.

[0018] Furthermore, the feeding assembly includes a three-axis robotic arm, an upper conveyor line, a lower conveyor line, and a feeding lifting mechanism. The three-axis robotic arm is connected to the worktable, and the output end of the three-axis robotic arm is connected to a second suction cup. The upper conveyor line is located above the worktable, the lower conveyor line is located below the worktable, and the feeding lifting mechanism is located on one side of the upper and lower conveyor lines.

[0019] The above settings define the length direction of the worktable as the X-axis, the direction perpendicular to the X-axis on the horizontal plane as the Y-axis, and the direction perpendicular to the plane containing the XY axes as the Z-axis. The three-axis robotic arm can move along the XYZ axes. The upper conveyor line is used to transport trays containing parts. The three-axis robotic arm drives the second suction cup to pick up and transport the trays containing parts, so that the trays containing parts are placed on the feeding lifting mechanism. At this time, the feeding lifting mechanism is located at the position of the upper conveyor line. When all the parts on the tray are removed, the feeding lifting mechanism can drive the tray to move the lower conveyor line, transporting the tray outside the worktable. That is, the conveying direction of the upper conveyor line is opposite to that of the lower conveyor line.

[0020] Furthermore, the feeding lifting mechanism includes a feeding lifting plate and a feeding drive motor. Feeding lifting rotating blocks are provided on both sides of the feeding lifting plate. A feeding lifting rotating rod is rotatably connected between the two feeding lifting rotating blocks. The feeding lifting rotating rod is rotatably connected to the feeding lifting rotating blocks. The feeding lifting rotating blocks are fixedly connected to the feeding lifting movable plate. Feeding guide rails are provided on both sides of the feeding lifting plate. A feeding lifting movable slider is provided on the feeding lifting movable plate corresponding to the feeding guide rails. The feeding lifting movable slider is slidably connected to the feeding lifting movable slider. The feeding drive motor is connected to the feeding lifting rotating rod via a feeding drive belt.

[0021] With the above configuration, the feeding lifting rotating rod can rotate between the two feeding lifting rotating blocks. The feeding lifting rotating rod is rotatably connected to the feeding lifting rotating blocks, and the feeding lifting rotating blocks are fixedly connected to the feeding lifting moving plate. The feeding drive motor is connected to the feeding lifting rotating rod through the feeding drive belt. When the feeding drive motor drives the feeding lifting rotating rod to rotate, the feeding lifting rotating blocks will move along the feeding lifting rotating rod, driving the feeding lifting moving plate to move along the feeding guide rail, so that the feeding lifting moving plate can move from the position of the upper conveyor line to the corresponding position of the lower conveyor line, completing the transfer of the pallet.

[0022] Furthermore, the robotic arm assembly includes a four-axis robot and a gripper assembly. The four-axis robot is connected to the gripper assembly, and the gripper assembly includes a gripper support frame on which a first gripper, a second gripper, a third gripper, and a first detection component are disposed. The first gripper includes a first slide cylinder, a first slide connecting seat, and a first suction cup. The first slide cylinder is fixedly connected to the gripper support frame. The first slide cylinder includes a first cylinder body and a first cylinder slider. A first cylinder guide rail is provided on the first cylinder body. A first cylinder groove is provided on the first cylinder slider corresponding to the first cylinder guide rail. The first cylinder groove is matched with the first cylinder guide rail. The first cylinder slider is also connected to the output shaft of the first cylinder body. The first slide connecting seat is connected to the first cylinder slider and the first slide connecting seat is connected to the first suction cup. The second gripper includes a second slide cylinder, a second slide connecting seat, and a second clamping cylinder. The second gripper includes a second slide cylinder, a second slide connecting seat, and a second suction cup. The second slide cylinder is fixedly connected to the gripper support frame. The second slide cylinder includes a second cylinder body and a second cylinder slider. A second cylinder guide rail is provided on the second cylinder body. A second cylinder groove is provided on the second cylinder slider corresponding to the second cylinder guide rail. The second cylinder groove is matched with the second cylinder guide rail. The second cylinder slider is also connected to the output shaft of the second cylinder body. The second cylinder slider is connected to the second slide connecting seat. The second slide connecting seat is connected to the second clamping cylinder. The second clamping cylinder is provided with a second clamping block. The second clamping block is connected to the output shaft of the second clamping cylinder. A first detection component is provided on one side of the second gripper, and the first detection component includes a first detection light source and a first detection camera; The third gripper includes a third gripping cylinder, which is connected to the gripper support frame. The third gripping cylinder is equipped with a third gripping block, which is connected to the output shaft of the third gripping cylinder.

[0023] With the above configuration, the four-axis robot can move along the XYZ axes. The four-axis robot is also equipped with a rotary motor, which allows the four-axis robot to rotate on the worktable plane. The four-axis robot is existing technology and will not be described in detail here. The gripper support frame provides support for the first gripper, the second gripper, the third gripper, and the first detection component. The first cylinder groove is matched with the first cylinder guide rail. The first cylinder slider is also connected to the output shaft of the first cylinder body. Therefore, the first cylinder output shaft can drive the first cylinder slider to move, which in turn drives the first slide connecting seat to move. The movement of the first slide connecting seat drives the first suction cup to move. The first suction cup mainly picks up the parts on the tray and puts them onto the positioning dust removal component. The second cylinder groove is matched with the second cylinder guide rail. The second cylinder slider is also connected to the output shaft of the second cylinder body. Therefore, the output shaft of the second cylinder can drive the second cylinder slider to move, which in turn drives the second slide connecting seat to move. The movement of the second slide connecting seat drives the second clamping cylinder to move. The output shaft of the second clamping cylinder can make the second clamping blocks move closer or further apart. The second gripper mainly clamps the parts on the positioning dust removal assembly. The third clamping block is connected to the output shaft of the third clamping cylinder. The output shaft of the third clamping cylinder can make the third clamping blocks move closer or further apart. The third gripper is mainly used to clamp the top plate. The first detection component includes a first detection light source and a first detection camera. The first detection camera mainly provides image recognition for the first gripper, the second gripper, and the third gripper to grasp the objects accurately.

[0024] Furthermore, the dust removal device includes a dust removal nozzle and a dust removal suction pipe. A dust removal nozzle is provided on one side of the positioning dust removal seat, a dust removal screen is provided on the other side of the positioning dust removal seat, and a dust removal suction pipe is provided at the bottom of the dust removal screen.

[0025] The above setup allows the positioning groove to be used for secondary positioning of the parts and also to limit the movement of the parts. Then, the dust removal nozzle sprays air onto the surface of the parts, causing the dust on the surface of the parts to fall off. The dust is then sucked up by external equipment connected to the dust removal suction pipe. Attached Figure Description

[0026] Figure 1 This is a perspective view of the present invention.

[0027] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0028] Figure 3 This is a perspective view of the vehicle lifting mechanism in this invention.

[0029] Figure 4 This is a bottom view of the vehicle body in this invention.

[0030] Figure 5 This is a perspective view of the flipping mechanism in this invention.

[0031] Figure 6 for Figure 5 Enlarged view of section B in the middle.

[0032] Figure 7 View of the flipping mechanism in this invention Figure 1 .

[0033] Figure 8 View of the flipping mechanism in this invention Figure 2 .

[0034] Figure 9 This is a perspective view of the vehicle component in this invention.

[0035] Figure 10 This is a bottom view of the top plate in this invention.

[0036] Figure 11 This is a perspective view of the feeding mechanism in this invention.

[0037] Figure 12 This is an exploded view of the feeding and lifting mechanism in this invention.

[0038] Figure 13 The three-dimensional form of the gripper assembly in this invention Figure 1 .

[0039] Figure 14 The three-dimensional form of the gripper assembly in this invention Figure 2 .

[0040] Figure 15 This is a perspective view of the positioning dust removal component in this invention.

[0041] Figure 16 This is a partial structural diagram of the positioning dust removal component in this invention.

[0042] Reference numerals: 1-Workbench; 2-Carrier conveyor assembly; 21-Carrier transport line; 22-Carrier lifting mechanism; 221-Carrier lifting cylinder; 222-Carrier fixing plate; 223-Carrier lifting plate; 2231-Carrier lifting block; 224-Carrier guide rod; 225-Carrier guide sleeve; 23-Carrier assembly; 231-Carrier body; 2311-Carrier lifting hole; 232-Tooling; 2321-Tilting clamping hole; 2322-Assembly hole; 24-Top plate; 241-Assembly protrusion; 3-Tilting mechanism; 31-Tilting support; 311-Cavity; 32-Tilting... 321-Slide support plate; 33-Tilting motor; 331-Tilting motor gear; 34-Tilting connecting plate; 35-Tilting moving plate; 351-Moving plate slider; 36-Moving connecting plate; 361-Connecting plate rotating shaft; 362-Connecting plate rotating gear; 37-Tilting clamping plate; 371-Tilting clamping block; 38-Rotating belt; 39-Moving drive device; 4-Feeding mechanism; 40-Pattern; 41-Three-axis robotic arm; 411-Second suction cup; 42-Upper conveyor line; 43-Lower conveyor line; 44-Feeding lifting mechanism; 441-Feeding lifting plate; 44 11-Feeding guide rail; 442-Feeding lifting rotating seat; 443-Feeding lifting rotating rod; 444-Feeding lifting rotating block; 44-Feeding lifting moving plate; 441-Feeding lifting moving slider; 45-Feeding drive motor; 46-Feeding drive belt; 5-Mechanical arm assembly; 50-Gripper support frame; 51-Four-axis robot; 52-Gripper assembly; 53-First gripper; 531-First cylinder body; 5311-First cylinder guide rail; 532-First cylinder slider; 5321-First cylinder groove; 533-First slide connecting seat; 534-First suction cup; 54-Second Gripper; 541-Second cylinder body; 5411-Second cylinder guide rail; 542-Second cylinder slider; 5421-Second cylinder groove; 543-Second slide connecting seat; 544-Second clamping cylinder; 5441-Second clamping block; 55-First detection component; 551-First detection camera; 552-First detection light source; 56-Third gripper; 561-Third clamping cylinder; 5611-Third clamping block; 6-Positioning dust removal component; 61-Positioning dust removal seat; 62-Dust removal nozzle; 63-Positioning seat; 631-Positioning groove; 64-Dust removal screen; 65-Dust removal suction pipe. Detailed Implementation

[0043] Example 1.

[0044] like Figure 1-16As shown, an assembly machine with secondary positioning is used for assembling tooling 232 and parts on both sides. It includes a workbench 1, a feeding mechanism 4 on one side of the workbench 1, a positioning and dust removal component 6 on one side of the feeding mechanism 4, a carrier conveyor assembly 2 on the other side of the workbench 1, a flipping mechanism 3 on one side of the carrier conveyor assembly 2, and a robotic arm assembly 5 located between the feeding mechanism 4 and the carrier conveyor assembly 2. The feeding mechanism 4 is used to provide assembly parts, and the positioning and dust removal component 6 is used to place the parts picked up by the robotic arm assembly 5 onto the positioning and dust removal component 6 to perform secondary positioning and dust removal operations on the parts. The positioning and dust removal component 6 can ensure that these parts are in the correct position before assembly, reducing assembly errors caused by position deviation. The parts may be mixed with dust during transportation, so the parts need to be dusted. The carrier conveyor assembly 2 is used to transport carriers, and the flipping mechanism 3 is used to flip the tooling 232 on the carrier.

[0045] like Figure 1-4 As shown, the vehicle conveyor assembly 2 includes a vehicle transport line 21 and a vehicle assembly 23. A vehicle lifting mechanism 22 is provided between the two vehicle transport lines 21. The vehicle lifting mechanism 22 includes a vehicle fixing plate 222, a vehicle lifting cylinder 221 and a vehicle lifting plate 223. The vehicle fixing plate 222 is fixedly connected to the two vehicle transport lines. The vehicle lifting cylinder 221 is connected to the vehicle fixing plate 222. The output shaft of the vehicle lifting cylinder 221 is fixedly connected to the vehicle lifting plate 223. A vehicle lifting block 2231 is provided on the surface of the vehicle lifting plate 223. A vehicle guide rod 224 is provided around the bottom surface of the vehicle lifting plate 223. A vehicle guide sleeve 225 is provided on the vehicle fixing plate 222 at the position corresponding to the vehicle guide rod 224. The vehicle guide sleeve 225 is slidably connected to the vehicle guide rod 224. The vehicle assembly 23 includes a vehicle body 231, with a vehicle lifting hole 2311 at its bottom. The vehicle lifting hole 2311 is matched with a vehicle lifting block 2231. The vehicle conveyor assembly 2 includes two vehicle transport lines 21, which are existing conveyor lines and will not be described in detail here. They are mainly used to transport the vehicle assembly 23. A vehicle lifting mechanism 22 is provided between the two vehicle transport lines 21. The vehicle fixing plate 222 and... The bottom of the two carrier conveyor lines are fixedly connected and do not interfere with each other's operation. The carrier lifting cylinder 221 is connected to the carrier fixing plate 222, and the output shaft of the carrier lifting cylinder 221 is connected to the carrier lifting plate 223. The output shaft of the carrier lifting cylinder 221 can drive the carrier lifting plate 223 to move along the carrier guide rod 224. The carrier guide sleeve 225 is slidably connected to the carrier guide rod 224, which can guide the movement of the carrier lifting plate 223. The bottom of the vehicle body 231 is provided with a vehicle lifting hole 2311, which is matched with the vehicle lifting block 2231. When the vehicle lifting plate 223 moves, the vehicle lifting block 2231 can be inserted into the vehicle lifting hole 2311 to realize the positioning of the vehicle body 231 by the vehicle lifting plate 223, so that the vehicle lifting plate 223 can stably drive the vehicle body 231 to move.

[0046] like Figure 5-10 As shown, the flipping mechanism 3 includes a flipping support base 31 and a flipping support plate 32. Both ends of the flipping support plate 32 are fixedly connected to the flipping support base 31. The flipping support base 31 is fixedly connected to the worktable 1. The flipping support base 31 is provided with a cavity 311 to accommodate the flipping motor 33. One side of the flipping motor 33 is fixedly connected to one side of the flipping connecting plate 34. A flipping movable plate 35 is provided on the other side of the flipping connecting plate 34. A movable plate slider 351 is provided on one side of the flipping movable plate 35. A movable plate guide rail 321 is provided on the flipping support plate 32 relative to the movable plate slider 351. The slider 351 and the moving plate guide rail 321 are slidably connected. A moving connecting plate 36 is provided on the other side of the rotating moving plate 35. The moving connecting plate 36 is provided with a connecting plate rotating shaft 361. A rotating clamping plate 37 is provided on one side of the connecting plate rotating shaft 361. A connecting plate rotating gear 362 is provided on the other side of the connecting plate rotating shaft 361. A rotating motor gear 331 is provided on the output shaft of the rotating motor 33. The rotating motor gear 331 and the connecting plate rotating gear 362 are connected by a rotating belt 38. The rotating support base 31 is fixedly connected to the worktable 1. The two rotating support bases 31 are connected to the rotating plate. The rotating support plate 32 is fixedly connected and supported by the rotating support base 31. The rotating support base 31 is provided with a cavity 311 to accommodate the rotating motor 33. The cavity 311 does not contact the rotating motor 33. The rotating motor 33 is movable within the cavity 311. When the rotating moving plate 35 moves on the moving slide block 351, the rotating motor 33 moves within the cavity 311. The width of the rotating connecting plate 34 is greater than the width of the cavity 311, so that when the rotating moving plate 35 moves into position, it can be limited by the rotating connecting plate 34. The rotating motor 33 and the rotating connecting plate 34 are connected. The connecting plate 34 is connected to the flip connecting plate 34 and is also fixedly connected to one end of the flip moving plate 35. A moving plate slider 351 is provided on one side of the flip moving plate 35. A moving plate guide rail 321 is provided on the flip support plate 32 relative to the moving plate slider 351. The moving plate slider 351 and the moving plate guide rail 321 are slidably connected. Therefore, the gravity of the flip motor 33 is applied to the flip moving plate 35 through the flip connecting plate 34. Therefore, when an external force is applied to the flip connecting plate 34, the flip motor 33 and the flip moving plate 35 can be driven to move simultaneously along the moving plate guide rail 321.

[0047] Furthermore, a movable connecting plate 36 is provided on the other side of the flipping movable plate 35. The movable connecting plate 36 is provided with a connecting plate rotating shaft 361. A flipping clamping plate 37 is provided on one side of the connecting plate rotating shaft 361, and a connecting plate rotating gear 362 is provided on the other side of the connecting plate rotating shaft 361. The output shaft of the flipping motor 33 rotates, which drives the connecting plate rotating gear to rotate, thereby driving the connecting plate rotating shaft to rotate. The rotation of the connecting plate rotating shaft 361 drives the flipping clamping plate 37 to rotate.

[0048] See together Figure 9 The flip-grip plate 37 is provided with a flip-grip block 371. The carrier assembly 23 also includes a tooling 232 and a top plate 24. The tooling 232 and the top plate 24 are placed on the carrier body 231. Flip-grip holes 2321 are provided on both sides of the tooling 232. The flip-grip holes 2321 are matched with the flip-grip block 371. An assembly hole 2322 is provided on the top of the tooling 232. An assembly protrusion 241 is provided on the top plate 24 at the position corresponding to the assembly hole 2322. The protrusion 241 is matched with the assembly hole 2322, and the flipping clamping block 371 is engaged with the flipping clamping hole 2321, that is, the flipping clamping block 371 extends into the flipping clamping hole 2321, so that the flipping clamping block 371 can stably clamp the tooling 232. When flipping is required, the assembly protrusion 241 on the top plate 24 is engaged with the assembly hole 2322 on the tooling 232, so that the top plate 24 and the tooling 232 will not fall off under the action of external force. Then the flipping motor 33 drives the flipping clamping block 371 to rotate, thereby causing the tooling 232 to flip over. After the parts are assembled on the front of the fixture 232 and the parts are initially fixed, the top plate 24 is placed on the fixture 232. The top plate 24 seals the fixture cavity containing the parts, thereby further preventing the parts from falling off during the flipping process.

[0049] See together Figure 8As shown, a moving drive device 39 is also provided on the lower side of the tilting support 31 relative to the cavity 311. The moving drive device 39 is fixedly connected to the tilting support 31. The output shaft of the moving drive device 39 passes through the tilting support 31 and is connected to the tilting connecting plate 34. The moving drive device 39 is a moving motor or a moving cylinder. That is, the moving drive device 39 can drive the tilting connecting plate 34 to move along the moving plate guide rail 321. That is, when the carrier body 231 reaches the corresponding position of the tilting mechanism 3 through the carrier lifting mechanism 22, the moving drive device 39 extends or retracts, driving the tilting clamping block 371 on the tilting clamping plate 37 to extend into the tilting clamping hole 2321 to complete the clamping of the tooling 232. Then the carrier lifting mechanism 22 drives the carrier 232 away from the carrier body 231, ensuring that when the tilting motor 33 drives the tooling 232 to rotate, the carrier body 231 will not interfere with the rotation of the tooling 232.

[0050] like Figure 11-12 As shown, the feeding assembly includes a three-axis robotic arm 41, an upper conveyor line 42, a lower conveyor line 43, and a feeding lifting mechanism 44. The three-axis robotic arm 41 is connected to the worktable 1, and its output end is fixedly connected to a second suction cup 411. The upper conveyor line 42 is positioned above the worktable 1, and the lower conveyor line 43 is positioned below the worktable 1. The feeding lifting mechanism 44 is located on one side of the upper conveyor line 42 and the lower conveyor line 43. The length direction of the worktable 1 is defined as the X-axis direction, and the direction perpendicular to the X-axis direction on the horizontal plane is defined as the Y-axis direction. The direction perpendicular to the plane containing the axis is the Z-axis direction. The three-axis robotic arm 41 can move along the XYZ axes. The three-axis robotic arm 41 is a robotic arm that can move along the X, Y, and Z axes. Specifically, it moves along the three axes through a drive motor and a slider. The specific structure is existing technology and will not be described in detail here. The upper conveyor line 42 and the lower conveyor line 43 are conveyor lines that achieve transportation through conveyor belts on both sides. The specific structure of the conveyor lines is existing technology and will not be described in detail here.

[0051] The upper conveyor line 42 is used to transport the pallet 40 containing parts. The three-axis robotic arm 41 drives the second suction cup 411 to pick up and transport the pallet 40 containing parts, so that the pallet 40 containing parts is placed on the feeding lifting mechanism 44. At this time, the feeding lifting mechanism 44 is located at the position of the upper conveyor line 42. When all the parts on the pallet 40 are removed, the feeding lifting mechanism 44 can drive the pallet 40 to the position of the lower conveyor line 43 and transport the pallet 40 to the outside of the workbench 1. The conveying directions of the upper conveyor line 42 and the lower conveyor line 43 are opposite.

[0052] like Figure 12As shown, the feeding lifting mechanism 44 includes a feeding lifting plate 441 and a feeding drive motor 45. Feeding lifting rotating seats 442 are provided on both sides of the feeding lifting plate 441. A feeding lifting rotating rod 443 is rotatably connected between the two feeding lifting rotating seats 442. A feeding lifting rotating block 444 is rotatably connected to the feeding lifting rotating rod 443. The feeding lifting rotating block 444 is fixedly connected to the feeding lifting moving plate 44. Feeding guide rails 4411 are provided on both sides of the feeding lifting plate 441. A feeding lifting moving slider 441 is provided on the feeding lifting moving plate 44 corresponding to the feeding guide rails 4411. The feeding guide rails 4411 and the feeding lifting moving slider 441 are slidably connected. The feeding drive motor 45 is connected to the feeding lifting rotating rod 43 via a feeding drive belt 46. The feeding lifting rotating rod 43 can... Rotating between two feeding lifting rotating blocks, the feeding lifting rotating rod 43 and the feeding lifting rotating block 444 are rotatably connected to form a screw and nut structure, so that when the feeding lifting rotating rod 43 rotates, it can drive the feeding lifting rotating block 444 and the feeding lifting moving plate 44 to move up and down. The feeding lifting rotating block and the feeding lifting moving plate 44 are fixedly connected. The feeding drive motor 45 is connected to the feeding lifting rotating rod 43 through the feeding drive belt 46. When the feeding drive motor 45 drives the feeding lifting rotating rod 43 to rotate, the feeding lifting rotating block will move along the feeding lifting rotating rod 43, driving the feeding lifting moving plate 44 to move along the feeding guide rail 4411, so that the feeding lifting moving plate 44 can move from the position of the upper conveyor line 42 to the corresponding position of the lower conveyor line 43, completing the transfer of the pallet 40.

[0053] like Figure 13-14 As shown, the robotic arm assembly 5 includes a four-axis robot 51 and a gripper assembly 52. ​​The four-axis robot 51 is connected to the gripper assembly 52. ​​The gripper assembly 52 includes a gripper support frame 50, on which a first gripper 53, a second gripper 54, a third gripper 56 and a first detection component 55 are provided. The first gripper 53 includes a first slide cylinder, a first slide connecting seat 533, and a first suction cup 534. The first slide cylinder is fixedly connected to the gripper support frame 50. The first slide cylinder includes a first cylinder body 531 and a first cylinder slider 532. A first cylinder guide rail 5311 is provided on the first cylinder body 531. A first cylinder groove 5321 is provided on the first cylinder guide rail 5311 corresponding to the first cylinder groove 5321. The first cylinder groove 5321 is matched with the first cylinder guide rail 5311. The first cylinder slider 532 is also connected to the output shaft of the first cylinder body 531. The first slide connecting seat 533 is connected to the first cylinder slider 532. The first slide connecting seat 533 is connected to the first suction cup 534.

[0054] The second gripper 54 includes a second slide cylinder (not shown in the figure), a second slide connecting seat 543, and a second clamping cylinder 544. The second slide cylinder is fixedly connected to the gripper support frame 50. The second slide cylinder includes a second cylinder body 541 and a second cylinder slider 542. A second cylinder guide rail 5411 is provided on the second cylinder body 541. A second cylinder groove 5421 is provided on the second cylinder slider 542 corresponding to the second cylinder guide rail 5411. The second cylinder groove 5421 is matched with the second cylinder guide rail 5411. The slider 542 is also connected to the output shaft of the second cylinder body 541. The second cylinder slider 542 is fixedly connected to the second slide table connecting seat 543. The second slide table connecting seat 543 is fixedly connected to the second clamping cylinder 544. The second clamping cylinder 544 is provided with a second clamping block 5441. The second clamping block 5441 is fixedly connected to the output shaft of the second clamping cylinder 544. The second cylinder guide rail 5411 is driven to slide on the second cylinder groove 5421 by the second slide table cylinder. The second clamping cylinder 544 drives the second clamping block 5441 to clamp. A first detection component 55 is provided on one side of the second gripper 54. The first detection component 55 includes a first detection light source 552 and a first detection camera 551. The third gripper 56 includes a third gripping cylinder 561, which is fixedly connected to the gripper support frame 50. The third gripping cylinder 561 is provided with a third gripping block 5611, which is fixedly connected to the output shaft of the third gripping cylinder 561. The four-axis robot 51 can move along the XYZ axes. The four-axis robot 51 moves along the X, Y, and Z axes on the work platform 1 through a drive motor and a drive block. The four-axis robot 51 is also provided with a rotary motor, which is fixed on the four-axis robot 51 and its output shaft is fixedly connected to the gripper assembly 52, allowing the gripper assembly 52 to rotate on the plane of the worktable 1. The gripper support frame 50 provides support for the first gripper 53, the second gripper 54, the third gripper 56, and the first detection component 55. The first cylinder groove 5321 is matched with the first cylinder guide rail 5311. The first cylinder slider 532 is also connected to the output shaft of the first cylinder body 531. Therefore, the first cylinder output shaft can drive the first cylinder slider 532 to move, which in turn drives the first slide table connecting seat 533 to move. The movement of the first slide table connecting seat 533 drives the first suction cup 534 to move. The first suction cup 534 mainly picks up the parts on the tray 40 and puts them onto the positioning dust removal assembly 6. The second cylinder groove 5421 is matched with the second cylinder guide rail 5411. The second cylinder slider 542 is also connected to the output shaft of the second cylinder body 541. Therefore, the second cylinder output shaft can drive the second cylinder slider 542 to move, which in turn drives the second slide table connecting seat 543 to move. The movement of the second slide table connecting seat 543 drives the second clamping cylinder 544 to move. The output shaft of the second clamping cylinder 544 can make the second clamping blocks 5441 move closer or further away from each other. The second gripper 54 mainly clamps the parts on the positioning dust removal assembly 6. The third clamping block 5611 is connected to the output shaft of the third clamping cylinder 561. The output shaft of the third clamping cylinder 561 can make the third clamping blocks 5611 move closer or further apart. The third gripper 56 is mainly used to clamp the top plate 24. The first detection component 55 includes a first detection light source 552 and a first detection camera 551. The first detection camera 551 mainly provides image recognition for the first gripper 53, the second gripper 54 and the third gripper 56 to grasp, so that the first gripper 53, the second gripper 54 and the third gripper 56 can grasp accurately.

[0055] like Figure 15-16 As shown, the positioning dust removal assembly 6 includes a positioning dust removal seat 61, a positioning seat 63 in the middle of the positioning dust removal seat 61, a positioning groove 631 on the positioning seat 63, and dust removal devices on both sides of the positioning seat 63. The dust removal devices include dust removal nozzles 62 and dust removal suction pipes 65. A dust removal nozzle 62 is provided on one side of the positioning dust removal seat 61, and a dust removal screen 64 is provided on the other side of the positioning dust removal seat 61. A dust removal suction pipe 65 is provided at the bottom of the dust removal screen 64. The positioning groove 631 is used to place parts, and the two sides of the parts are engaged in the positioning groove 631, which mainly plays a positioning role for the parts. Then, the dust removal nozzle 62 sprays air and blows it onto the surface of the parts, causing the dust on the surface of the parts to fall off. The dust is then sucked up by an external dust collection device connected through the dust removal suction pipe 65.

[0056] The secondary positioning process for the positioning dust removal component 6 is as follows: The first detection camera identifies the center point and the positions of both sides of the part in the tray 40. Specifically, by taking pictures of the part in the tray, the center point and the positions of both sides of the part are determined, thereby determining the positions of both sides of the first gripper 53. Then, a four-axis robot moves to the center point of the tray, and the positions of both sides of the first gripper correspond to the positions of both sides of the part, thus achieving gripping. When the first gripper 53 places the gripped part into the positioning groove, the first detection camera 551 in the first detection component identifies the shape and position of the positioning groove 631. Since the relative position of the first gripper 53 with respect to the first detection camera 551 has been determined, the first detection camera 551 takes a picture of whether there is an angular difference between the positioning groove and the gripped part on the first gripper 53. If there is an angular difference, the rotary motor of the four-axis robot is controlled to drive the first gripper 53 to rotate slightly. Then, the four-axis robot moves to the positioning groove position detected by the first detection camera 551, thereby achieving one-time positioning when gripping and placing the part.

[0057] After the part is placed into the positioning groove, the four sides of the positioning groove can limit and slightly match the part when it is placed in the positioning groove. When the part after dust removal is gripped by the second gripper 54, the position of the part in the positioning groove is also obtained by the first detection camera 551. The first detection camera identifies the center point position and the positions of the two sides of the part in the positioning groove. Specifically, by taking pictures of the part in the positioning groove, the center point and the two sides of the part in the positioning groove are determined, thereby determining the positions of the two sides of the second gripper 54. Then, the four-axis robot moves to the center point position of the positioning groove, and the positions of the two sides of the second gripper 54 correspond to the positions of the two sides of the part to achieve gripping. This achieves secondary positioning.

[0058] The assembly method corresponding to this invention is as follows: the pallet on the feeding mechanism is transported to the position to be gripped by the four-axis robot via a three-axis robotic arm. The part gripping process is a single positioning process: the first gripper 53 of the four-axis robot determines the gripping position of the first gripper 53 by acquiring the relative position of the part and the tray through the first detection camera, and then grips the part from the tray 40. The four-axis robot then moves the part to the corresponding position of the positioning and dust removal component 6 and places the part into the positioning groove. Secondary positioning and dust removal process during part gripping: During the placement of the part, the positioning groove matches the part, and the side wall of the positioning groove positions the part. At the same time, the dust removal device is activated to remove dust. Then, the first detection camera detects the positioning groove and the placed part and determines their positions. Then, the four-axis robot moves to make the second gripper 54 correspond to the positions of the positioning groove and the part, thereby achieving secondary positioning and placing the gripped part into the tooling. Tooling 232 front assembly: The carrier conveyor line transports the carrier assembly 23 to the corresponding position. The carrier assembly 23 includes the carrier body 231, tooling 232 and top plate 24. The carrier lifting block 2231 extends into the carrier lifting hole 2311 to realize the positioning of the carrier lifting plate 223 on the carrier body 231. The upper conveyor line 42 is used to transport the pallet 40 containing parts. The three-axis robotic arm 41 drives the second suction cup 411 to pick up and transport the pallet 40 containing parts, so that the pallet 40 containing parts is placed on the feeding lifting mechanism 44. At this time, the feeding lifting mechanism 44 is located at the position of the upper conveyor line 42. When all the parts on the pallet 40 are removed, the feeding lifting mechanism 44 can drive the pallet 40 to move to the position of the lower conveyor line 43 and transport the pallet 40 to the outside of the workbench 1. The first suction cup 534 picks up the parts on the tray 40 and places them into the positioning groove 631. The positioning groove 631 positions the parts. Then, the dust removal nozzle 62 sprays air onto the surface of the parts, causing the dust on the surface of the parts to fall off. The dust is then sucked up by external equipment connected through the dust removal suction pipe 65. The second gripper 54 then picks up the parts and places them onto the fixture 232. After the front assembly is completed, the reverse assembly of the fixture 232 is performed. Tooling 232 reverse assembly: The top plate 24 is placed on the tooling 232 by the second gripper 54, and the assembly protrusion 241 on the top plate 24 is engaged with the assembly hole 2322 on the tooling 232, so that the top plate 24 and the tooling 232 form a sealed space, thereby preventing the parts in the sealed space from falling off during rotation. The top plate 24 can further prevent the parts from falling off during the flipping process. When the carrier body 231 reaches the corresponding position of the flipping mechanism 3 through the carrier lifting mechanism 22, The moving drive device 39 drives the flipping clamping block 371 on the flipping clamping plate 37 to extend into the flipping clamping hole 2321, completing the clamping of both sides of the tooling 232. Then, the carrier lifting mechanism 22 drives the carrier body 231 away from the work, ensuring that when the flipping motor 33 drives the tooling 232 to rotate, the carrier body 231 will not interfere with the rotation of the tooling 232, completing the flipping of the tooling 232, and then performing reverse assembly of the tooling 232, thereby realizing the double-sided assembly of the tooling 232.

[0059] Example 2.

[0060] In this embodiment, the assembly machine also includes a labeling machine. A positioning and dust removal mechanism is also provided on one side of the conveyor line of the labeling machine. The difference between the structure of the positioning and dust removal mechanism and that of Embodiment 1 is that the shape of the positioning groove is matched with the shape of the label to be applied, thereby realizing secondary positioning of the label to be applied. In one embodiment, the structure of the labeling machine is the same as that of the labeling equipment disclosed in Chinese Patent Application No. CN202411940229.3, except that a positioning and dust removal component is provided on the other side of the upper conveyor of the labeling machine. The positioning groove in the positioning and dust removal component is matched with the shape of the label to be applied. The secondary positioning of the positioning and dust removal component is realized by the second detection device to detect the label to be applied placed in the positioning groove and determine its position and angle, thereby realizing secondary positioning. The specific secondary positioning method is the same as that of Embodiment 1. After the label to be applied is dusted, the three-dimensional moving module in the labeling machine applies the dusted label to the tooling to realize the labeling process.

[0061] Meanwhile, the positioning and dust removal component can also be used on other machines in the assembly machine. As long as the machine needs to be transported by the robotic arm component, it can be grabbed by the robotic arm component and placed into the positioning and dust removal component for secondary positioning before being grabbed, thereby ensuring the reliability of the grabbing.

Claims

1. An assembly machine with secondary positioning for assembling tooling and parts, comprising a worktable, wherein a feeding mechanism is provided on one side of the worktable, characterized in that: A positioning and dust removal assembly is provided on one side of the feeding mechanism. This assembly includes a positioning and dust removal base with a positioning seat in the center. The positioning seat has a positioning groove that matches the part. Dust removal devices are provided on both sides of the positioning seat. A carrier conveyor assembly is provided on the other side of the workbench. A tilting mechanism is provided on one side of the carrier conveyor assembly, and a carrier lifting mechanism is provided on the carrier conveyor assembly. The carrier lifting mechanism pushes the fixture out of the carrier conveyor assembly and then it is tilted by the tilting mechanism. A robotic arm assembly is located between the feeding mechanism and the carrier conveyor. The robotic arm assembly picks up a part from the feeding mechanism and places it into the positioning groove. Then, it picks up a part that has been repositioned and placed it into the fixture. The fixture has assembly holes and a top plate. Assembly protrusions are provided on the top plate corresponding to the assembly holes. The assembly protrusions match the assembly holes. When tilting is required, the assembly protrusions on the top plate mate with the assembly holes on the fixture, creating a space between the top plate and the fixture to enclose the part. Then the flipping motor drives the flipping clamping block to rotate, thereby causing the tooling to flip over; The part gripping process involves a single positioning step: the first gripper of the four-axis robot determines the gripping position by acquiring the relative position of the part and the tray through the first detection camera, and then grips the part from the tray. The four-axis robot then moves the part to the corresponding position of the positioning and dust removal component and places it into the positioning groove. The part gripping process includes secondary positioning and dust removal: During the placement of the part, the positioning groove matches the part, and the side wall of the positioning groove positions the part. At the same time, the dust removal device is activated to remove dust. Then, the first detection camera detects the positioning groove and the placed part and determines their positions. Then, the four-axis robot moves to make the second gripper correspond to the positions of the positioning groove and the part, thereby achieving secondary positioning, and the gripped part is placed into the tooling.

2. The assembly machine with secondary positioning according to claim 1, characterized in that: The vehicle conveyor assembly includes two vehicle transport lines and a vehicle assembly. A vehicle lifting mechanism is provided between the two vehicle transport lines. The vehicle lifting mechanism includes a vehicle fixing plate, a vehicle lifting cylinder, and a vehicle lifting plate. The vehicle fixing plate is fixedly connected to the two vehicle transport lines. The vehicle lifting cylinder is connected to the vehicle fixing plate. The output shaft of the vehicle lifting cylinder is connected to the vehicle lifting plate. A vehicle lifting block is provided on the surface of the vehicle lifting plate. A vehicle guide rod is provided around the bottom surface of the vehicle lifting plate. A vehicle guide sleeve is provided on the vehicle fixing plate at the position corresponding to the vehicle guide rod. The vehicle guide sleeve is slidably connected to the vehicle guide rod. The vehicle assembly includes a vehicle body, the bottom of which is provided with a vehicle lifting hole, which is matched with a vehicle lifting block.

3. The assembly machine with secondary positioning according to claim 1, characterized in that: The flipping mechanism includes a flipping support base, which is fixedly connected to the worktable. The flipping support base is equipped with a flipping motor, one side of which is connected to one side of a flipping connecting plate. The flipping connecting plate moves along the length of the tooling on the flipping support base, and a flipping clamping plate is rotatably mounted on the flipping connecting plate.

4. An assembly machine with secondary positioning according to claim 3, characterized in that: The flipping mechanism further includes a flipping support plate, one end of which is fixedly connected to a flipping support base. The flipping support base has a cavity for accommodating a flipping motor. One side of the flipping motor is connected to one side of a flipping connecting plate. A flipping movable plate is provided on the other side of the flipping connecting plate. A movable plate slider is provided on one side of the flipping movable plate. A movable plate guide rail is provided on the flipping support plate relative to the movable plate slider. The movable plate slider and the movable plate guide rail are slidably connected. A movable connecting plate is provided on the other side of the flipping movable plate. A connecting plate rotating shaft is provided on the movable connecting plate. A flipping clamping plate is provided on one side of the connecting plate rotating shaft. A connecting plate rotating gear is provided on the other side of the connecting plate rotating shaft. A flipping motor gear is provided on the output shaft of the flipping motor. The flipping motor gear and the connecting plate rotating gear are connected by a rotating belt.

5. An assembly machine with secondary positioning according to claim 4, characterized in that: A flip clamping block is provided on the flip clamping plate, and flip clamping holes are provided on both sides of the fixture. The flip clamping holes are matched with the flip clamping blocks. The fixture is provided with assembly holes and a top plate is provided on the fixture. Assembly protrusions are provided on the top plate at the positions corresponding to the assembly holes. The assembly protrusions are matched with the assembly holes.

6. An assembly machine with secondary positioning according to claim 4, characterized in that: A moving drive device is also provided on the lower side of the tilting support relative to the cavity. The moving drive device is fixedly connected to the tilting support, and the output shaft of the moving drive device passes through the tilting support and is connected to the tilting connecting plate.

7. An assembly machine with secondary positioning according to claim 1, characterized in that: The feeding mechanism includes a three-axis robotic arm, an upper conveyor line, a lower conveyor line, and a feeding lifting mechanism. The three-axis robotic arm is connected to the worktable, and the output end of the three-axis robotic arm is connected to a second suction cup. The upper conveyor line is located above the worktable, the lower conveyor line is located below the worktable, and the feeding lifting mechanism is located on one side of the upper and lower conveyor lines.

8. An assembly machine with secondary positioning according to claim 7, characterized in that: The feeding lifting mechanism includes a feeding lifting plate and a feeding drive motor. Feeding lifting rotating blocks are provided on both sides of the feeding lifting plate. A feeding lifting rotating rod is rotatably connected between the two feeding lifting rotating blocks. The feeding lifting rotating rod is rotatably connected to the feeding lifting rotating blocks. The feeding lifting rotating blocks are fixedly connected to the feeding lifting movable plate. Feeding guide rails are provided on both sides of the feeding lifting plate. A feeding lifting movable slider is provided on the feeding lifting movable plate corresponding to the feeding guide rails. The feeding guide rails and the feeding lifting movable sliders are slidably connected. The feeding drive motor is connected to the feeding lifting rotating rod via a feeding drive belt.

9. An assembly machine with secondary positioning according to claim 1, characterized in that: The robotic arm assembly includes a four-axis robot and a gripper assembly. The four-axis robot is connected to the gripper assembly. The gripper assembly includes a gripper support frame, on which a first gripper, a second gripper, a third gripper, and a first detection component are disposed. The first gripper includes a first slide cylinder, a first slide connecting seat, and a first suction cup. The first slide cylinder is fixedly connected to the gripper support frame. The first slide cylinder includes a first cylinder body and a first cylinder slider. A first cylinder guide rail is provided on the first cylinder body. A first cylinder groove is provided on the first cylinder slider corresponding to the first cylinder guide rail. The first cylinder groove is matched with the first cylinder guide rail. The first cylinder slider is also connected to the output shaft of the first cylinder body. The first slide connecting seat is connected to the first cylinder slider and the first slide connecting seat is connected to the first suction cup. The second gripper includes a second slide cylinder, a second slide connecting seat, and a second clamping cylinder. The second gripper includes a second slide cylinder, a second slide connecting seat, and a second suction cup. The second slide cylinder is fixedly connected to the gripper support frame. The second slide cylinder includes a second cylinder body and a second cylinder slider. A second cylinder guide rail is provided on the second cylinder body. A second cylinder groove is provided on the second cylinder slider corresponding to the second cylinder guide rail. The second cylinder groove is matched with the second cylinder guide rail. The second cylinder slider is also connected to the output shaft of the second cylinder body. The second cylinder slider is connected to the second slide connecting seat. The second slide connecting seat is connected to the second clamping cylinder. The second clamping cylinder is provided with a second clamping block. The second clamping block is connected to the output shaft of the second clamping cylinder. A first detection component is provided on one side of the second gripper, and the first detection component includes a first detection light source and a first detection camera; The third gripper includes a third gripping cylinder, which is connected to the gripper support frame. The third gripping cylinder is equipped with a third gripping block, which is connected to the output shaft of the third gripping cylinder.

10. An assembly machine with secondary positioning according to claim 1, characterized in that: The dust removal device includes a dust removal nozzle and a dust removal suction pipe. The dust removal nozzle is provided on one side of the positioning dust removal seat, and a dust removal screen is provided on the other side of the positioning dust removal seat. The dust removal suction pipe is provided at the bottom of the dust removal screen.

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