Automatic assembling equipment based on 3D vision

Abstract

The invention relates to the technical field of automatic assembly, and particularly discloses automatic assembly equipment based on 3D vision. The automatic assembling equipment based on the 3D vision comprises a rotating table capable of circularly moving along a feeding and discharging station, a first assembling station and a second assembling station; a robot R1 is arranged at the feeding and discharging station; an R2 robot and a first press-fitting device are arranged at the first assembling station, and the first press-fitting device can press a motor shaft into a motor; the first screw locking assembly performs screw locking on the shell and the pressed motor; an R3 robot and a second press-fitting device are arranged at the second assembly station, and the second press-fitting device can press a gear shaft of the gear into the motor; the second screw locking assembly carries out screw locking on the gear and the motor after press fitting. According to the automatic assembling equipment based on the 3D vision, the assembling efficiency can be improved, and the occupied space of the equipment is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, and in particular to an automated assembly device based on 3D vision. Background Technology

[0002] The assembly of robot actuators involves the assembly of multiple product modules, each assembled using corresponding automated assembly equipment.

[0003] The automated assembly equipment used for assembling the actuator's motor module typically includes a conveyor line, a first feeding device at the first station, a second feeding device and a first pressing device at the second station, a first screw-locking device at the third station, a third feeding device and a second screw-locking device at the fourth station, a fourth feeding device and a second pressing device at the fifth station, a third screw-locking device at the sixth station, and a discharge device at the seventh station. In operation, the motor is fed onto the conveyor line at the first station; the motor shaft is placed at the second station and pressed together with the motor to form a primary press-fit component; screws are tightened on the primary press-fit component at the third station; the motor mounting body is placed at the fourth station and screws are tightened on both the motor mounting body and the primary press-fit component; gears are placed at the fifth station and pressed together to form a secondary press-fit component; screws are tightened on the secondary press-fit component at the sixth station; and the motor module is removed at the seventh station.

[0004] However, the automated assembly equipment has a long cycle time, resulting in low production efficiency; and the equipment has a complex structure and occupies a large space. Summary of the Invention

[0005] The purpose of this invention is to propose an automated assembly device based on 3D vision, which can improve assembly efficiency and reduce the space occupied by the device.

[0006] To achieve this objective, the present invention adopts the following technical solution: An automated assembly device based on 3D vision includes a rotary table that can circulate along a loading / unloading station, a first assembly station, and a second assembly station. An R1 robot is installed at the loading and unloading station. The R1 robot is equipped with a first 3D camera, a first motor gripper assembly for gripping the motor, a first gear gripper assembly for gripping the gear, and a first housing gripper assembly for gripping the housing. The first assembly station is equipped with an R2 robot and a first pressing device. The R2 robot is equipped with a second 3D camera, a second motor gripper assembly, a motor shaft gripper assembly, a second housing gripper assembly, and a first screw-locking assembly. The first pressing device can press the motor shaft into the motor. The first screw-locking assembly locks screws on the housing and the pressed motor. The second assembly station is equipped with an R3 robot and a second pressing device. The R3 robot is equipped with a third 3D camera, a third housing gripper assembly, a second gear gripper assembly, and a second screw-locking assembly. The second pressing device can press the gear shaft into the motor. The second screw-locking assembly locks the screws on the pressed gear and the motor.

[0007] As a preferred embodiment of the present invention, the rotary table includes a rotary table body and a plurality of intermediate transfer platforms rotatably disposed above the rotary table body at intervals along the circumferential direction; the top surface of the intermediate transfer platform is eccentrically provided with one or a plurality of intermediate transfer positioning platforms at intervals along the circumferential direction. The turntable body is provided with multiple motor positioning platforms, multiple gear positioning platforms and multiple housing positioning platforms; each of the motor positioning platforms, each of the gear positioning platforms and each of the housing positioning platforms are arranged at intervals along the circumference of the turntable body. The turntable body is also equipped with a turntable drive mechanism that drives all the turntables to rotate together.

[0008] As a preferred embodiment of the present invention, the first pressing device includes a first base, a platform disposed on the first base, and a cable management mechanism and a first pressing mechanism disposed around the platform; The top surface of the platform is provided with a positioning groove for positioning the housing; the bottom surface of the positioning groove is provided with a boss for placing the motor and a positioning post coaxially disposed on the top surface of the boss. The cable management mechanism can adjust and organize the motor wire ends located on the boss. The first pressing mechanism can press one end of the motor shaft into the motor.

[0009] As a preferred embodiment of the present invention, the cable management mechanism includes a slider slidably disposed on the first base and a slider driving member for driving the slider to slide, the slider being connected to a push rod; the slider is also hinged to a first connecting block and a second connecting block, the second connecting block being connected to a lever that cooperates with the push rod to manage the cable ends; the first connecting block is connected to a lever driving member, one end of the lever driving member being hinged to the second connecting block.

[0010] As a preferred embodiment of the present invention, the first pressing mechanism includes a first pressing head and a first pressing head drive component that drives the first pressing head to rotate and press down the motor shaft.

[0011] As a preferred embodiment of the present invention, the second pressing device includes a second base, a second pressing platform, a second pressing mechanism located at one end of the second pressing platform, and a flipping mechanism located on one side of the second pressing platform; the flipping mechanism includes a clamping component and a flipping drive component; the clamping component is capable of receiving and clamping a primary assembly component; the flipping drive component is capable of driving the clamping component to flip 10° so that the primary assembly component clamped and fixed by the clamping component is flipped onto the second pressing platform.

[0012] As a preferred embodiment of the present invention, the second loading platform includes a first platform in the shape of an annular ring and a second platform disposed on one side of the first platform, wherein the top surface of the second platform is provided with two positioning protrusions.

[0013] As a preferred embodiment of the present invention, the clamping assembly includes a clamping drive and two support plates disposed opposite to each other. The clamping drive drives the two support plates to move toward each other or away from each other. The top surface of the support plates is provided with a groove, and the two grooves are connected to form a positioning groove for a primary assembly assembly.

[0014] As a preferred embodiment of the present invention, the flipping drive assembly includes a rotating shaft rotatably disposed on the second base, a flipping block connected to the rotating shaft, and a rotation drive member for driving the rotating shaft to rotate; the clamping assembly is connected to the flipping block.

[0015] As a preferred embodiment of the present invention, the second pressing mechanism includes a second pressing head and a second pressing head driving member for driving the second pressing head to rotate and press down; the second pressing head is provided with an annular pressing head end.

[0016] The beneficial effects of this invention are as follows: 1. The automatic assembly equipment based on 3D vision of the present invention utilizes a rotatable turntable to transport motors, gears and housings to be assembled, primary assembly components to be assembled, and product components to be assembled in the second stage, thereby reducing the space occupied by the equipment and reducing manufacturing costs.

[0017] 2. The automatic assembly equipment based on 3D vision of the present invention completes the pressing and screwing operations of the motor shaft and motor at the first assembly station, and completes the pressing and screwing operations of the gear and primary assembly components at the second assembly station, thereby reducing the cycle time and improving the assembly efficiency.

[0018] 3. The automatic assembly equipment based on 3D vision of the present invention first tidies up the wire ends on the motor during the pressing process, and then places the motor shaft for pressing, thereby avoiding pressing the wire ends into the motor and improving the assembly yield.

[0019] 4. The automatic assembly equipment based on 3D vision of the present invention uses a first 3D camera for visual positioning of the loading and unloading station, a second 3D camera for visual positioning of the first assembly station, and a third 3D camera for visual positioning of the second assembly station. It has high positioning accuracy and does not require frequent positioning, thus improving assembly efficiency. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of an automated assembly device based on 3D vision provided by the present invention.

[0021] Figure 2 yes Figure 1 A schematic diagram of the rotating platform.

[0022] Figure 3 yes Figure 2 A schematic diagram of the motor positioning platform.

[0023] Figure 4 yes Figure 2 A schematic diagram of the gear positioning platform.

[0024] Figure 5 yes Figure 2 A schematic diagram of the shell positioning platform.

[0025] Figure 6 This is a schematic diagram of the first pressing device.

[0026] Figure 7 This is a structural schematic diagram of the first loading platform.

[0027] Figure 8 This is a schematic diagram of the second pressing device.

[0028] Figure 9 yes Figure 8 A schematic diagram of the clamping component. Detailed Implementation

[0029] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0030] like Figures 1 to 9As shown, an automated assembly device based on 3D vision includes a rotary table 100, which can cyclically move along a loading / unloading station, a first assembly station, and a second assembly station. At the loading / unloading station, an R1 robot 200 is provided, equipped with a first 3D camera 201, a first motor gripper assembly for holding a motor 10, a first gear gripper assembly for holding a gear 20, and a first housing gripper assembly for holding a housing 30. At the first assembly station, an R2 robot 300 and a first pressing device 400 are provided, with the R2 robot 300 equipped with a second 3D camera 301, a second motor gripper assembly, a motor shaft gripper assembly, a second housing gripper assembly, and a first screw-locking assembly. The pressing device 400 can press the motor shaft into the motor 10; the first screw-locking assembly screws the housing 30 and the pressed motor 10; the second assembly station is equipped with an R3 robot 500 and a second pressing device 600. The R3 robot 500 is equipped with a third 3D camera 501, a third housing gripper assembly, a second gear gripper assembly, and a second screw-locking assembly; the second pressing device 600 can press the gear shaft of the gear 20 into the motor 10; the second screw-locking assembly screws the pressed gear 20 and the motor 10.

[0031] Specifically, in this embodiment, the rotary table 100 includes a rotary table body 110 and a plurality of intermediate transfer platforms 120 rotatably disposed above the rotary table body 110 at circumferential intervals; the top surface of the intermediate transfer platform 120 is eccentrically provided with one or a plurality of intermediate transfer positioning platforms 130 arranged at circumferential intervals; the rotary table body 110 is provided with a plurality of motor positioning platforms 140, a plurality of gear positioning platforms 150 and a plurality of housing positioning platforms 160; each motor positioning platform 140, each gear positioning platform 150 and each housing positioning platform 160 is arranged at circumferential intervals along the rotary table body 110; the rotary table body 110 is connected to a rotary table body drive mechanism for driving its rotation; the rotary table body 110 is also provided with an intermediate transfer platform drive mechanism for driving the intermediate transfer platforms 120 to rotate together.

[0032] In some embodiments, the top surface of the motor positioning platform 140 is provided with a motor positioning groove 141 for positioning and placing the motor 10, and the top surface of the gear positioning platform 150 is provided with a gear positioning groove 151 for positioning and placing the gear 20. The side of the gear positioning groove 151 is provided with a protrusion 152 for engaging a tooth groove of the gear 20. The top surface of the housing positioning platform 160 is provided with a set of housing positioning grooves 161 for positioning the housing 30. The top surface of the transfer positioning platform 130 is provided with a transfer positioning groove 41 for positioning and placing the transfer parts that have been assembled at the first assembly station.

[0033] In some embodiments, the turntable body drive mechanism may include an internal gear ring, an internal gear meshing with the internal gear ring, and a motor driving the internal gear to rotate. The turntable body 110 is rotatably connected to the base via roller bearings, and the internal gear ring is coaxially connected to the turntable body 110. In use, the motor drives the internal gear to rotate, and the internal gear meshes with the internal gear ring to drive the turntable body 110 to rotate. Alternatively, a hollow rotary platform can be used as the turntable body drive mechanism to drive the turntable body 110 to perform high-precision rotational motion.

[0034] In some embodiments, the turntable drive mechanism includes a gear ring coaxially rotatably connected to the bottom surface of the turntable body 110. The gear ring meshes with a drive gear and at least three driven gears. The drive gear is connected to a motor that drives its rotation. Each driven gear is coaxially connected to a corresponding turntable 120 via a connecting shaft. The connecting shaft is rotatably mounted on the turntable body 110. In use, the motor drives the drive gear to rotate. Through the meshing transmission between the drive gear and the gear ring, and the meshing transmission between the gear ring and each driven gear, each turntable 120 rotates together relative to the turntable body 110, thereby realizing the position switching of each transfer positioning platform 130 on the turntable 120.

[0035] In some embodiments, the first 3D camera 201 can be used for visual positioning to determine the position of the assembled product and the positions of the motor positioning groove 141, the gear positioning groove 151 and the housing positioning groove 161, so that the R1 robot can accurately pick up and place materials.

[0036] In some embodiments, the first motor gripper assembly preferably adopts a three-jaw chuck, and both the first gear gripper assembly and the first housing gripper assembly can be composed of a pair of grippers and a gripper cylinder for driving the pair of grippers to open and close. The first housing gripper assembly can, under the drive of the R1 robot 200, load the housing 30 onto the rotary table 100, or transport the assembled product components from the rotary table 100 onto the conveyor line 700.

[0037] In some embodiments, the first pressing device 400 includes a first base 410, a first pressing platform 420 disposed on the first base 410, and a cable management mechanism 430 and a first pressing mechanism 440 disposed around the first pressing platform 420; wherein, the top surface of the first pressing platform 420 is provided with a positioning groove 421 for positioning the housing 30; the bottom surface of the positioning groove 421 is provided with a boss 422 for placing the motor 10 and a positioning post 423 coaxially disposed on the top surface of the boss 422; the cable management mechanism 430 is used to tidy up the wire ends of the motor 10 located on the boss 422; the first pressing mechanism 440 is used to press one end of the motor shaft into the motor 10.

[0038] In some embodiments, the cable management mechanism 430 includes a slider 431 slidably disposed on a first base 410 and a slider drive member 432 for driving the slider 431 to slide. The slider 431 is connected to a push rod 433. The slider 431 is also hinged to a first connecting block 434 and a second connecting block 435. The second connecting block 435 is connected to a lever 436 that cooperates with the push rod 433 to manage the cable ends. The first connecting block 434 is connected to a lever drive member 437, one end of which is hinged to the second connecting block 435. One end of the push rod 433 has a slot for the cable end to enter. Both the slider drive member 432 and the lever drive member 437 are preferably cylinders.

[0039] In use, driven by the sliding drive 432, the slider 431 slides relative to the first base 410, causing the push rod 133 to move to the wire end above the motor 10, causing the wire end to enter the slot; driven by the lever drive 437, the lever 436 rotates toward the push rod 433 to cooperate with the push rod 433 to clamp the wire end located in the slot, thereby arranging the wire end into an upright state.

[0040] In some embodiments, the first pressing mechanism 440 includes a first pressing head 441 and a first pressing head drive member 442 that drives the first pressing head 441 to rotate and press down the motor shaft. The end face of the first pressing head 441 has a clearance groove; the first pressing head drive member 442 is preferably a cylinder.

[0041] In some embodiments, a second 3D camera 301 is used to achieve visual positioning at the first assembly station; the structure of the second motor gripper assembly is the same as that of the first motor gripper assembly; the motor shaft gripper assembly preferably adopts a three-jaw chuck; the structure of the second housing gripper assembly is the same as that of the first housing gripper assembly; the first screw fastening assembly includes an adsorption head for picking up screws and an electric screwdriver for fastening screws.

[0042] During the first assembly, the second motor gripper assembly moves the motor 10 from the rotary table 100 to the first loading platform 420; the wire management mechanism 430 tidies up the wire ends on the motor 10; the motor shaft gripper assembly, driven by the R2 robot 300, picks up and moves the motor shaft output from the motor shaft vibratory feeder onto the motor 10; the first pressure head drive 442 drives the first pressure head 441 to rotate and press down on the motor shaft, thereby pressing one end of the motor shaft into the motor 10; the second housing gripper assembly moves the housing 30 from the rotary table 100 to the first loading platform 420; the first screw fastening assembly, driven by the R2 robot 300, picks up and moves the screw output from the screw vibratory feeder onto the housing 30 and fastens the screw, thereby completing the first assembly operation and obtaining the first assembled component 40; the second housing gripper assembly moves the first assembled component 40 as a transfer component to the transfer positioning platform 130.

[0043] In some embodiments, the second pressing device 600 includes a second base 610, a second pressing table 620, a second pressing mechanism 630 located at one end of the second pressing table 620, and a flipping mechanism located on one side of the second pressing table 620; wherein, the flipping mechanism includes a clamping component 640 and a flipping drive component 650, the clamping component 640 is used to receive and clamp and fix the primary assembly component 10, and the flipping drive component 650 is used to drive the clamping component 640 to flip 180° so that the primary assembly component 40 clamped and fixed by the clamping component 640 is flipped onto the second pressing table 620.

[0044] In some embodiments, the second base 610 is provided with a first support 611 for mounting the second pressing platform 620 and the second pressing mechanism 630, and a second support 612 for mounting the flipping mechanism. The second pressing platform 620 includes an annular first platform 621 and a second platform 622 disposed on one side of the first platform 621. The top surface of the second platform 622 is provided with two positioning protrusions.

[0045] In some embodiments, the clamping assembly 640 includes a clamping drive 642 and two oppositely disposed support plates 641. The clamping drive 642 drives the two support plates 641 to move towards or away from each other. The top surface of the support plates 641 is provided with a groove 643, and the two grooves 643 communicate to form a primary assembly positioning groove. The clamping drive 642 is preferably a cylinder.

[0046] In some embodiments, the flipping drive assembly 650 includes a rotating shaft 651 rotatably mounted on a second base 610, a flipping block 652 connected to the rotating shaft 651, and a rotary drive member 653 for driving the rotating shaft 651 to rotate; the clamping assembly 640 is connected to the flipping block 652. The rotary drive member 653 is preferably a rotary cylinder.

[0047] In some embodiments, the second pressing mechanism 630 includes a second pressing head 631 and a second pressing head drive member 632 for driving the second pressing head 631 to rotate and press down; wherein, the second pressing head 631 is provided with an annular pressing head end for exposing the screw hole on the gear 20 to be screwed in, so as to facilitate screw locking.

[0048] In some embodiments, a third 3D camera 501 is used to achieve visual positioning at the second assembly station; the third housing gripper assembly has the same structure as the first housing gripper assembly; the second gear gripper assembly has the same structure as the first gear gripper assembly; and the second screw fastening assembly has the same structure as the first screw fastening assembly.

[0049] During secondary assembly, the third housing gripper assembly transports the primary assembly component 40 from the transfer positioning platform 130 to the grooves 643 of the two support plates 641. Driven by the clamping drive unit 642, the two support plates 641 move towards each other, thereby clamping and fixing the primary assembly component 40. Driven by the rotation drive unit 653, the rotating shaft 651 rotates, and the clamping assembly 64 clamps the primary assembly component 40 and rotates together with the rotating shaft 651, thereby flipping the primary assembly component 40 onto the second loading platform 620; the second gear gripper assembly... Driven by the R3 robot 500, the gear 20 is transported from the rotary table 100 to the primary assembly component 40; the second pressure head drive 632 drives the second pressure head 631 to rotate and press down on the gear 20, thereby pressing the gear shaft of the gear 20 into the motor 10; the second screw fastening assembly, driven by the R3 robot 500, picks up and transports the screws output from the screw vibratory feeder to the gear 20 for screw fastening, thereby completing the secondary assembly operation and obtaining the product component; the third housing gripper assembly transports the product component as a transfer component to the transfer positioning platform 130.

[0050] The 3D vision-based automatic assembly equipment of the present invention utilizes a rotatable turntable 100 to simultaneously transport the motor 10, gear 20, and housing 30 to be assembled, the primary assembly component 40 after one-time assembly, and the product component after secondary assembly, reducing the equipment's footprint and lowering manufacturing costs. This automatic assembly equipment completes the pressing of the motor shaft onto the motor 10 and the screw tightening of the housing 30 onto the pressed motor 10 at the first assembly station, and the pressing of the gear 20 onto the primary assembly component 40 and the screw tightening at the second assembly station, reducing the cycle time and improving work efficiency. Furthermore, during the primary pressing process, the wire ends on the motor 10 are first tidied up before the motor shaft is placed for pressing, thus preventing the wire ends from being pressed into the motor 10 and improving the assembly yield.

[0051] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. An automated assembly device based on 3D vision, characterized in that, Includes a rotary table (100), which is capable of cyclical movement along the loading and unloading station, the first assembly station and the second assembly station; The loading and unloading station is equipped with an R1 robot (200), which is equipped with a first 3D camera (201), a first motor gripper assembly for gripping a motor (10), a first gear gripper assembly for gripping a gear (20) and a first housing gripper assembly for gripping a housing (30). The first assembly station is equipped with an R2 robot (300) and a first pressing device (400). The R2 robot (300) is equipped with a second 3D camera (301), a second motor gripper assembly, a motor shaft gripper assembly, a second housing gripper assembly, and a first screw fastening assembly. The first pressing device (400) can press the motor shaft into the motor (10). The first screw fastening assembly fastens screws on the housing (30) and the pressed motor (10). The second assembly station is equipped with an R3 robot (500) and a second pressing device (600). The R3 robot (500) is equipped with a third 3D camera (501), a third housing gripper assembly, a second gear gripper assembly, and a second screw fastening assembly. The second pressing device (600) can press the gear shaft of the gear (20) into the motor. The second screw fastening assembly fastens the screws on the pressed gear (20) and the motor (10).

2. The automated assembly equipment based on 3D vision according to claim 1, characterized in that, The rotary table (100) includes a rotary table body (110) and a plurality of intermediate transfer platforms (120) rotatably disposed above the rotary table body (110) at intervals along the circumference; the top surface of the intermediate transfer platform (120) is eccentrically provided with one or a plurality of intermediate transfer positioning platforms (130) at intervals along the circumference. The turntable body (110) is provided with a plurality of motor positioning platforms (140), a plurality of gear positioning platforms (150) and a plurality of housing positioning platforms (160); each of the motor positioning platforms (140), each of the gear positioning platforms (150) and each of the housing positioning platforms (160) are arranged circumferentially along the turntable body (110). The turntable body (110) is also provided with a turntable drive mechanism that drives each of the turntables (120) to rotate together.

3. The automated assembly equipment based on 3D vision according to claim 1, characterized in that, The first pressing device (400) includes a first base (410), a first pressing platform (420) disposed on the first base (410), and a cable management mechanism (430) and a first pressing mechanism (440) disposed around the first pressing platform (420). The top surface of the first loading platform (420) is provided with a positioning groove (421) for positioning the housing (30); the bottom surface of the positioning groove (421) is provided with a boss (422) for placing the motor (10) and a positioning post (423) coaxially disposed on the top surface of the boss (422). The cable management mechanism (430) can tuck and organize the wire ends of the motor (10) located on the boss (422); The first pressing mechanism (440) can press one end of the motor shaft into the motor (10).

4. The automated assembly equipment based on 3D vision according to claim 3, characterized in that, The cable management mechanism (430) includes a slider (431) slidably disposed on the first base (410) and a slider drive (432) for driving the slider (431) to slide. The slider (431) is connected to a push rod (433). The slider (431) is also hinged to a first connecting block (434) and a second connecting block (435). The second connecting block (425) is connected to a lever (436) that cooperates with the push rod (433) to organize the wire ends. The first connecting block (434) is connected to a lever drive (437), one end of which is hinged to the second connecting block (435).

5. The automated assembly equipment based on 3D vision according to claim 3, characterized in that, The first pressing mechanism (440) includes a first pressing head (441) and a first pressing head drive component (442) that drives the first pressing head (441) to rotate and press down the motor shaft.

6. The automated assembly equipment based on 3D vision according to claim 1, characterized in that, The second pressing device (600) includes a second base (610), a second pressing platform (620), a second pressing mechanism (630) located at one end of the second pressing platform (620), and a flipping mechanism located on one side of the second pressing platform (620); the flipping mechanism includes a clamping assembly (640) and a flipping drive assembly (650); the clamping assembly (640) can receive and clamp the primary assembly assembly (10); the flipping drive assembly (650) can drive the clamping assembly (640) to flip 180° so that the primary assembly assembly (40) clamped and fixed by the clamping assembly (640) is flipped onto the second pressing platform (620).

7. The automated assembly equipment based on 3D vision according to claim 6, characterized in that, The second loading platform (620) includes a first platform (621) in the shape of an annular ring, and a second platform (622) disposed on one side of the first platform (621). The top surface of the second platform (622) is provided with two positioning protrusions.

8. The automated assembly equipment based on 3D vision according to claim 6, characterized in that, The clamping assembly (640) includes a clamping drive (642) and two support plates (641) arranged opposite to each other. The clamping drive (642) drives the two support plates (641) to move towards each other or away from each other. The top surface of the support plate (641) is provided with a groove (643), and the two grooves (643) are connected to form a positioning groove for a primary assembly assembly.

9. The automated assembly equipment based on 3D vision according to claim 6, characterized in that, The flipping drive assembly (650) includes a rotating shaft (651) rotatably mounted on the second base (610), a flipping block (652) connected to the rotating shaft (651), and a rotating drive member (653) for driving the rotating shaft (651) to rotate; the clamping assembly (640) is connected to the flipping block (652).

10. An automated assembly device based on 3D vision according to claim 6, characterized in that, The second pressing mechanism (630) includes a second pressing head (631) and a second pressing head drive member (632) that drives the second pressing head (631) to rotate and press down; the second pressing head (631) is provided with an annular pressing head end.

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