Assembly equipment, assembly method, control device and storage medium

Abstract

The invention relates to the technical field of electronic equipment, in particular to assembling equipment, an assembling method, a control device and a storage medium. The assembling equipment comprises a driving mechanism and a part taking mechanism, and the part taking mechanism is used for installing an assembled part. The part taking mechanism comprises a first connecting part and a second connecting part, and the first connecting part and the second connecting part can be arranged in a spaced mode in the first direction. The driving mechanism comprises a first driving mechanism used for driving the part taking mechanism to move in the first direction; the second driving mechanism is connected with the first connecting part in the piece taking mechanism and can drive the first connecting part of the piece taking mechanism to move in the second direction; and the third driving mechanism is connected with the second connecting part in the piece taking mechanism and can drive the second connecting part of the piece taking mechanism to move in the second direction. By means of the assembling equipment, automatic assembling of the parts, connected through the buckles, in the electronic equipment can be achieved, the assembling efficiency is improved, and meanwhile the consistency of electronic equipment products can be ensured.

Description

Technical Field

[0001] This application relates to the field of electronic equipment technology, and more particularly to an assembly device, an assembly method, a control device, and a storage medium. Background Technology

[0002] With the rapid development of technology, electronic devices (such as mobile phones, tablets, and smartwatches) are becoming increasingly widely used. During the assembly of electronic devices, two components can be connected using methods such as snap-fit ​​connections to achieve fixation or pre-fixation between them.

[0003] Currently, when assembling two components connected by snap-fit ​​mechanisms, the assembly process is generally completed manually. However, this method is inefficient and cannot guarantee the consistency of the assembled product. Summary of the Invention

[0004] Some embodiments of this application provide an assembly apparatus, an assembly method, a control device, and a computer-readable storage medium. The application is described below from multiple aspects, and the embodiments and beneficial effects of the following aspects can be referred to each other.

[0005] In a first aspect, this application provides an assembly device, including a drive mechanism and a part-retrieving mechanism connected to the drive mechanism. The part-retrieving mechanism is used to install assembled components, and the drive mechanism is used to drive the part-retrieving mechanism to move in space. The part-retrieving mechanism includes a first connecting portion and a second connecting portion. When the part-retrieving mechanism is connected to the drive mechanism, the first connecting portion and the second connecting portion can be spaced apart along a first direction. The drive mechanism includes at least: a first drive mechanism for driving the part-retrieving mechanism to move along the first direction; a second drive mechanism including a first drive portion and a first driven portion, the first driven portion being connected to the first connecting portion in the part-retrieving mechanism, the first drive portion being able to drive the first driven portion to move along a second direction, such that the first driven portion drives the first connecting portion of the part-retrieving mechanism to move along the second direction, the second direction being perpendicular to the first direction; and a third drive mechanism including a second drive portion and a second driven portion, the second drive portion being disposed on the first driven portion, the second driven portion being connected to the second connecting portion in the part-retrieving mechanism, the second drive portion being able to drive the second driven portion to move along the second direction, such that the second driven portion drives the second connecting portion of the part-retrieving mechanism to move along the second direction.

[0006] This assembly equipment enables automated assembly of components in electronic devices, improving assembly efficiency and ensuring the consistency of electronic device products.

[0007] In addition, the second and third drive mechanisms can drive the first and second connecting parts of the part-retrieving structure to move in the second direction, thereby driving the part-retrieving mechanism to an inclined posture, so that the assembled part mounted on the part-retrieving mechanism is in an inclined posture, thereby keeping the assembled part as far away from the main part as possible, so as to minimize the risk of collision of the assembled part during the assembly process.

[0008] In some optional embodiments, the first driven portion and the first connecting portion are rotatably connected such that the first connecting portion can rotate relative to the first driven portion about an axis extending along a third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction; and the second driven portion and the second connecting portion are slidably connected along the first direction; or, the second driven portion and the second connecting portion are rotatably connected such that the second connecting portion can rotate relative to the second driven portion about an axis extending along a third direction; and the first driven portion and the first connecting portion are slidably connected along the first direction.

[0009] In some optional embodiments, the first connecting portion is provided with a groove extending along a first direction, and the first driven portion includes a first shaft inserted in the groove, so that the first driven portion and the first connecting portion are slidably connected along the first direction.

[0010] In some alternative embodiments, the first shaft is rotatable relative to the slide about an axis extending in a third direction.

[0011] In some alternative embodiments, the picking mechanism includes an adsorption device that allows the picking mechanism to pick up the component to be assembled and mount it onto the picking mechanism.

[0012] In some optional embodiments, the first connecting portion and the second connecting portion are disposed on one side of the picking mechanism along the second direction, and the adsorption device is disposed on the other side of the picking mechanism along the second direction.

[0013] In some optional embodiments, the second driven part includes a first connecting member and a second connecting member, the first connecting member and the second connecting member are connected by an elastic member, and the second connecting member is connected to the second connecting part of the picking mechanism; when the second connecting member is subjected to pressure in the second direction, it can compress the elastic member.

[0014] In some optional embodiments, the second driven part includes a first connector and a second connector connected along a second direction, the second connector being connected to a second connecting part of the picking mechanism; a pressure sensor is disposed between the first connector and the second connector, the pressure sensor being used to detect the pressure on the second connector along the second direction.

[0015] In some optional embodiments, the first driven part includes a third connector and a fourth connector, the third connector being connected to the first driving part and the fourth connector being connected to the picking mechanism; wherein the fourth connector is rotatable relative to the third connector about a second axis extending along a second direction, so as to drive the picking mechanism to rotate relative to the third connector.

[0016] In some alternative embodiments, the drive mechanism further includes a fourth drive mechanism for driving the fourth connector to rotate relative to the third connector.

[0017] In some optional embodiments, the fourth drive mechanism includes a third drive part and a third driven part; the third driven part includes the outer ring of the bearing, the inner ring of the bearing is disposed on the third connector, and the outer ring of the bearing is connected to the fourth connector; the third drive part is disposed on the third connector and is capable of driving the outer ring of the bearing to rotate around the second axis.

[0018] In some alternative embodiments, the third drive unit includes a first drive motor and a transmission belt. The first drive motor is mounted on the third connector, and the outer ring of the bearing and the output shaft of the first drive motor are connected by the transmission belt.

[0019] In some alternative embodiments, the second driving part is disposed on one side of the third connector along the second direction, the bearing is disposed on the other side of the third connector along the second direction, and the second driven part passes through the third connector and passes through the inner ring of the bearing to be connected to the second connecting part.

[0020] In some alternative embodiments, the assembly apparatus further includes an image sensor, and a second drive mechanism is capable of driving the image sensor to move in a second direction.

[0021] In some alternative embodiments, the assembly equipment further includes a loading platform and / or a unloading platform, the loading platform including a first upward-facing bearing surface and the unloading platform including a second upward-facing bearing surface.

[0022] In some alternative embodiments, the assembly device further includes a suction pen, and a second drive mechanism is capable of driving the suction pen to move in a second direction.

[0023] In some alternative embodiments, the assembly equipment further includes a fifth drive mechanism for driving the picking mechanism to move along a third direction; wherein the third direction is perpendicular to the first direction and perpendicular to the second direction.

[0024] In some alternative embodiments, the assembly apparatus further includes:

[0025] A first cylinder is used to push a first pusher block to move in a first direction; and / or,

[0026] The second cylinder is used to push the second pusher block to move in the second direction.

[0027] Secondly, this application provides an assembly method for assembling a component to be assembled onto a main body component using an assembly device, the assembly device being the assembly device of claim 1; the main body component includes a receiving cavity having a first opening facing a fourth direction, through which the component to be assembled can be inserted into the receiving cavity, the fourth direction being parallel to a second direction; and, when the component to be assembled is installed in the receiving cavity, a reference plane attached to the component to be assembled is parallel to a first plane, the first plane being perpendicular to the second direction; the cavity wall of the receiving cavity has a first slot, and the component to be assembled includes a first latch; the method is at least used to insert the first latch into the first slot along a first insertion direction to at least partially install the component to be assembled into the receiving cavity, the first insertion direction being parallel to the first direction; wherein, the method includes: when the component to be assembled is installed on a picking mechanism and the picking mechanism is in a first position, controlling The third drive mechanism drives the second connecting part of the picking mechanism to move along the second direction, so that the picking mechanism is in a first posture; wherein, when the picking mechanism is in the first position, the assembled part is located on the side of the main part facing the fourth direction; and, when the picking mechanism is in the first posture, the reference plane has a first angle with the first insertion direction, the first angle being 130° to 170°; at least the second drive mechanism is controlled to drive the picking mechanism to move along the second direction, so that the picking mechanism moves from the first position to the second position; wherein, when the picking mechanism is in the second position, the first buckle is located outside the first slot, and the front end of the first buckle is aligned with the first groove opening of the first slot along the first insertion direction; the first drive mechanism is controlled to drive the picking mechanism to move from the second position to the third position, wherein, when the picking mechanism is in the third position, the first buckle is inserted into the first slot through the first groove opening.

[0028] The above assembly method allows speaker components to be assembled into the middle frame, thereby improving assembly efficiency and ensuring assembly consistency.

[0029] Furthermore, during the insertion of the first snap-fit, the angle between the reference plane of the assembled component and the first insertion direction is 130° to 170°. That is, the assembled component is in an inclined position, and the rear end of the assembled component (the end facing away from the insertion direction) is farther away from the main component than the front end of the assembled component (the end facing away from the insertion direction). In other words, during the assembly process of this application, the assembled component can be as far away from the main component as possible, thereby reducing the risk of collision during the assembly process.

[0030] In some optional embodiments, the first included angle is 140° to 160°; and / or,

[0031] When the retrieval mechanism is in the second position, the distance between the front end of the first buckle and the first slot along the first insertion direction is 0.5cm to 1cm.

[0032] In some optional embodiments, the assembled component further includes a second latch, the first latch and the second latch being located on opposite sides of the assembled component along a first direction, and a second slot being provided on another cavity wall of the receiving cavity; the method further includes inserting the second latch into the second slot along a second insertion direction opposite to the first insertion direction; the assembly device further includes: a first cylinder for pushing a first push block to move along a first direction; a second cylinder for pushing a second push block to move along a second direction; after controlling the first drive mechanism to drive the part-removing mechanism to move from a second position to a third position, the method further includes:

[0033] The control mechanism releases the assembled component; the control mechanism pushes the assembled component along a first direction via a first pusher block, and the control mechanism also pushes the assembled component along a second direction via a second pusher block, so that the assembled component moves from a third position to a fourth position; wherein, when the control mechanism is in the fourth position, the first latch is inserted into the first slot along the first insertion direction, and the second latch is inserted into the second slot along the second insertion direction.

[0034] In some alternative embodiments, after the assembled component moves from the third position to the fourth position, the method further includes:

[0035] The second drive mechanism is controlled to drive the picking mechanism to move along the fourth direction, so that the distance between the picking mechanism and the assembled part along the fourth direction is greater than a first value; the third drive mechanism is controlled to drive the second connecting part of the picking mechanism to move along the second direction, so that the angle between the picking mechanism and the first plane is 0° to 10°; the second drive mechanism is controlled to drive the picking structure to move in the opposite direction of the fourth direction, so that the picking mechanism presses the assembled part in the fourth position.

[0036] In some optional embodiments, the first value is 10cm to 20cm.

[0037] In some optional embodiments, the assembly device further includes a fifth drive mechanism for driving the picking mechanism to move along a third direction; wherein the third direction is perpendicular to the first direction and perpendicular to the second direction; the picking mechanism includes an adsorption device, which can pick up the assembled component; the assembled component further includes a third buckle, and the main component includes a third slot; the third buckle is located at one end of the assembled component along the third direction, and the method is further used to insert the third buckle into the third slot along the third direction; after the assembled component moves from the third position to the fourth position, the method further includes: controlling the drive mechanism to drive the picking mechanism to move so that the adsorption device of the picking mechanism fits against the assembled component; controlling the adsorption device to pick up the assembled component; controlling the fifth drive mechanism to drive the picking mechanism to move from the fourth position to the fifth position; wherein when the picking mechanism is in the fifth position, the first buckle is inserted in the first slot, the second buckle is inserted in the second slot, and the third buckle is inserted in the third slot.

[0038] In some optional embodiments, the second direction is parallel to the vertical direction; the assembly equipment further includes a loading platform, a picking platform, a suction pen, and an image sensor. The loading platform includes a first bearing surface facing upwards, and the picking platform includes a second bearing surface facing upwards. A second driving mechanism is capable of driving the suction pen to move in the second direction. The second driving mechanism is capable of driving the image sensor to move along the second direction, and the image sensor is used to detect the assembled component. The method further includes: controlling the driving mechanism to drive the picking mechanism to move so that the picking mechanism is located in a first position; and, before controlling the driving mechanism to drive the picking mechanism to move so that the picking mechanism is located in the first position, the method further includes: controlling the second driving mechanism to drive the image sensor to move along the second direction so that the image sensor is located above the loading platform; controlling the image sensor to detect the assembled component placed on the loading platform; and, if the detection is successful, controlling the suction pen to transfer the qualified assembled component from the loading platform to the picking platform.

[0039] In some optional embodiments, after the suction pen transfers the qualified assembled part from the loading platform to the unloading platform upon successful detection, the method further includes:

[0040] The control drive mechanism drives the part-picking mechanism to move so that the part-picking mechanism is above the material-picking platform; the control drive mechanism takes the assembled part from the material-picking platform and drives the part-picking mechanism to move so that the part-picking mechanism moves to the first position.

[0041] In some optional embodiments, controlling the second drive mechanism to move along a second direction at least so that the picking mechanism moves from a first position to a second position includes:

[0042] Foreign object detection is performed on the assembled parts using an image sensor; if the foreign object detection is successful, the second drive mechanism is controlled to move along the second direction so that the picking mechanism moves from the first position to the second position.

[0043] In some optional embodiments, after controlling the third drive mechanism to drive the picking mechanism to move from the fourth position to the fifth position, the method further includes:

[0044] The assembly result of the assembled components on the main component is detected by an image sensor.

[0045] Thirdly, this application provides a control device, comprising: a memory for storing instructions executable by one or more processors of the control device; and a processor, which, when executing the instructions in the memory, causes the control device to perform the method of any embodiment of the second aspect of this application. The beneficial effects achievable through the third aspect can be referred to in conjunction with the beneficial effects of any embodiment of the second aspect, and will not be repeated here.

[0046] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method of any embodiment of the second aspect. The beneficial effects achievable through the fourth aspect can be found in the beneficial effects of the method provided by any embodiment of the second aspect, and will not be repeated here. Attached Figure Description

[0047] Figure 1A This is an exemplary application scenario of an embodiment of this application;

[0048] Figure 1B This is another exemplary application scenario of the embodiments of this application;

[0049] Figure 2A This is a schematic diagram of the structure of a speaker assembly provided in an embodiment of this application;

[0050] Figure 2B An exploded view of the speaker assembly and antenna board provided in an embodiment of this application;

[0051] Figure 3A This is a schematic diagram of the structure of the middle frame provided in an embodiment of this application;

[0052] Figure 3B This is a partially enlarged structural diagram of the middle frame provided in an embodiment of this application;

[0053] Figure 3C This is an exploded view of the middle frame and speaker assembly provided in an embodiment of this application;

[0054] Figure 3DA cross-sectional structural diagram of a speaker assembly assembled in a receiving cavity according to an embodiment of this application;

[0055] Figure 3E This is a schematic diagram of the card slot provided in an embodiment of this application;

[0056] Figure 4A This is a schematic diagram of the structure of an assembly device provided in an embodiment of this application;

[0057] Figure 4B This is a schematic diagram of the external structure of an assembly system provided in an embodiment of this application;

[0058] Figure 5 This application provides a schematic diagram of the structure of a second drive mechanism and a third drive mechanism according to embodiments of the present application.

[0059] Figure 6 This is a schematic diagram of the structure of a pickup mechanism provided in an embodiment of this application;

[0060] Figure 7 A schematic diagram of the tilting posture of a pickup mechanism provided in this application;

[0061] Figure 8 A schematic diagram of material transfer provided in an embodiment of this application;

[0062] Figure 9 A schematic diagram illustrating the movement direction of each drive mechanism during the assembly process, provided as an embodiment of this application;

[0063] Figure 10 A schematic flowchart of an assembly method provided in this application embodiment;

[0064] Figure 11A A reference plan view of a speaker assembly provided in an embodiment of this application;

[0065] Figure 11B A schematic flowchart of an assembly method provided in an embodiment of this application is shown below;

[0066] Figure 12A A schematic diagram of the attitude of a speaker assembly in a first position is provided for an embodiment of this application;

[0067] Figure 12B A second schematic diagram illustrating the posture of a speaker assembly in a first position, provided as an embodiment of this application;

[0068] Figure 13 A schematic diagram of the posture of a speaker assembly in a second position, provided as an embodiment of this application;

[0069] Figure 14A schematic diagram illustrating the determination of the alignment position of the first buckle, provided for an embodiment of this application;

[0070] Figure 15 A schematic diagram of the attitude of a speaker assembly in a third position is provided for an embodiment of this application;

[0071] Figure 16 A schematic diagram of the attitude of a speaker assembly in a fourth position is provided as an embodiment of this application;

[0072] Figure 17 A schematic diagram of the attitude of a speaker assembly in the fifth position provided in an embodiment of this application;

[0073] Figure 18 A block diagram of the control device provided in an embodiment of this application is shown;

[0074] Figure 19 A schematic diagram of the structure of a System on Chip (SoC) provided in an embodiment of this application is shown. Detailed Implementation

[0075] This application provides an assembly apparatus. The assembly apparatus provided by this application enables the detection and automated assembly of components in electronic devices, improving assembly efficiency and ensuring the consistency of electronic device products.

[0076] Figure 1A and Figure 1B This application illustrates an exemplary application scenario of an embodiment of this application, specifically an electronic device 100. The electronic device 100 can be a mobile phone (including candybar phones and foldable phones), tablet computer, laptop computer, ultra-mobile personal computer (UMPC), handheld computer, touch-screen TV, large-screen device, speaker, walkie-talkie, netbook, POS machine, personal digital assistant (PDA), wearable device, virtual reality device, smart vehicle, smart robot, industrial equipment, etc., and this application does not limit it. In the following, a mobile phone is used as an example of electronic device 100 to describe the technical solution of this application.

[0077] In the figures of this article, the X direction (as the first direction) can be the width direction of the electronic device 100, the Y direction (as the third direction) can be the length direction of the electronic device 100, and the Z direction (as the second direction) can be the thickness direction of the electronic device 100. The X, Y, and Z directions can be perpendicular to each other.

[0078] During the assembly of electronic device 100, electronic device 100 can be "placed flat" on the assembly platform. That is, in electronic device 100, the Z direction can be vertical or nearly vertical (for example, the angle between the Z direction and the vertical direction is 0° to 15°). The XY plane can be horizontal or nearly horizontal (for example, the angle between the XY direction and the vertical direction is 0° to 15°). For ease of understanding and simplification, the Z direction will be referred to as the vertical direction (or "height direction") and the XY plane will be referred to as the horizontal plane.

[0079] Additionally, for ease of understanding, in this text, the positive Z-axis direction can be downward, and the negative Z-axis direction (as the fourth direction) can be upward. The surface of each component facing the negative Z-axis direction is the front of that component, and the surface facing the positive Z-axis direction is the back of that component.

[0080] It is understood that the perpendicularity in this application is not absolute perpendicularity. Approximate perpendicularity due to processing and assembly errors (e.g., an angle of 89° between two structural features) is also within the scope of mutual perpendicularity in this application. Similarly, the parallelism in this application is not absolute parallelism. Approximate parallelism due to processing and assembly errors (e.g., an angle of 1° between two structural features) is also within the scope of mutual parallelism in this application. The limitations of mutual parallelism and mutual perpendicularity will not be repeated below.

[0081] refer to Figure 1A The electronic device 100 includes a display screen 101, a mid-frame 107, and a back cover 102. The display screen 101 and the back cover 102 are located on opposite sides of the mid-frame 107, and the display screen 101, mid-frame 107, and back cover 102 can together form the housing 106 of the electronic device 100. The mid-frame 107 and the back cover 102 can be independent structures or an integral structure.

[0082] In other embodiments, the housing 106 may also be formed in other ways. For example, see reference... Figure 1B The electronic device 100 is a foldable phone. The display screen 101, the mid-frame 107, and the display screen 108 together form the housing 106 of the electronic device 100. In this embodiment, the electronic device 100 can be a foldable phone. Specifically, the display screen 101 can be the inner screen of the foldable phone, and the display screen 108 can be the outer screen of the foldable phone.

[0083] The housing 106 can form a receiving cavity 110, in which multiple components of the electronic device 100 can be housed, such as a motherboard 103, a microphone 104, a motor 105, and a speaker assembly 109. The speaker assembly 109 is the sound-producing component of the electronic device 100. By providing the speaker assembly 109, the electronic device 100 can produce sound. For example, the electronic device 100 can play music, voice, broadcast, or other audio signals through the speaker assembly 109. Exemplarily, the speaker assembly 109 can be electrically connected to the motherboard 103 of the electronic device 100, so that the speaker assembly 109 can receive audio signals from the motherboard 103 and convert the audio signals into sound that the user can hear.

[0084] During the assembly process of the electronic device 100, each component (as an example of an assembled part) can be assembled onto the housing 106 (as an example of a main body part) to fix the position of each component in the receiving cavity 110.

[0085] The following describes an exemplary process of assembling the speaker assembly 109 onto the main body component, using the speaker assembly 109 as an example of the component to be assembled and the middle frame 107 as an example of the main body component.

[0086] To facilitate understanding of the assembly method provided in the embodiments of this application, the structure of the speaker assembly 109 and the middle frame 107 will be introduced first.

[0087] Figure 2A This is a schematic diagram of the structure of the speaker assembly 109 provided in an embodiment of this application. (See reference...) Figure 2A The speaker assembly 109 may include a main body and a first latch 109a, a second latch 109b, and a third latch 109c connected to the main body. The main body is used to realize the sound-emitting function of the speaker assembly 109. The first latch 109a, the second latch 109b, and the third latch 109c are used to connect the speaker assembly 109 to the middle frame 107, for example, to pre-assemble the speaker assembly 109 onto the middle frame 107 using the latches. (Reference) Figure 2A As shown, the first latch 109a and the second latch 109b are respectively disposed at opposite ends of the speaker assembly 109 along the X direction, and the third latch 109c is disposed at one end of the speaker assembly 109 along the Y direction.

[0088] The first latch 109a, the second latch 109b, and the third latch 109c are used to pre-assemble the speaker assembly 109. Other fixing structures may also be provided on the speaker assembly 109 to achieve final assembly between the speaker assembly 109 and the mid-frame 107. For example, the speaker assembly 109 may also have fixing holes, allowing the final assembly of the speaker assembly 109 and the mid-frame 107 to be achieved using fasteners (such as screws) passing through the fixing holes. In other embodiments, the final assembly of the speaker assembly 109 and the mid-frame 107 can be achieved using all or at least one of the first latch 109a, the second latch 109b, and the third latch 109c.

[0089] In some embodiments, to reduce the size of the electronic device 100, an integrated design can be adopted. For example, components such as the antenna board 112 can be integrated onto the speaker assembly 109, specifically on the back of the speaker assembly 109. (See reference...) Figure 2A As shown, the speaker assembly 109 has a first fixing hole 109d and a second fixing hole 109e at one end along the X direction, and the first fixing hole 109d and the second fixing hole 109e are arranged along the Y direction. A first buckle 109a is provided on the edge of the first fixing hole 109. Figure 2B This is an exploded view of the speaker assembly 109 and antenna board 112 provided in the embodiments of this application, with reference to... Figure 2B As shown, the antenna board 112 is provided with a third fixing hole 112a and a fourth fixing hole 112b. When the antenna board 112 is integrated into the speaker assembly 109, the third fixing hole 112a can be connected to the first fixing hole 109d, and the fourth fixing hole 112b can be connected to the second fixing hole 109e, thereby fixing the antenna board 112 and the speaker assembly 109 by fasteners.

[0090] Figure 3A This is a schematic diagram of the structure of the middle frame 107 provided in an embodiment of this application. Figure 3B This is a partially enlarged structural diagram of the middle frame 107 provided in an embodiment of this application. Figure 3C This is an exploded view of the middle frame 107 and the speaker assembly 109 provided in an embodiment of this application. Figure 3D A schematic diagram of the assembly structure of the speaker assembly 109 and the middle frame 107 provided in the embodiments of this application ( Figure 3C (DD cross-sectional view). Additionally, for ease of observation, the structure of the middle frame 107 can be omitted from the above figures.

[0091] like Figures 3A to 3DAs shown, the middle frame 107 may include a panel 1071 and sidewalls 1072 surrounding the panel 1071. Additionally, the middle frame 107 may include several partition walls, such as partition walls 1073. The middle frame 107 may be formed with a receiving cavity 111 for accommodating a speaker assembly 109. Exemplarily, the receiving cavity 111 may be formed by the panel 1071, sidewalls 1072, and partition walls 1073. The opening 111m of the receiving cavity 111 may face the negative Z-axis direction, and the speaker assembly 109 can be assembled into the receiving cavity 111 through the opening 111m.

[0092] On the cavity wall of the receiving cavity 111, there is a first slot 111a corresponding to the first buckle 109a, a second slot 111b corresponding to the second buckle 109b, and a third slot 111c corresponding to the third buckle 109c. Figure 3E The cross-section of the first slot 111a is shown (specifically, section C1-C1), for reference. Figure 3E The first slot 111a can be a slot with its opening facing the negative X-axis direction. The structures of the second slot 111b and the third slot 111c can refer to the structure of the first slot 111a, and will not be described in detail. In addition, it can be understood that the opening of the second slot 111b faces the positive X-axis direction, and the opening of the third slot 111c faces the positive Y-axis direction.

[0093] like Figure 3B As shown, the first slot 111a and the second slot 111b are respectively disposed on the two cavity walls of the receiving cavity 111 along the X direction, and the third slot 111c is disposed on the cavity wall of the receiving cavity 111 along the Y direction. At the first slot 111a, the receiving cavity 111 also has a fifth fixing hole 111d and a sixth fixing hole 111e. After the speaker assembly 109 is pre-assembled in the receiving cavity 111, the fifth fixing hole corresponds to the position of the first fixing hole, and the sixth fixing hole corresponds to the position of the second fixing hole, so that the speaker assembly 109 can be fixed by fasteners (such as screws).

[0094] like Figure 3C As shown, when pre-assembling the speaker assembly 109 onto the mid-frame 107, the first clip 109a can be inserted into the first slot 111a along the positive X-axis direction (as the first insertion direction), the second clip 109b can be inserted into the second slot 111b along the negative X-axis direction, and the third clip 109c can be inserted into the third slot 111c along the negative Y-axis direction to achieve pre-assembly of the speaker assembly 109 onto the mid-frame 107. An interference fit can be made between the first clip 109a and the first slot 111a, between the second clip 109b and the second slot 111b, and / or between the third clip 109c and the third slot 111c to improve the reliability of the pre-assembly.

[0095] In this embodiment of the application, reference is made to Figure 2B and combined Figure 3C , Figure 3D The speaker assembly 109 has a sound outlet channel 109n, and the middle frame 107 includes a sound outlet hole 111f. The sound outlet channel 109n communicates with the sound outlet hole 111f to enable sound output from the speaker assembly 109. The speaker assembly 109 has a side wall 109m, and the opening of the sound outlet channel 109n is located on the side wall 109m. The receiving cavity 111 has a cavity wall 111g, and one end opening of the sound outlet hole 111f is located on the cavity wall 111g. Foam 109f is provided between the side wall 109m and the cavity wall 111, and the side wall 109m and the cavity wall 111 can be sealed together by the foam 109f. The foam 109f can play a role in sealing and cushioning to ensure the sound quality of the speaker.

[0096] Since the sound outlet 111f is usually located near the USB, in order to prevent the USB from scraping against the foam 109f during the assembly of the speaker assembly 109, causing damage to the foam 109f and thus affecting the sound performance of the speaker assembly 109, the surface used to set the foam 109f (i.e., surface 109m) and the cavity wall 111g of the receiving cavity 111 can both be inclined surfaces (i.e., inclined relative to the XZ plane).

[0097] refer to Figure 2B and Figure 3B As shown, the first latch 109a, the second latch 109b, and the third latch 109c are protrusions, while the first slot 111a, the second slot 111b, and the third slot 111c are recesses located on the side wall (or "cavity wall") of the receiving cavity 111. Therefore, when the first latch 109a is inserted into the first slot 111a, the second latch 109b is inserted into the second slot 111b, and the third latch 109c is inserted into the third slot 111c, the first latch 109a, the second latch 109b, and the third latch 109c can be inserted into the first slot 111a, the second slot 111b, and the third slot 111c one by one. For example, the insertion of the first latch 109a, the second latch 109b, and the third latch 109c can be completed sequentially.

[0098] In other embodiments, pre-assembly or final assembly of the speaker assembly 109 and the mid-frame 107 can be achieved using more or fewer clips. For example, pre-assembly of the speaker assembly 109 and the mid-frame 107 can be achieved using only the first clip 109a.

[0099] In some embodiments, the speaker assembly 109 can be assembled onto the mid-frame 107 manually. However, manual assembly is inefficient and cannot guarantee the consistency of the assembled product. In addition, the pressure applied to the clips manually is difficult to control, which can easily lead to the clips collapsing.

[0100] Furthermore, manual assembly can easily lead to collisions. For example, during assembly, the antenna board 112 may collide with the panel 1072 on the mid-frame 107. Also, because surfaces 111g and 109m are inclined, assembly errors during manual assembly can easily cause the foam 109f to rub against surface 111g, thus affecting the airtightness and sound performance of the speaker assembly 109.

[0101] In addition, since there may be defects in incoming materials such as speaker assembly 109, mid-frame 107 and antenna board 112, it is difficult to avoid defective incoming materials entering the assembly process by manual assembly.

[0102] In view of this, embodiments of this application provide an assembly device that enables automated assembly of components connected by snap-fit ​​in electronic devices, improving assembly efficiency and ensuring product consistency. In some embodiments, this assembly device allows for the inspection of components before and after assembly, thereby preventing defective components from being assembled into electronic devices and preventing substandard products from flowing into the next process, thus improving the product yield of electronic devices and reducing production costs.

[0103] Furthermore, since the tops of the slots (including the first slot 111a, the second slot 111b, and the third slot 111c) are closed (i.e., each slot does not have an upward-facing opening), the speaker assembly 109 can be tilted when inserting the clip into the slot to facilitate insertion. Taking the insertion of the first clip 109a into the first slot 111a as an example, when inserting, the speaker assembly 109 can be tilted (at a certain angle with the XY plane), and then the first clip 109a can be inserted into the first slot 111a from the side of the cavity wall of the receiving cavity 111.

[0104] In addition, the assembly equipment provided in this application embodiment can enable the speaker assembly 109 to complete the insertion of the first buckle 109a and the first slot 111a in an inclined state, thereby avoiding the buckle being crushed during the assembly process and reducing the risk of collisions during the assembly process. For example, it can reduce the risk of collision between the antenna board 112 and the panel 1071 of the middle frame 107, as well as the risk of scratches between the foam 109f and the surface 111g.

[0105] The assembly equipment provided in the embodiments of this application will now be described in conjunction with the accompanying drawings.

[0106] Figure 4A This is a schematic diagram of the appearance of an assembly system provided in an embodiment of this application. The assembly system may include a housing and assembly equipment disposed within the housing. Figure 4B This is a schematic diagram of the structure of an assembly device provided in an embodiment of this application, such as... Figure 4BAs shown, the assembly equipment may include a support frame 1, a drive mechanism 2, and a part-picking mechanism 3. The drive mechanism 2 may be mounted on the support frame 1. The drive mechanism 2 may be connected to the part-picking mechanism 3 to drive the part-picking mechanism 3 to move in space.

[0107] Specifically, the support frame 1 may include two support legs 11, which may be fixed to the ground or to a base (not shown in the figure). A crossbeam 12 may be provided on the two support legs 11, with both ends of the crossbeam 12 fixed to the two support legs 11 respectively. Optionally, the crossbeam 12 may be fixed to the support legs 11 by welding, bolting, riveting, or other methods.

[0108] It should be understood that the support frame 1 may also include other numbers of support legs 11, such as 1, 3, 4, etc., and the crossbeam 12 may also be replaced by other structures, such as a fixing plate.

[0109] In other embodiments, the drive mechanism 2 may also be supported by other support structures, such as a support platform made of concrete.

[0110] In this embodiment, the picking mechanism 3 is connected to the driving mechanism 2 (the specific connection method will be described in detail below). The driving mechanism 2 is used to drive the picking mechanism 3 to move within a spatial range. Specifically, the driving mechanism 2 may include an X-axis driving mechanism 21 (an example of a first driving mechanism), a Z-axis driving mechanism 22 (an example of a second driving mechanism), and a Y-axis driving mechanism 25 (an example of a fifth driving mechanism).

[0111] The X-axis drive mechanism 21 drives the part-retrieving mechanism 3 to move along a first direction, the Z-axis drive mechanism 22 drives the part-retrieving mechanism 3 (or drives the first connecting part 31 of the part-retrieving mechanism 3, which will be described in detail below) to move along a second direction, and the Y-axis drive mechanism 25 drives the part-retrieving mechanism 3 to move along a third direction. During the assembly process of the speaker assembly 109 into the receiving cavity 111, the first direction may be the same as the width direction (X-axis) of the middle frame 107, the second direction may be the same as the thickness direction (Z-axis) of the middle frame 107, and the third direction may be the same as the length direction (Y-axis) of the middle frame 107. Therefore, for ease of description, unless otherwise specified, the X-axis will be used to represent the first direction, the Z-axis to represent the second direction, and the Y-axis to represent the third direction in the following text.

[0112] The X-axis drive mechanism 21 can be mounted on the crossbeam 12. The X-axis drive mechanism 21 may include a drive unit DX and a driven unit PX. The driven unit PX can be connected to the drive unit DX, and the drive unit DX drives the driven unit PX to move along the X direction. As an example, such as... Figure 4BAs shown, the driving unit DX can be a first linear motor, which may include a first guide rail 211 (the stator of the first linear motor) and a first slider 212 (the mover of the first linear motor). The first guide rail 211 is disposed on the crossbeam 12 and is arranged along the X direction, and the first slider 212 can slide on the first guide rail 211. The driven unit PX may include a first connecting plate 213 disposed on the first slider 212, so that when the first slider 212 slides on the first guide rail 211, it can drive the first connecting plate 213 to move along the X direction. The connection method between the first connecting plate 213 and the first slider 212 includes, but is not limited to, welding, bolting, riveting, etc.

[0113] In some embodiments, the X-direction drive mechanism 21 can also be implemented in other ways. For example, the drive unit DX can be a servo motor and a ball screw. The ball screw can include a screw and a nut, the axis of the screw can be set along the X direction, the servo motor can drive the screw to rotate, thereby driving the nut to move along the screw axis, so that the nut drives the drive unit DX to move in the X direction.

[0114] The Y-axis drive mechanism 25 can be disposed on the driven part PX (e.g., the first connecting plate 213). The first connecting plate 213 can extend along the XY plane to facilitate the placement of the Y-axis drive mechanism 25.

[0115] The Y-direction drive mechanism 25 may include a drive unit DY and a driven unit PY. The driven unit PY may be connected to the drive unit DY, and the drive unit DY is used to drive the driven unit PY to move along the Y direction. As an example, such as Figure 4B As shown, the driving unit DY can be a second linear motor, which may include a second guide rail 251 (the stator of the second linear motor) and a second slider 252 (the mover of the second linear motor). The second guide rail 251 is disposed on the first connecting plate 213 and is arranged along the Y direction. The second slider 252 can slide on the second guide rail 251. The driven unit PY may include a second connecting plate 253 disposed on the second slider 252, so that when the second slider 252 slides on the second guide rail 251, it can drive the second connecting plate 253 to move along the Y direction. The connection method between the second connecting plate 253 and the second slider 252 includes, but is not limited to, welding, bolting, riveting, etc.

[0116] In some embodiments, the Y-axis drive mechanism 25 can also be implemented in other ways. For example, the drive unit DY is a servo motor, and the driven unit PY includes a ball screw. The ball screw may include a screw and a nut, and the axis of the screw may be set along the Y direction. The servo motor can drive the screw to rotate, thereby driving the nut to move along the screw axis, so that the nut drives the drive unit DY to move along the Y direction.

[0117] The Z-axis drive mechanism 22 can be disposed on the driven part PY (e.g., the second connecting plate 253). The second connecting plate 253 can extend along the YZ plane to facilitate the placement of the Z-axis drive mechanism 22.

[0118] Z-direction drive mechanism 22 may include a drive unit DZ (as a first drive unit) and a driven unit PZ (as a first driven unit). The driven unit PZ may be connected to the drive unit DZ, and the drive unit DZ is used to drive the driven unit PZ to move along the Z direction. As an example, such as Figure 4B As shown, the drive unit DZ can be a third linear motor, which may include a third guide rail 221 (the stator of the third linear motor) and a third slider 222 (the mover of the third linear motor, not shown in the figure). The third guide rail 221 is disposed on the second connecting plate 253 and is disposed along the Z direction. The third slider 222 can slide on the third guide rail 221. The driven unit PZ (the specific structure is described in detail below) is disposed on the third slider 222, so that when the third slider 222 slides on the third guide rail 221, it can drive the driven unit PZ to move along the Z direction.

[0119] In some embodiments, the Z-axis drive mechanism 22 can also be implemented in other ways. For example, the drive unit DZ is a servo motor, and the driven unit PZ includes a ball screw. The ball screw may include a screw and a nut, and the axis of the screw may be set along the X direction. The servo motor can drive the screw to rotate, thereby driving the nut to move along the screw axis, so that the nut drives the drive unit DZ to move in the Z direction.

[0120] It should be noted that the X-axis drive mechanism 21, Z-axis drive mechanism 22, and Y-axis drive mechanism 25 described above are used to drive the picking mechanism 3 to move along the X, Y, and Z directions, respectively, thereby enabling the picking mechanism 3 to move within a spatial range. Therefore, the arrangement of the first guide rail 211, the second guide rail 251, and the third guide rail 221 is not limited to the arrangement described above. In some embodiments, the first guide rail 211, the second guide rail 251, and the third guide rail 221 may also include different arrangements, such as the first guide rail 211 being disposed on the second connecting plate 253 and the third guide rail 221 being disposed on the first connecting plate 213, which can also enable the picking mechanism 3 to move within a spatial range.

[0121] In this embodiment of the application, in order to insert the buckle into the card slot, another drive mechanism 23 (hereinafter referred to as "U-direction drive mechanism", as an example of the third drive mechanism) driven along the Z direction can be set to cooperate with the Z-direction drive mechanism 22 to realize the insertion of the buckle into the card slot.

[0122] Specifically, refer to Figure 5As shown, the U-direction drive mechanism 23 includes a drive unit DU231 (as a second drive unit) and a driven unit PU (as a second driven unit). The drive unit DU231 is capable of driving the driven unit PU to move along the Z direction. Exemplarily, the drive unit DU231 can drive the driven unit PU to move along the Z direction via a ball screw mechanism. Optionally, the drive unit DU231 can be connected to the driven unit PZ, and the driven unit PZ can be connected to the drive unit PZ, so that when the drive unit DU231 drives the driven unit PZ to move along the Z direction, it can also drive the drive unit DU231 to move along the Z direction. Optionally, the drive unit DU231 can also be disposed together with the driven unit PZ on the second connecting plate 253. The drive unit DU231 can be a motor capable of outputting axial driving force, thereby driving the driven unit PU to move along the Z direction.

[0123] The component-retrieving mechanism 3 is used to install the assembled parts. For details, please refer to [reference needed]. Figure 6 As shown, the picking mechanism 3 includes a suction head 33 (as an example of an adsorption device), which can pick up the speaker assembly 109 (as an example of an assembled component) and mount it onto the picking mechanism 3. Optionally, the suction head 33 can be made of polyoxymethylene-resistant thermoplastic crystalline polymer (ESD acetal). Optionally, the number of suction heads 33 can be selected as needed, such as 2, 3, 4, etc. The area covered by multiple suction heads 33 can be smaller than the front surface area of ​​the speaker assembly 109. In other embodiments, the picking mechanism 3 can also fix the speaker assembly 109 using grippers, chucks, etc.

[0124] The item-retrieving mechanism 3 includes a first connecting part 31 and a second connecting part 32, which can be spaced apart and positioned at different locations on the item-retrieving structure 3. Specifically, as shown... Figure 5 As shown, the first connecting part 31 and the second connecting part 32 can be arranged at intervals along the length direction of the picking mechanism 3.

[0125] In this embodiment, the picking mechanism 3 can rotate around the Z-axis (the rotation method will be described below). When the picking mechanism 3 rotates to... Figure 5 In the indicated state, the length direction of the picking mechanism 3 can be parallel to the X-axis. At this time, the first connecting part 31 and the second connecting part 32 can be spaced apart along the X-direction. When the picking mechanism 3 is relative to... Figure 5 After rotating 90° as shown, the length direction of the picking mechanism 3 can be perpendicular to the X-axis. At this time, the first connecting part 31 and the second connecting part 32 can be aligned along the X-direction. In some other embodiments, the picking mechanism 3 can also be fixedly connected to the driving mechanism 2, and the length direction of the picking mechanism 3 can always be parallel to the X-axis, that is, the first connecting part 31 and the second connecting part 32 can always be spaced apart along the X-direction.

[0126] Optionally, the first connecting part 31 and the second connecting part 32 are disposed on one side of the picking mechanism 3 along the Z direction, and the suction head 33 is disposed on the other side of the picking mechanism 3 along the Z direction. As an example, the outline of the picking mechanism 3 can be approximately rectangular, and the first connecting part 31 and the second connecting part 32 can be disposed on opposite ends of the picking mechanism 3, respectively.

[0127] refer to Figure 5 As shown, the driven part PZ is connected to the first connecting part 31, and the driven part PU is connected to the second connecting part 32. The driving part DZ drives the driven part PZ to move along the Z direction, thereby causing the first connecting part 31 to move along the Z direction. The driving part DU 231 drives the driven part PU to move along the Z direction, thereby causing the second connecting part 32 to move along the Z direction. By controlling the output of the driving part DZ and the driving part DU 231, the first connecting part 31 and the second connecting part 32 can be at the same or different heights in the Z direction, thereby causing the picking mechanism 3 and the speaker assembly 109 mounted on the picking mechanism 3 to be in different postures, such as an inclined posture (at an angle with the XY plane) or a horizontal posture (parallel to the XY plane), which facilitates the insertion of the clip on the speaker assembly 109 into the slot.

[0128] Figure 7 A schematic diagram of the tilting posture of a pickup mechanism 3 provided in this application is shown below. Figure 7 As shown, the distance between the first connecting part and the second connecting part is D1. Under the drive of the U-direction driving mechanism, the second connecting part can be displaced downwards by D2 relative to the first connecting part, causing an angle α to appear between the reference plane of the picking mechanism 3 and the horizontal plane (XY plane), thereby causing the reference plane of the picking mechanism 3 to tilt relative to the horizontal plane (XY plane). For ease of understanding, this structure that controls the tilting of the picking mechanism can also be called a "seesaw structure".

[0129] To achieve the posture (tilt / horizontal) conversion of the picking mechanism 3, the first connecting part 31 and the driven part PZ, and the second connecting part 32 and the driven part PU, can be connected by a rotatable connection, such as a pin connection. Furthermore, during the tilting process of the picking mechanism 3, since the displacements of the first connecting part 31 and the second connecting part 32 in the Z direction are inconsistent, a motion guide structure can be provided in either the first connecting part 31 or the second connecting part 32 to ensure the smoothness of the movement of the picking mechanism 3. As an example, such as... Figure 6 As shown, the first connecting part 31 and the driven part PZ are slidably connected along the X direction, and the second connecting part 32 and the driven part PU are rotatably connected (the rotation axis of the rotatable connection is parallel to the Y direction).

[0130] Specifically, the first connecting part 31 is provided with a groove 311 extending in the X direction (i.e., the length direction of the groove is parallel to the X direction or has a component in the X direction). The driven part PZ includes a first shaft 312, which is inserted into the groove 312 and can slide in the groove 312. The second connecting part 32 is provided with a pin hole 321. The driven part PU includes a second rotating shaft (not shown), which is inserted into the pin hole 321 and can rotate in the pin hole 321. During the process of the driven part PZ driving the first connecting part 31 to move in the Z direction and the driven part PU driving the second connecting part 32 to move in the Z direction to tilt the picking mechanism 3, the second rotating shaft rotates in the pin hole, and the first shaft 311 slides in the groove 312. In addition, for smooth sliding, a bearing can also be sleeved on the outside of the first shaft 311.

[0131] It is understood that in other embodiments, the first connecting part 31 and the driven part PZ may be rotatably connected (the rotation axis of the rotatable connection is parallel to the Y direction), and the second connecting part 32 and the driven part PU may be slidably connected along the X direction.

[0132] The driven part PU is used to transmit the driving force output by the driving part DU 231 to the second connecting part 32, thereby driving the second connecting part 32 to move in the Z direction. Therefore, the driven part PU may include several connecting members to achieve the above function.

[0133] As an optional implementation method, refer to Figure 6 As shown, the driven part PU includes a first connector 231 and a second connector 232. One end of the first connector 231 is connected to the drive part DU 231, and the other end is connected to one end of the second connector 232. The end of the second connector 232 that is not connected to the first connector 231 is connected to the second connector 32.

[0134] In some embodiments, in order to limit the magnitude of the force transmitted to the second connection 32, reference is made to... Figure 6 As shown, an elastic element, such as a spring 233 or a spring sheet, can be provided between the first connector 231 and the second connector 232. Taking the spring 233 as an example, one end of the spring 233 is connected to the first connector 231, and the other end is connected to the second connector 232. When the driving unit DU 231 outputs a driving force to the first connector 231, the first connector 231 transmits the driving force to the spring 233, causing the spring 233 to compress and generate an elastic force. This elastic force is transmitted to the second connector 232, and then to the second connecting part 32, thereby causing the second connecting part 32 to move along the Z direction. Furthermore, it can be understood that when the second connecting part 232 is subjected to pressure along the Z direction (e.g., pressure from the speaker assembly 109 during assembly), the elastic element can be compressed. Exemplarily, the elastic force provided within the elastic range of the elastic element can be less than 15N, for example, 3N to 7N.

[0135] In other embodiments, a pressure sensor 234 can be provided between the first connector 231 and the second connector 232 to collect the driving force transmitted to the second connector 32. Based on the pressure data collected by the pressure sensor 234, the magnitude of the driving force output by the drive unit DU 231 can be controlled. For example, a computing device (such as a controller) acquires the pressure data collected by the pressure sensor and compares the pressure data with a pressure threshold to determine whether the current driving force transmitted to the second connector 32 is too large. If it is determined that the current driving force transmitted to the second connector 32 is too large (i.e., the pressure data is greater than the pressure threshold), the drive unit DU 231 is controlled to reduce the output driving force. If it is determined that the current driving force transmitted to the second connector 32 is too small (i.e., the pressure data is less than the pressure threshold), the drive unit DU 231 is controlled to increase the output driving force. For example, the accuracy of the pressure sensor 234 can be 0.1N.

[0136] In other embodiments, reference is made to Figure 5 As shown, a simultaneous elastic element and a pressure sensor 234 can also be provided between the first connector 231 and the second connector 232 to achieve precise control of the magnitude of the driving force output by the drive unit DU231.

[0137] Specifically, taking spring 233 as an example, one end of the first connecting member 231 is connected to one end of spring 233, and a pressure sensor 234 is provided on one end of the second connecting member 232, while the other end is connected to the second connecting part 32. The other end of spring 233 abuts against the pressure sensor 234.

[0138] To enable the second connecting part 32 to move up and down in the Z direction while ensuring that the spring 233 operates within its elastic deformation range, the driven part PU may further include a fifth connecting member 235. One end of the fifth connecting member 235 is connected to the first connecting member 231, and the other end is connected to the second connecting member 232. The fifth connecting member 235 is provided with a limiting structure in the Z direction, such as a limiting groove in the Z direction, thereby limiting the movement distance of the second connecting part 32 in the Z direction. As an example, the first connecting member 231 is provided with a protrusion that can be engaged in the limiting groove and slide up and down in the Z direction within the limiting groove. When the driving part DU 231 drives the first connecting member 231 to move down in the Z direction, the spring 233 comes into contact with the pressure sensor 234 and is gradually compressed, generating elastic force. This elastic force is transmitted to the second connecting member 232, and then to the second connecting part 32, thereby causing the second connecting part 32 to move in the Z direction. When the drive unit DU231 drives the first connector 231 to move along the Z direction, the protrusion on the first connector 231 slides along the limiting groove to the top of the limiting groove, and then drives the fifth connector 235 to move upward, thereby driving the second connector 232 to move upward, and then driving the second connector 32 to move upward.

[0139] The driven part PZ is used to transmit the driving force output by the driving part DZ to the first connecting part 31, thereby driving the first connecting part 31 to move in the Z direction. Therefore, the driven part PZ may include several connecting members to achieve the above function.

[0140] By setting up elastic elements and / or pressure sensors 234, the pressure exerted on the speaker assembly 109 by the component removal mechanism can be limited during the assembly process, thereby reducing the risk of collapse of the clips of the speaker assembly 109 and the risk of impact to the speaker assembly 109.

[0141] As an optional implementation, the driven part PZ includes a third connector 223 and a fourth connector 224. The third connector 223 is connected to the driving part DZ, the fourth connector is connected to the third connector 223, and the fourth connector 224 is connected to the first connecting part 31.

[0142] As another optional implementation, in order to achieve a reasonable layout between the various drive mechanisms 2 and reduce the size of the assembly equipment, the driven part PZ may include a third connector 223, a fourth connector 224, and a sixth connector 225, as shown in the reference. Figure 5As shown, the sixth connector 225 is connected to the drive unit DZ, the third connector 223 is connected to the sixth connector 225, the fourth connector is connected to the third connector 223, and the fourth connector 224 is connected to the first connector 31. Furthermore, to ensure the smoothness of the movement of the U-direction drive mechanism 2, a slide rail 226 can be provided on the sixth connector 225. The slide rail 226 is arranged along the Z-direction, and the first connector 231 and the second connector 232 are arranged on the slide rail 226, allowing the first connector 231 and the second connector 232 to slide on the slide rail 226.

[0143] In this embodiment of the application, in order to further improve the flexibility of the picking mechanism 3, the fourth connector 224 can be configured to rotate relative to the third connector 223 about a second axis extending along the Z direction, so as to drive the picking mechanism 3 to rotate relative to the third connector 223.

[0144] The rotation of the fourth connector 224 about the Z direction can be achieved by the R-direction drive mechanism 24 (an example of the fourth drive mechanism). Specifically, refer to... Figure 5 and Figure 6 As shown, the R-axis drive mechanism 24 includes a drive unit DR and a driven unit PR. The driven unit PR includes the outer ring of a bearing 242, the inner ring of the bearing 242 is disposed on a third connecting member 223, and the outer ring of the bearing 242 is disposed on a fourth connecting member 224. The drive unit DR is disposed on the third connecting member 223 and is capable of driving the outer ring of the bearing 242 to rotate around a second axis. As an optional embodiment, the drive unit DR 231 is disposed on one side of the third connecting member 223 along the second direction, and the bearing 242 is disposed on the other side of the third connecting member 223 along the second direction. The driven unit PR passes through the third connecting member 223 and passes through the inner ring of the bearing 242 to connect to the second connecting member 32. The drive unit DR includes a first drive motor 241 and a transmission belt 243. The first drive motor 241 is disposed on the third connecting member 223, and the output shaft of the first drive motor 241 passes through the third connecting member 223. The outer ring of the bearing 242 and the output shaft of the first drive motor 241 are connected by the transmission belt 243. Optionally, the transmission belt 243 can be a belt, rack and pinion belt, etc. In some embodiments, the output shaft of the first drive motor 241 can also be connected to the outer ring of the bearing 242 via a gear set or chain.

[0145] In this embodiment, to inspect the speaker assembly 109 before and after it is assembled onto the mid-frame 107, a detection mechanism can be provided in the assembly equipment to inspect the speaker assembly 109 before and after assembly. Furthermore, the detection mechanism can also be used to achieve visual alignment between the speaker assembly 109 and the mid-frame 107 during the assembly process.

[0146] Specifically, the detection mechanism may include an image sensor. Optionally, the image sensor may be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) device, but is not limited to these. The resolution and lens field of view of the image sensor can be selected according to actual needs. As an example, the repeatability of the picking mechanism 3 can be ±0.02mm, and the visual alignment accuracy can be ±0.03mm. The resolution of the image sensor can be 1280*960, 2560*1920, 4024*3026, etc., the lens field of view can be 50-80mm*35-50mm, and the object distance can be 150-200mm. Optionally, the single pixel accuracy of the image sensor can be ±0.015mm, thereby ensuring that the assembly accuracy is less than or equal to ±0.05mm, thus ensuring the assembly accuracy of the speaker assembly 109.

[0147] refer to Figure 5 As shown, the image sensor may include CCD 261 (i.e., CCD1), which may be mounted on the driven part PZ, so that the driving part DZ can drive CCD 261 to move along the Z direction. In addition, the image sensor 261 may be located above the picking mechanism 3 to detect the speaker assembly 109 mounted below the picking mechanism 3, and the middle frame 107 located below the speaker assembly 109, etc.

[0148] In some embodiments, the image sensor may further include CCD2 and CCD3 (not shown in the figures). CCD2 may be disposed on a base and oriented negatively toward the Z-axis for detecting components (such as speaker assembly 109) moving above it at a downward angle. CCD3 may be disposed in the inspection area (see reference). Figure 8 Above (as shown), it is used to detect components that have moved below it (such as the middle frame 107 of the assembled speaker assembly 109) from a top-down angle.

[0149] refer to Figure 5As shown, the inspection mechanism may also include a light source 262, which can provide illumination during the inspection process, thereby improving the accuracy and efficiency of the inspection. Optionally, the light source 262 may include a ring light source and a backlight, capable of providing illumination with at least four colors of light: red, green, white, and blue. Specifically, when inspecting the speaker assembly 109, using red light to provide illumination can highlight the color of defects, while using blue light can improve image clarity, allowing for better identification of the shape and size of defects. The light source 262 may be disposed on the driven part PZ and below the image sensor, so that the driving part DZ can drive the light source 262 to move along the Z direction. Optionally, the light source 262 may be a ring light source 262, i.e., capable of providing a ring-shaped illumination area. In this embodiment, the assembly equipment also includes a loading platform and / or a unloading platform. The loading platform includes a first bearing surface facing upwards, and the unloading platform includes a second bearing surface facing upwards. The first and second bearing platforms are used to support containers (such as trays) holding the speaker assembly 109. As an example, the first carrier platform can carry untested speaker assembly 109, and the second carrier platform is used to carry tested and qualified speaker assembly 109.

[0150] In some embodiments, the assembly equipment further includes a suction pen 271, and the Z-axis drive mechanism 22 can drive the suction pen 271 to move along the Z-direction. In practical applications, a detection mechanism is used to detect the speaker assembly 109 placed on the first support platform. If the detection is successful, the suction pen 271 is used to pick up the detected speaker assembly 109 from the first support platform, and then the X-axis drive mechanism 21, Z-axis drive mechanism 22, and Y-axis drive mechanism 25 are controlled to drive the suction pen 271 to move to the second support platform and place it on the second support platform. For speaker assemblies 109 that fail the detection, the suction pen 271 can be used to place them in the defective product area. Optionally, the suction pen can be made of silicone, and its shape can be round, square, triangular, etc.

[0151] When the testing agency inspects the speaker assembly 109 placed on the first support platform, it can acquire images of each speaker assembly 109 based on image sensors. For any given speaker assembly 109, its qualification can be determined based on its corresponding image (e.g., based on image recognition technology, artificial intelligence, etc.).

[0152] In some embodiments, for the first carrier platform, the speaker assembly 109 can be placed in a carrier container (e.g., a tray). When all the speaker assemblies 109 in the carrier container have been transferred to the second carrier platform and / or the defective product area, i.e., after the carrier container is emptied, the carrier container can be transferred to a container placement area (e.g., a tray placement area). Optionally, the assembly equipment is provided with a suction nozzle, which is disposed on the driven part PZ, for transferring the empty carrier container to the container placement area. Optionally, the suction nozzle can be made of silicone.

[0153] In some embodiments, the assembly equipment further includes grippers. The assembled speaker assembly 109's mid-frame 107 can be inspected to determine if the assembled product is a good product. If the assembled product is determined to be good, it can be transferred to the discharge conveyor belt using the grippers. If the assembled product is determined to be defective, it can be transferred to the defective product conveyor belt using the grippers. The movement of the grippers can be controlled by cylinders, for example, by three cylinders, wherein the first cylinder controls the grippers to move from the good product area to the defective product area, the second cylinder controls the grippers to move downwards, and the third cylinder controls the grippers to perform a grasping action.

[0154] In this embodiment, electronic devices (such as mobile phones) are typically small in size, thus requiring high precision in the installation of their internal electronic components. To ensure assembly accuracy when assembling the speaker assembly 109 into the receiving cavity 111, a cylinder in conjunction with the drive mechanism 2 can be used to complete the assembly process. Specifically, the assembly equipment also includes a first cylinder and a second cylinder. The first cylinder pushes a first pusher block along the X direction, and the second cylinder pushes a second pusher block along the Z direction. The first and second pushers can be contour blocks. That is, the outlines of the first and second pushers can conform to the outer contour of the speaker assembly 109, thereby facilitating a tight fit with the speaker assembly 109 and preventing assembly deviations caused by force misalignment when the cylinder pushes the speaker assembly 109 during installation.

[0155] Figure 8 This is a schematic diagram of material transfer provided for an embodiment of this application. (Reference) Figure 8As shown, the inspection mechanism may include CCD1, CCD2, and CCD3. CCD1 inspects the outline of the speaker assembly 109 to determine its quality. Before assembling the speaker assembly 109, a top-view red ring light source is used to inspect and photograph it. Good products flow into the material handling platform, while defective products are removed to the defective product area via a suction head 33 / nozzle. CCD2 inspects the outline of the speaker assembly 109 using a bottom-view blue coaxial light source and determines its quality. Good products are transferred to the assembly position, while defective products are removed by the suction head 33 and discharged to the defective product area. CCD1 can also inspect the outline of the slot in the middle frame 107 using a top-view blue ring light source and determine its quality. Good products can proceed to the assembly process, while defective products can be removed by reversing the feed conveyor belt if an alarm is triggered. CCD3 inspects the post-assembly effect using a top-view red ring light source and determines whether the assembly meets the requirements. Defective products that do not meet the requirements are removed by grippers and discharged via the defective product conveyor belt.

[0156] Specifically, refer to Figure 8 As shown, before assembling the speaker assembly 109 onto the mid-frame 107 using assembly equipment, the speaker assembly 109 can be pre-processed before loading. For example, other components (such as the antenna board 112) can be assembled with the speaker assembly 109 first, and then the speaker assembly 109 with the pre-assembled antenna board 112 can be placed on the loading platform. Exemplarily, a tray can be provided on the loading platform, in which the speaker assembly 109 with the pre-assembled antenna board 112 can be placed.

[0157] For the speaker assemblies 109 placed on the loading platform, images can be acquired using a CCD1 under red light illumination, and the quality of each speaker assembly 109 can be determined based on the acquired images. If any speaker assembly 109 is determined to be good, it can be picked up with a suction pen and transferred to the picking platform. If it is determined to be defective, it can be picked up with a suction pen and transferred to the defective product area. For the trays holding the speaker assemblies 109 on the loading platform, if all the speaker assemblies 109 in the tray have been transferred, a suction nozzle can be used to pick up the tray and transfer it to the tray recycling area.

[0158] refer to Figure 8For the speaker assembly 109 transferred to the picking platform, before it is assembled onto the middle frame 107, it can be imaged by a CCD2 under illumination by a light source (e.g., a blue light source), and then inspected based on the acquired image. For the speaker assembly 109 that passes inspection, it can be attracted using a suction head 33 to assemble it onto the middle frame 107. The middle frame 107 can be conveyed via a feed belt. While the middle frame 107 is being conveyed to the assembly position, it can be imaged by a CCD2 under illumination by a light source (e.g., a blue light source), and then inspected based on the acquired image. If the middle frame 107 passes inspection, the assembly equipment can assemble the speaker assembly 109 onto the middle frame 107.

[0159] refer to Figure 8 As shown, after the speaker assembly 109 is assembled onto the mid-frame 107, the mid-frame 107 (hereinafter referred to as the assembled product) can be inspected in the inspection area. During the inspection of the assembled product, an image of the assembled product can be acquired using a CCD2 under illumination by a light source (e.g., a red light source), and the inspection can be performed based on the acquired image. For assembled products that pass the inspection (i.e., good products), they can be transferred to the discharge conveyor belt using grippers for subsequent assembly processes. For assembled products that fail the inspection (i.e., defective products), they can be transferred to the defective product conveyor belt using grippers for transport.

[0160] According to the above embodiments, the assembly equipment provided in this application can detect and automatically assemble components in electronic devices that are connected by snap-fit, thereby improving assembly efficiency and ensuring the consistency of electronic device products.

[0161] Based on the aforementioned assembly equipment, this application also provides an assembly method. This assembly method can be applied to control devices, such as programmable logic controllers (PLCs), microcontroller units (MCUs), system-on-chips (SoCs), mobile phones, tablets, laptops, desktop computers, etc. This assembly method controls the aforementioned assembly equipment to assemble the component to be assembled (a component with snap-fit ​​fasteners) onto the main component (a component with slots that match the snap-fit ​​fasteners). The following will use a PLC as the control device, a speaker assembly 109 as the component to be assembled, and the mid-frame 107 of a mobile phone as the main component as an example to describe the assembly method provided in this application.

[0162] To facilitate understanding of the positional changes of the part-picking mechanism 3 during assembly, the following explanation will first describe the movement directions of each drive mechanism 2 during assembly. (Reference) Figure 9 As shown, left is defined as moving to the left parallel to the screen, right is defined as moving to the right parallel to the screen, front is defined as moving outward perpendicular to the screen, back is defined as moving inward perpendicular to the screen, up is defined as moving upward parallel to the screen, and down is defined as moving downward parallel to the screen. The positive direction of movement for the X-axis drive mechanism is left, the positive direction of movement for the Y-axis drive mechanism is backward, the positive direction of movement for the Z-axis drive mechanism is downward, the positive direction of movement for the U-axis drive mechanism is downward, and the positive direction of movement for the R-axis drive mechanism is clockwise.

[0163] Figure 10 A schematic flowchart of an assembly method provided in this application embodiment is shown below. Figure 10 The execution entity of the method shown can be a PLC. For example... Figure 10 As shown, the method includes:

[0164] S1001: PLC starts shooting the speaker assembly 109 at the material loading position.

[0165] When assembling the speaker assembly 109 (an example of the assembled component) onto the middle frame 107 (an example of the main component), the PLC can first initiate the action of photographing the speaker assembly 109 at the loading position. That is, it photographs the speaker assembly 109 at the loading platform to achieve detection of the speaker assembly 109.

[0166] Specifically, when assembling the speaker assembly 109 into the receiving cavity 111 on the middle frame 107 using the assembly equipment, the incoming speaker assembly 109 is first inspected to ensure that all speaker assemblies 109 assembled onto the middle frame 107 are of good quality. For the incoming speaker assembly 109, the tray holding the incoming speaker assembly 109 can be placed on the first support platform of the loading platform. Therefore, during the inspection of the incoming speaker assembly 109, the PLC can control the X-axis drive mechanism 21 to drive the CCD1 (image sensor) to move along the X direction, and control the Y-axis drive mechanism 25 to drive the CCD1 to move along the Y direction, so that the CCD1 moves above the loading platform. The distance the PLC controls the X-axis drive mechanism 21 to drive the CCD1 to move along the X direction, and the distance the PLC controls the Y-axis drive mechanism 25 to drive the CCD1 to move along the Y direction, can be determined based on the initial position of the CCD1.

[0167] S1002: Does the PLC trigger the CCD1 camera signal?

[0168] When the control drive mechanism 2 drives CCD1 to move above the loading platform, the PLC can control CCD1 to acquire images of each speaker assembly 109 on the loading platform. Before acquiring images of each speaker assembly 109 on the loading platform, CCD1 can wait for the PLC to trigger a CCD1 image capture signal. If the PLC does not trigger a CCD1 image capture signal, CCD1 can wait for the PLC to trigger a CCD1 image capture signal.

[0169] S1003: CCD1 takes a top-down view of speaker assembly 109 at the loading position.

[0170] If the PLC triggers the CCD1 image capture signal, the CCD1 can take a picture of the speaker assembly 109 on the loading platform. While controlling the CCD1 to acquire images of each speaker assembly 109, the light source 262 can be turned on to provide background light. For example, during image acquisition, the PLC controls the light source 262 to emit a red ring of light. Furthermore, during image acquisition, if the CCD1 is too high or too low, the PLC can control the Z-axis drive mechanism 22 to move the CCD1 up and down for height adjustment.

[0171] S1004: The PLC determines whether the speaker assembly 109 is abnormal.

[0172] After CCD1 takes a picture of the speaker assembly 109 on the loading platform, the PLC can identify the speaker based on the image captured by CCD1.

[0173] After acquiring an image of each speaker assembly 109, the PLC can perform anomaly detection on the corresponding speaker assembly 109 based on the image to determine whether each speaker assembly 109 is abnormal (e.g., whether it is damaged or deformed). Anomaly detection based on the image of each speaker assembly 109 can be achieved using image recognition technology, artificial intelligence technology, etc.

[0174] S1005: The PLC-controlled assembly equipment places the speaker assembly 109 in the defective product area.

[0175] For any speaker assembly 109, during anomaly detection, if the corresponding image indicates that the speaker assembly 109 has defects such as damage and / or deformation, then the speaker assembly 109 fails the inspection. It can then be transferred to the defective products area.

[0176] S1006: PLC triggers the action of placing the suction pen at the material picking position.

[0177] For any speaker assembly 109, during anomaly detection, if the corresponding image indicates that the speaker assembly 109 has no defects such as damage or deformation, then the speaker assembly 109 passes the inspection and is considered a good product, at which point it can be transferred to the picking platform. Specifically, the PLC controls the X-axis drive mechanism 21 to drive the suction pen 271 to move along the X direction, and controls the Y-axis drive mechanism 25 to drive the suction pen 271 to move along the Y direction, so that the suction pen 271 moves above the loading platform. Then, the PLC controls the Z-axis drive mechanism 22 to drive the suction pen 271 to move downward along the Z direction, and controls the suction pen 271 to pick up the speaker assembly 109 that has passed the inspection. When the suction pen 271 picks up the speaker assembly 109, after the suction pen 271 contacts the speaker assembly 109, the PLC can control the suction pen 271 to generate a vacuum negative pressure, thereby realizing the picking up of the speaker assembly 109.

[0178] After the suction pen 271 picks up the detected speaker assembly 109, the PLC controls the Z-axis drive mechanism 22 to drive the suction pen 271 upward in the Z-direction, moving it above the loading platform. Then, the PLC controls the X-axis drive mechanism 21 to drive the suction pen 271 upward in the X-direction and controls the Y-axis drive mechanism 25 to drive the suction pen 271 upward in the Y-direction, moving it above the picking platform. Then, the PLC controls the Z-axis drive mechanism 22 to drive the suction pen 271 downward in the Z-direction, bringing it closer to the second support platform, and controls the suction pen 271 to stop generating vacuum negative pressure, i.e., the suction pen 271 stops adsorbing the speaker assembly 109, allowing the speaker assembly 109 to be transferred to the picking platform.

[0179] S1007: PLC triggers the label head 33 to pick up the speaker assembly 109.

[0180] After the speaker assembly 109 at the loading platform is transferred to the unloading platform, the PLC can trigger the suction head 33 to pick up the speaker assembly 109, so that the suction head 33 in the assembly equipment can pick up the speaker assembly 109 at the unloading platform for assembly of the speaker assembly 109.

[0181] S1008: Set and confirm that the negative pressure of the vacuum valve device meets the requirements.

[0182] The suction head 33 picks up the speaker assembly 109 from the material handling platform. This can be due to the negative pressure generated by the vacuum valve device connected to the suction head 33, which allows the suction head 33 to attract the speaker assembly 109. After the speaker assembly 109 is transferred from the loading platform to the unloading platform, the PLC can trigger the suction head 33 to pick up the speaker assembly 109. Then, the PLC can determine whether the vacuum negative pressure of the suction head 33 has reached the set pressure based on the set vacuum valve pressure. If the pressure has not been reached, a prompt can be issued (for example, displaying a prompt message on the human-machine interface provided by the assembly equipment indicating that the pressure has not reached the set value). If the pressure reaches the set value, the PLC can control the suction head 33 to pick up the speaker assembly 109.

[0183] S1009: PLC trigger drive mechanism 2 picks up speaker assembly 109.

[0184] When the PLC controls the suction head 33 in the picking mechanism 3 to pick up the speaker assembly 109 to be assembled from the picking platform, if the picking mechanism 3 is not at the picking platform, the PLC can control the X-axis drive mechanism 21, Y-axis drive mechanism 25, and Z-axis drive mechanism 22 to drive the suction pen 271 to move along the X, Y, and Z directions respectively, so that the picking mechanism 3 moves to the picking platform. Then, the PLC controls the suction head 33 to generate a vacuum negative pressure, thereby picking up the speaker assembly 109 to be assembled. Next, after the suction head 33 picks up the speaker assembly 109 to be assembled, the PLC can first control the Z-axis drive mechanism 22 to drive the picking mechanism 3 to move upward along the Z direction, so that the picking mechanism 3 is above the picking platform.

[0185] S1010: The PLC triggers the drive mechanism 2 to move, causing the speaker assembly 109 to tilt.

[0186] After the suction head 33 picks up the speaker assembly 109 from the material picking platform, the PLC controls the U-direction drive mechanism to drive the second connecting part 32 of the picking mechanism 3 to move downward in the Z-direction, so that the picking mechanism 3 is in an inclined state. Since the first connecting part 31 of the picking mechanism 3 is connected to the Z-direction drive mechanism 22, and the second connecting part 32 of the picking mechanism 3 is connected to the U-direction drive mechanism 2, a displacement difference between the first connecting part 31 and the second connecting part 32 is required in the Z-direction when the picking mechanism 3 is in an inclined state. For example, if the second connecting part 32 has a larger downward displacement relative to the first connecting part 31, the height of the second connecting part 32 will be lower than that of the first connecting part 31, thus causing the picking mechanism 3 to be in an inclined state.

[0187] When the PLC controls a displacement difference between the first connecting part 31 and the second connecting part 32 in the Z direction, if the U-direction drive mechanism 2 is mounted on the Z-direction drive mechanism 22, the PLC can directly control the U-direction drive mechanism 2 to drive the second connecting part 32 downwards by a preset distance after the Z-direction drive mechanism 22 has completed its movement. This makes the height of the second connecting part 32 lower than that of the first connecting part 31, thus achieving tilt control of the picking mechanism 3. If the U-direction drive mechanism 2 and the Z-direction drive mechanism 22 move independently, the PLC can make them move downwards by different distances when there is a displacement difference in the Z direction. For example, controlling the U-direction drive mechanism 2 to drive the second connecting part 32 downwards by 15mm and controlling the Z-direction drive mechanism 22 to move downwards by 10mm will make the height of the second connecting part 32 lower than that of the first connecting part 31, thus achieving tilt control of the picking mechanism 3.

[0188] S1011: CCD2 detected an abnormality in speaker assembly 109.

[0189] After the PLC-controlled suction head 33 picks up the speaker assembly 109 from the material picking platform, it can also control the CCD 2 set below (such as on the base) to collect images of the speaker assembly 109 on the suction head 33. This allows for anomaly detection based on the collected images of the speaker assembly 109, ensuring that the speaker assembly 109 to be assembled is a good product.

[0190] Specifically, the X-axis drive mechanism 21 and the Y-axis drive mechanism 25 drive the picking mechanism 3 to move along the X and Y directions respectively, so that the picking mechanism 3 moves from above the picking platform to above the detection position. At the detection position, an image sensor is provided, which can acquire an image of the speaker assembly 109 picked up by the picking mechanism 3 in a downward viewing manner.

[0191] S1012: The PLC controls the assembly equipment to place the speaker assembly 109 in the defective product area.

[0192] After the PLC controls the drive mechanism 2 to move the CCD 2 above the detection position, the PLC can control the CCD 2 to acquire images of the speaker assembly 109 picked up by the pickup mechanism 3. While controlling the CCD 2 to acquire images of each speaker assembly 109, the PLC can control the light source 262 to be turned on to provide background light. For example, during image acquisition, the PLC controls the light source 262 to emit a red ring light. Furthermore, during image acquisition, if the height of the CCD 2 is too high or too low, the PLC can control the Z-axis drive mechanism 22 to move the CCD 2 up and down to adjust its height.

[0193] After acquiring images of speaker components 109, anomaly detection can be performed on each speaker component 109 based on these images to determine if it is abnormal (e.g., damaged, deformed, etc.). This anomaly detection based on images of each speaker component 109 can be achieved using image recognition technology, artificial intelligence technology, etc. If the image corresponding to a speaker component 109 indicates that it has defects such as damage and / or deformation, then that speaker component 109 fails the inspection. At this point, the PLC can control the assembly equipment to transfer the speaker component 109 to the defective product area.

[0194] If the speaker assembly 109 is determined to be free from defects such as damage or deformation based on its corresponding image, then the speaker assembly 109 passes the inspection, meaning that the speaker assembly 109 is a good product. At this point, the preparation process is completed, and the assembly process of the speaker assembly 109 begins as the middle frame 107 is transported to the assembly position.

[0195] S1013: The sensor determines that the middle frame 107 has moved to the assembly position.

[0196] The middle frame 107 can be transported via a conveyor belt. The assembly position refers to a location where the middle frame 107 remains for a period of time, and at this position, the PLC controls the drive mechanism 2 to move, assembling the speaker assembly 109 picked up from the pick-up mechanism 3 onto the middle frame 107. At the assembly position, a sensor is installed on the conveyor belt to detect whether the middle frame 107 has been transported to the assembly position. If the middle frame 107 has not been transported to the assembly position, the system waits for it to be transported.

[0197] S1014: The card slot on the middle frame 107 of the CCD1 is defective when viewed from above.

[0198] When the middle frame 107 is conveyed to the assembly position, the PLC controls the Z-axis drive mechanism 22 to drive the CCD1 to move above the assembly position. The PLC can then control the inspection mechanism to inspect the middle frame 107, thereby ensuring that the middle frame 107 being assembled is a good product. During the inspection of the middle frame 107, the normality of the card slots and the presence of defects such as foreign objects can be checked.

[0199] When inspecting the mid-frame 107, the PLC can control the CCD1 to acquire images of the mid-frame 107 placed at the assembly position and perform inspection based on the acquired images. Specifically, after the control drive mechanism 2 moves the CCD1 above the assembly position, the PLC can control the CCD1 to acquire images of the mid-frame 107 at the assembly position. While controlling the CCD1 to acquire images of the mid-frame 107, the light source 262 can be turned on to provide background light. For example, during image acquisition, the PLC controls the light source 262 to emit a blue ring light. Furthermore, during image acquisition, if the height of the CCD1 is too high or too low, the PLC can control the Z-axis drive mechanism 22 to move the CCD1 up and down to adjust its height.

[0200] After acquiring an image of the mid-frame 107, anomaly detection can be performed on the mid-frame 107 based on the image to determine whether the mid-frame 107 is qualified (e.g., whether there are foreign objects, damage, deformation, etc.). Anomaly detection on the mid-frame 107 based on the image can be achieved using image recognition technology, artificial intelligence technology, etc.

[0201] S1015: Defective products are removed with the conveyor belt.

[0202] When performing anomaly detection on the middle frame 107, if the corresponding image indicates that the middle frame 107 has defects such as damage and / or deformation, then the middle frame 107 fails the inspection. In this case, it can be transferred to the defective product conveyor belt.

[0203] S1016: The PLC determines whether the position coordinates of the speaker assembly 109 and the middle frame 107 interfere with each other.

[0204] If the corresponding image indicates that the middle frame 107 is free from defects such as damage or deformation, then the middle frame 107 passes inspection and is considered a good product. At this point, the PLC can determine whether the position coordinates of the speaker assembly 109 and the middle frame 107 interfere, i.e., whether the position of the middle frame 107 meets the assembly tolerance.

[0205] S1017: The offset of the interference contact position between the middle frame 107 and the speaker assembly 109 as determined by CCD1 from above meets the assembly tolerance.

[0206] The PLC can determine whether the position of the middle frame 107 meets the assembly tolerance. Specifically, the PLC determines the position coordinates of the middle frame 107 based on the image of the middle frame 107 acquired by the CCD, and then, based on these position coordinates and the movable range of the picking mechanism 3, determines whether there will be positional interference between the speaker assembly 109 and the middle frame 107 within the allowable range of the assembly tolerance (i.e., the speaker assembly 109 cannot reach the position range of the receiving cavity 111).

[0207] S1018: Defective products are removed with the conveyor belt.

[0208] If the speaker assembly 109 and the middle frame 107 cause positional interference, it can be determined that the position of the middle frame 107 cannot meet the assembly requirements. In this case, the current middle frame 107 can be conveyed away with the conveyor belt so that the next middle frame 107 can reach the assembly position.

[0209] S1019: The PLC triggers the drive mechanism 2 to move, realizing the assembly process of the speaker assembly 109.

[0210] If there is no positional interference between the speaker assembly 109 and the mid-frame 107, assembly of the speaker assembly 109 onto the mid-frame 107 can begin. For the sake of clarity, the specific assembly process of the speaker assembly 109 will be described below. Figure 11B The above will be introduced in the text and will not be elaborated on here.

[0211] S1020: The CCD3 top-view inspection shows that the assembly quality is qualified.

[0212] After assembling the speaker assembly 109 onto the middle frame 107, that is, after completing the installation of the first clip 109a, the second clip 109b, and the third clip 109c, the speaker assembly 109 is assembled onto the middle frame 107. At this time, the assembled speaker assembly 109 and the middle frame 107 can be inspected to prevent defective products from entering the next process. When inspecting the assembled speaker assembly 109 and the middle frame 107, the PLC can control the X-axis drive mechanism 21 (driving the image sensor) to move along the X direction, control the Y-axis drive mechanism 25 (driving the image sensor) to move along the Y direction, and control the Z-axis drive mechanism 22 (driving the image sensor) to move the image sensor along the Z direction, so that the image sensor is positioned above the assembly position to capture images of the assembled speaker assembly 109 and the middle frame 107.

[0213] After the control drive mechanism 2 moves the CCD3 above the assembly position, the PLC can control the CCD3 to acquire images of the assembled mid-frame 107 and speaker assembly 109. While controlling the CCD3 to acquire images of the mid-frame 107 and speaker assembly 109, the light source 262 can be turned on to provide background light. For example, during image acquisition, the PLC controls the light source 262 to emit a red ring light.

[0214] After acquiring images of the mid-frame 107 and speaker assembly 109, the PLC can perform anomaly detection on the corresponding mid-frame 107 and speaker assembly 109 based on these images to determine whether the assembled mid-frame 107 and speaker assembly 109 are qualified (e.g., whether there is damage or deformation). Anomaly detection on the assembled mid-frame 107 and speaker assembly 109 based on their images can be achieved using image recognition technology, artificial intelligence technology, etc.

[0215] S1021: Defective products are removed with the conveyor belt.

[0216] During the inspection of the assembled speaker assembly 109 and the middle frame 107, if it is determined that the assembled speaker assembly 109 and the middle frame 107 are unqualified (e.g., there is deformation, foreign matter, etc.), the assembled speaker assembly 109 and the middle frame 107 are defective products and can be transferred to the defective product conveyor belt to be removed from the assembly equipment.

[0217] S1022: Assembly completed and flows into the next process.

[0218] If the assembled speaker assembly 109 and mid-frame 107 are good products, the assembly process is completed, and the assembled speaker assembly 109 and mid-frame 107 are moved to the next process.

[0219] The following describes the specific assembly process of the speaker assembly 109 onto the middle frame 107. For ease of understanding, the postures of the speaker assembly 109 and the part-removing mechanism 3 during the assembly process will be explained first.

[0220] First, define the reference plane P1 of the speaker assembly 109. Figure 11A The reference plane P1 of the speaker assembly 109 can be attached to the speaker assembly 109. That is, the position of the reference plane P1 relative to the speaker assembly 109 is fixed. When the speaker assembly 109 tilts, the reference plane P1 also tilts accordingly. In addition, the reference plane P1 can pass through the speaker assembly 109.

[0221] In this embodiment, the horizontal orientation of the speaker assembly 109 can be such that the reference plane P1 is parallel to the XY plane. For example, when the speaker assembly 109 is assembled into the middle frame 107, the reference plane P1 can be parallel to the XY plane, at which point the speaker assembly 109 is in a horizontal orientation (as described above). Figure 3D (as shown in the posture).

[0222] The tilting orientation of the speaker assembly 109 can be the orientation in which the reference plane P1 is tilted relative to the XY plane. During the assembly of the speaker assembly 109, the speaker assembly 109 can be in a tilted orientation to avoid interference between the speaker assembly 109 and the middle frame 107.

[0223] Figure 11B A second schematic flowchart illustrating an assembly method provided in this application embodiment is shown below. Figure 11B As shown, the method includes:

[0224] S1101: Start the oblique insertion assembly.

[0225] In the above description, the PLC controls the suction head 33 to pick up the speaker assembly 109 from the picking platform, and controls the Z-direction drive mechanism 22 to drive the picking mechanism 3 to move upward in the Z direction, so that the picking mechanism 3 is above the picking platform (example of the first position). Then, the PLC controls the tilt drive mechanism 2 to drive the second connecting part 32 of the picking mechanism 3 to move downward in the Z direction, so that the picking mechanism 3 is in the first posture.

[0226] Figure 12A and Figure 12B This is a schematic diagram of the posture of a speaker assembly 109 in a first position, provided in an embodiment of this application. (Refer to...) Figure 12A and Figure 12B As shown, when the picking mechanism 3 is in the first posture, the speaker assembly 109 is in an inclined posture. That is, the reference plane P1 attached to the speaker assembly 109 has a first angle α1 with the positive X-axis direction (first insertion direction). Optionally, the first angle can be 130° to 170°. Further, the first angle α1 can be 140° to 160°, for example, 135°, 160°, etc.

[0227] It is understood that when the first included angle α1 is 130° to 170°, the included angle θ1 between the reference plane P1 and the XY plane is 10° to 50°, for example, 45°, 20°, etc. Furthermore, the speaker assembly 109 is in a left-low, right-high orientation, i.e., the front end of the speaker assembly 109 (the end of the speaker assembly 109 facing the first insertion direction (i.e., the positive X-axis direction)) is lower than the rear end of the speaker assembly 109 (the end of the speaker assembly 109 facing the negative X-axis direction). Therefore, when the first latch 109a is inserted, the rear end of the speaker assembly 109 can be tilted upwards relative to the middle frame 107, so that the speaker assembly 109 is as far away from the middle frame 107 as possible, thereby minimizing the risk of collision during assembly.

[0228] It should be noted that the first position is not limited to above the material picking platform, but can also be any other position that the picking mechanism 3 can reach.

[0229] When assembling the speaker assembly 109, if the first position is directly above the alignment position of the first latch 109a (i.e., the X and Y coordinates of the first position and the alignment position of the first latch 109a are the same), the PLC can control the Z-axis drive mechanism to drive the picking mechanism 3 to move along the Z-axis, so that the picking mechanism 3 moves from the first position to the alignment position of the first latch 109a (the second position). If the first position is not directly above the alignment position of the first latch 109a, the PLC can control the X-axis drive mechanism 21 to drive the picking mechanism 3 to move along the X-axis, and / or control the Y-axis drive mechanism 25 to drive the picking mechanism 3 to move along the Y-axis, and / or control the Z-axis drive mechanism 22 to drive the picking mechanism 3 to move along the Z-axis, so that the picking mechanism 3 moves to the alignment position of the first latch 109a.

[0230] Figure 13 This is a schematic diagram of the attitude of a speaker assembly 109 in a second position, provided in an embodiment of this application. (Refer to...) Figure 13 As shown, when the picking mechanism 3 is in the alignment position of the first latch 109a, the first latch 109a is located outside the first slot 111a, and the front end of the first latch 109a (the end of the first latch 109a facing the first insertion direction) is aligned with the opening of the first slot 111a (or "first opening," which can be understood as facing the negative X-axis direction) along the first insertion direction. For example, the projection of the front end of the first latch 109a along the X direction onto plane P2 is projection A1, and the projection of the opening 111a-1 of the first slot 111a along the X direction onto plane P2 is projection A2. Projection A1 can be located within the range of projection A2. Optionally, when the picking mechanism 3 is in the alignment position of the first latch 109a, the distance between the front end of the first latch 109a and the opening 111a-1 of the first slot 111a along the first insertion direction is 0.5cm to 1cm.

[0231] Specifically, before the PLC controls the Z-axis drive mechanism to drive the picking mechanism 3 to move along the Z direction, so that the picking mechanism 3 moves from the first position to the alignment position of the first latch 109a, if the first latch 109a and the second latch 109b in the speaker assembly 109 on the picking mechanism 3 are not set along the X direction, the PLC can first control the R-axis drive mechanism 2 to drive the picking mechanism 3 to rotate, so that the first latch 109a and the second latch 109b in the speaker assembly 109 on the picking mechanism 3 are set along the X direction.

[0232] During the process of the PLC controlling the drive mechanism 2 to drive the part-retrieving mechanism 3 from the first position to the alignment position of the first latch 109a, alignment can be performed based on the first fixing hole 109d and the second fixing hole 109e on the speaker assembly 109, and the fifth fixing hole 111d and the sixth fixing hole 111e in the receiving cavity 111. Specifically, Figure 14This application provides a schematic diagram of determining the alignment of the first latch 109a according to an embodiment of the present application. (Refer to...) Figure 14 As shown, based on the first fixing hole 109d and the second fixing hole 109e on the speaker assembly 109, center A and center B are obtained. Center A and center B form a straight line L1, and the midpoint C of straight line L1 is selected as the object positioning point. The angle between straight line L1 and the Y direction is taken as the object angle R1. Based on the fifth fixing hole 111d and the sixth fixing hole 111e in the receiving cavity 111, center E and center F are obtained. Center E and center F form a straight line L2, and the midpoint G of straight line L2 is selected as the target positioning point. The angle between straight line L2 and the Y direction is taken as the target angle R2. According to the single-point alignment principle (point to point, angle to angle), the angular deviation value R between R1 and R2, and the deviation value XY between point C and point G are calculated. Then, the control parameters of the X-axis drive mechanism, Y-axis drive mechanism, Z-axis drive mechanism, and R-axis drive mechanism are determined based on the angular deviation value R and the deviation value XY between point C and point G.

[0233] S1102: The PLC controls the X-direction drive mechanism 2 to drive the part-taking mechanism 3 to move along the X direction, so that the first buckle 109a is inserted into the first slot 111a.

[0234] The PLC controls the X-direction drive mechanism 21 to drive the picking mechanism 3 to move along the X direction, so that the picking mechanism 3 moves from the alignment position of the first latch 109a to the insertion position of the first latch 109a (third position). Figure 15 This is a schematic diagram of the posture of a speaker assembly 109 in a third position, provided in an embodiment of this application. (Refer to...) Figure 15 As shown, when the picking mechanism 3 is in the alignment position of the first latch 109a, the first latch 109a is located outside the first slot 111a, and the first latch 109a and the first slot 111a are aligned along the Y direction. At this time, the PLC drives the picking mechanism 3 to move towards the bottom of the first slot 111a (i.e., move along the positive X-axis) by controlling the X-axis drive mechanism 21, so that the first latch 109a can be inserted into the first slot 111a, and the installation of the first latch 109a is completed. That is to say, when the picking mechanism 3 is in the insertion position of the first latch 109a, the first latch 109a is inserted into the first slot 111a through the slot 111a-1 of the first slot 111a.

[0235] As described above, since the speaker assembly 109 is in an inclined position during the process of inserting the first latch 109a into the first slot 111a, it can not only reduce the risk of collision between speakers, but also reduce the risk of the first latch 109a collapsing.

[0236] S1103: The PLC controls the first cylinder to push the assembled component to move along the X direction through the first push block, and controls the second cylinder to push the assembled component to move along the Z direction through the second push block, so that the second buckle 109b is inserted into the second slot 111b.

[0237] After the first latch 109a is inserted into the first slot 111a, the PLC can control the part-removing mechanism 3 to release the speaker assembly 109 and use the first and second cylinders to install the second latch 109b.

[0238] Specifically, the PLC controls the first cylinder to push the assembled component to move along the X direction via the first push block, and controls the second cylinder to push the assembled component to move along the Z direction via the second push block, so that the assembled component moves from the insertion position of the first latch 109a to the insertion position of the second latch 109b (fourth position).

[0239] During the installation of the second clip 109b, both the first push block and the second push block are in contact with the force-bearing points on the speaker assembly 109. The PLC can control the first cylinder to push the first push block to move along the negative X-axis. Since the first push block is in contact with the force-bearing points on the speaker assembly 109, the first cylinder pushing the first push block to move along the negative X-axis can drive the speaker assembly 109 to move along the negative X-axis.

[0240] In particular, since the first latch 109a and the second latch 109b are respectively located at opposite ends of the speaker assembly 109, when the second latch 109b is installed, the direction of movement of the first cylinder pushing the first push block is opposite to the direction of movement of the part removal mechanism 3 during the installation of the first latch 109a.

[0241] At the same time or after the first cylinder pushes the first push block to move in the X direction, the PLC controls the second cylinder to push the second push block to move in the positive Z-axis direction. Since the second push block is in contact with the force point on the speaker assembly 109, the second cylinder pushes the second push block to move in the positive Z-axis direction, which can drive the speaker assembly 109 to move in the positive Z-axis direction. At this time, the first clip 109a is inserted into the first clip slot 111a, and the second clip 109b is inserted into the second clip slot 111b, thereby completing the installation of the second clip 109b. Figure 16 This is a schematic diagram of the posture of a speaker assembly 109 in a fourth position, provided in an embodiment of this application. (Refer to...) Figure 16 As shown, when the picking mechanism 3 is in the insertion position of the second buckle 109b, the first buckle 109a is inserted into the first slot 111a along the first insertion direction, and the second buckle 109b is inserted into the second slot 111b along the second insertion direction (i.e., the negative X-axis direction).

[0242] For example, the first cylinder and the second cylinder can be controlled to operate at a faster speed, so that the second latch 109b can be inserted into the second slot 111b at a faster speed.

[0243] In some embodiments, when the first snap fastener 109a is inserted into the first slot 111a along the first insertion direction and the second snap fastener 109b is inserted into the second slot 111b along the second insertion direction, the third snap fastener may be inserted at least partially into the third slot 111c.

[0244] S1104: The PLC controls the Z-axis drive mechanism to drive the picking mechanism 3 to move along the Z-axis and press the speaker assembly 109.

[0245] To ensure the reliability of the speaker assembly 109 within the receiving cavity 111, the first latch 109a and the first slot 111a, and / or the second latch 109b and the second slot 111b, are typically interference-fitted. Therefore, after the latches are installed, the speaker assembly 109 may be slightly arched in the middle. Thus, in some embodiments, after the latches are installed, the PLC can also control the drive mechanism 2 to adjust the position of the speaker assembly 109.

[0246] Specifically, when the speaker assembly 109 is inserted into the second latch 109b, the first latch 109a is inserted into the first slot 111a, and the second latch 109b is inserted into the second slot 111b, with the first latch 109a and the second latch 109b arching together in the negative Z-axis direction. At this time, the PLC can control the Z-axis drive mechanism to drive the part-removing mechanism 3 to move in the negative Z-axis direction, so that the distance between the part-removing mechanism 3 and the assembled part in the Z-axis direction is greater than a preset distance (a first value, such as 10cm to 20cm), and control the U-axis drive mechanism to drive the second connecting part of the part-removing mechanism 3 to move in the Z-axis direction, so that the angle between the part-removing mechanism 3 and the XY plane (as the first plane) is 0° to 10°. Next, the PLC controls the Z-axis drive mechanism to drive the picking structure to move along the positive Z-axis direction, so as to press the speaker assembly 109 in the fourth position through the picking mechanism 3, so that the first buckle 109a is inserted into the first slot 111a, the second buckle 109b is inserted into the second slot 111b, and the speaker assembly 109 is not arched.

[0247] For example, the speaker assembly can be pressed by the removal mechanism 3 the instant the second latch 109b is inserted into the second slot 111b.

[0248] In this embodiment, the pickup mechanism 3 can control the orientation of the speaker assembly 109 mounted on it by controlling its own orientation. For example, when the pickup mechanism 3 is in a horizontal orientation, the speaker assembly 109 mounted on it is also in a horizontal orientation. When the pickup mechanism 3 is in an inclined orientation, the speaker assembly 109 mounted on it is also in a horizontal orientation. It can be understood that when the angle between the pickup mechanism 3 and the XY plane is 0° to 10°, if the speaker assembly 109 is mounted on the pickup mechanism 3 at this time, then the angle between the reference plane P1 of the speaker assembly 109 and the XY plane is also 0° to 10°.

[0249] S1105: The PLC controls the drive mechanism 2 to drive the picking mechanism 3 to move so that the suction head 33 of the picking mechanism 3 (as an example of a suction device) fits against the speaker assembly 109.

[0250] After the second clip 109b is installed, the third clip 109c can be installed based on the drive mechanism 2. At this time, the PLC can control the picking mechanism 3 to move above the middle frame 107, and then control the Z-axis drive mechanism to move along the positive Z-axis direction, so that the suction head 33 is in contact with the speaker assembly 109. After the suction head 33 is in contact with the speaker assembly 109, the PLC controls the suction head 33 to pick up the speaker assembly 109 from the middle frame 107 again to assemble the third clip.

[0251] S1106: The PLC controls the Y-axis drive mechanism to drive the picking mechanism 3 to move along the Y direction, so that the third buckle 109c is inserted into the third slot 111c.

[0252] The PLC controls the Y-axis drive mechanism to move the picking mechanism 3 from the second latch 109b insertion position (fourth position) to the third latch 109c insertion position (fifth position). Specifically, after the picking mechanism 3 picks up the speaker assembly 109 again, the PLC can control the Y-axis drive mechanism 25 to move the picking mechanism 3 along the negative Y-axis direction, so that the picking mechanism 3 moves from the second latch 109b insertion position to the third latch 109c insertion position. Figure 17 This is a schematic diagram of the posture of a speaker assembly 109 in the fifth position according to an embodiment of this application. (Refer to...) Figure 17 As shown, when the picking mechanism 3 is in the insertion position of the third buckle 109c, the first buckle 109a is inserted into the first slot 111a, the second buckle 109b is inserted into the second slot 111b, and the third buckle 109c is inserted into the third slot 111c. At this time, the installation of the third buckle 109c is completed.

[0253] As described in step S1103 above, in some embodiments, when the first latch 109a is inserted into the first slot 111a along the first insertion direction and the second latch 109b is inserted into the second slot 111b along the second insertion direction, the third latch 109c can be at least partially inserted into the third slot 111c. In this embodiment, by pushing the third latch 109c along the Y direction by the part-removing mechanism 3, the action of simulating a human hand inserting the third latch 109c flat to the bottom can be achieved.

[0254] S1107: PLC control drive mechanism 2 reset.

[0255] After assembling the first latch 109a, the second latch 109b, and the third latch, the PLC can control the drive mechanism 2 to reset, that is, control the drive mechanism 2 to move to the initial position. The initial position can be set as needed; for example, the initial position can be the zero position of each drive mechanism 2.

[0256] The above assembly method enables the speaker assembly 109 to be assembled into the middle frame 107, thereby improving assembly efficiency and ensuring assembly consistency. Furthermore, during the assembly process, the speaker assembly 109, the middle frame 107, and the assembled middle frame 107 and speaker assembly 109 are inspected separately, achieving a re-inspection-assembly-self-inspection process. This intercepts defective products and improves the product qualification rate.

[0257] In this document, the terms “upper,” “lower,” “top,” “bottom,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0258] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0259] Now for reference Figure 18The diagram shows a block diagram of a control device 400 according to one embodiment of this application. The control device 400 may include one or more processors 401 coupled to a controller hub 403. In at least one embodiment, the controller hub 403 communicates with the processor 401 via a multi-branch bus such as a Front Side Bus (FSB), a point-to-point interface such as a QuickPath Interconnect (QPI), or a similar connection 406. The processor 401 executes instructions controlling general types of data processing operations. In one embodiment, the controller hub 403 includes, but is not limited to, a Graphics & Memory Controller Hub (GMCH) (not shown) and an Input / Output Hub (IOH) (which may be on a separate chip) (not shown), wherein the GMCH includes memory and a graphics controller and is coupled to the IOH.

[0260] The control device 400 may also include a coprocessor 402 and a memory 404 coupled to a controller hub 403. Alternatively, one or both of the memory and the GMCH may be integrated within the processor (as described in this application), with the memory 404 and the coprocessor 402 directly coupled to the processor 401 and the controller hub 403, which is located on a single chip with the IOH.

[0261] Memory 404 may be, for example, Dynamic Random Access Memory (DRAM), Phase Change Memory (PCM), or a combination of both. Memory 404 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of those instructions. The instructions may include, when executed by at least one of the processors, causing control device 400 to perform actions such as... Figure 10 or Figure 11B The instructions for the method are shown. When the instructions are executed on a computer, the computer performs the assembly method disclosed in the embodiments of this application.

[0262] In one embodiment, the coprocessor 402 is a dedicated processor, such as, for example, a high-throughput many-integrated core (MIC) processor, a network or communication processor, a compression engine, a graphics processor, general-purpose computing on graphics processing units (GPGPU), or an embedded processor, etc. Optional properties of the coprocessor 402 are indicated by dashed lines. Figure 18 middle.

[0263] In one embodiment, the control device 400 may further include a Network Interface Controller (NIC) 406. The network interface 406 may include a transceiver for providing a radio interface to the control device 400, thereby enabling communication with any other suitable device (such as a front-end module, antenna, etc.). In various embodiments, the network interface 406 may be integrated with other components of the control device 400. The network interface 406 can implement the functions of the communication unit in the above embodiments.

[0264] The control device 400 may further include an input / output (I / O) device 405. I / O 405 may include: a user interface designed to allow a user to interact with the control device 400; a peripheral component interface designed to allow peripheral components to also interact with the control device 400; and / or sensors designed to determine environmental conditions and / or location information relevant to the control device 400.

[0265] It is worth noting that, Figure 18 This is merely an example. That is, although... Figure 18 The control device 400 shown includes multiple devices such as a processor 401, a controller hub 403, and a memory 404. However, in practical applications, devices using the methods of this application may include only a portion of the devices in the control device 400. For example, it may include only the processor 401 and the network interface 406. Figure 18 The properties of the optional devices are shown by dashed lines.

[0266] Now for reference Figure 19 The diagram shown is a block diagram of a System-on-Chip (SoC) 500 according to an embodiment of this application. Figure 19 In the diagram, similar components share the same reference numerals. Additionally, dashed boxes are an optional feature for more advanced SoCs. Figure 19In this SoC 500, the following components are included: an interconnect unit 550 coupled to the processor 510; a system proxy unit 580; a bus controller unit 590; an integrated memory controller unit 540; a group or one or more coprocessors 520, which may include integrated graphics logic, an image processor, an audio processor, and a video processor; a static random-access memory (SRAM) unit 530; and a direct memory access (DMA) unit 560. In one embodiment, the coprocessor 520 includes a dedicated processor, such as, for example, a network or communication processor, a compression engine, general-purpose computing on graphics processing units (GPGPU), a high-throughput MIC processor, or an embedded processor.

[0267] Static Random Access Memory (SRAM) cell 530 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. The computer-readable storage medium stores instructions, specifically, temporary and permanent copies of those instructions. These instructions may include, when executed by at least one of the processors, causing the SoC implementation to... Figure 10 or Figure 11B The instructions for the method are shown. When the instructions are executed on a computer, the computer performs the assembly method disclosed in the embodiments of this application.

[0268] All methods and implementations of this application can be implemented in the form of software, magnetic files, firmware, etc.

[0269] Program code can be applied to input instructions to perform the functions described herein and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, the processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application-specific integrated circuit (ASIC), or a microprocessor.

[0270] The program code can be implemented using a high-level procedural language or an object-oriented programming language to communicate with the processing system. Assembly language or machine language can also be used when needed. In fact, the mechanisms described in this paper are not limited to any particular programming language. In either case, the language can be a compiled language or an interpreted language.

[0271] One or more aspects of at least one embodiment can be implemented by representational instructions stored on a computer-readable storage medium, the instructions representing various logics in a processor, which, when read by a machine, cause the machine to create logic for performing the techniques described herein. These representations, referred to as “Intellectual Property (IP) cores,” can be stored on a tangible computer-readable storage medium and provided to multiple customers or production facilities for loading into manufacturing machines that actually manufacture the logic or processor.

[0272] In some cases, an instruction translator can be used to translate instructions from a source instruction set to a target instruction set. For example, an instruction translator can transform (e.g., using static binary transformation, including dynamically compiled dynamic binary transformation), morph, emulate, or otherwise translate instructions into one or more other instructions that will be processed by the core. Instruction translators can be implemented in software, hardware, firmware, or a combination thereof. Instruction translators can be on the processor, off the processor, or partially on and partially off the processor.

[0273] In the above description of this embodiment, unless otherwise stated, " / " means "or," for example, A / B can identify A or B; the "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, B existing alone, and A and B existing simultaneously. Furthermore, in this embodiment, the values ​​of each data range include endpoints. For example, A = 10~50 means that A can be 10 or 50.

[0274] The term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Furthermore, in this description, the values ​​for each data range include the endpoints; for example, A = 10–50 means A can be 10 or 50. Unless otherwise stated, "multiple" means two or more.

Claims

1. An assembly device, characterized in that, It includes a drive mechanism and a part-picking mechanism connected to the drive mechanism. The part-picking mechanism is used to install the assembled component, and the drive mechanism is used to drive the part-picking mechanism to move in space. The picking mechanism includes a first connecting part and a second connecting part. When the picking mechanism is connected to the driving mechanism, the first connecting part and the second connecting part can be spaced apart along a first direction. The drive mechanism includes at least: A first driving mechanism is used to drive the picking mechanism to move along a first direction; The second driving mechanism includes a first driving part and a first driven part. The first driven part is connected to the first connecting part in the picking mechanism. The first driving part can drive the first driven part to move along a second direction, so that the first driven part drives the first connecting part of the picking mechanism to move along the second direction, and the second direction is perpendicular to the first direction. The third driving mechanism includes a second driving part and a second driven part. The second driving part is disposed on the first driven part. The second driven part is connected to the second connecting part in the picking mechanism. The second driving part can drive the second driven part to move along the second direction, so that the second driven part drives the second connecting part of the picking mechanism to move along the second direction.

2. The assembly equipment according to claim 1, characterized in that, The first driven part and the first connecting part are rotatably connected, such that the first connecting part can rotate relative to the first driven part about an axis extending along a third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction; and the second driven part and the second connecting part are slidably connected along the first direction; or, The second driven part and the second connecting part are rotatably connected, such that the second connecting part can rotate relative to the second driven part about an axis extending along the third direction; and the first driven part and the first connecting part are slidably connected along the first direction.

3. The assembly equipment according to claim 2, characterized in that, The first connecting portion is provided with a sliding groove extending along the first direction, and the first driven portion includes a first shaft, which is inserted into the sliding groove so that the first driven portion and the first connecting portion are slidably connected along the first direction.

4. The assembly equipment according to claim 3, characterized in that, The first shaft is rotatable relative to the slide about an axis extending along the third direction.

5. The assembly equipment according to claim 1, characterized in that, The component retrieval mechanism includes an adsorption device, which is capable of picking up the component to be assembled through the adsorption device, so as to install the component to be assembled on the component retrieval mechanism.

6. The assembly equipment according to claim 5, characterized in that, The first connecting part and the second connecting part are provided on one side of the picking mechanism along the second direction, and the adsorption device is provided on the other side of the picking mechanism along the second direction.

7. The assembly equipment according to claim 1, characterized in that, The second driven part includes a first connecting member and a second connecting member, the first connecting member and the second connecting member are connected by an elastic member, and the second connecting member is connected to the second connecting part of the picking mechanism; When the second connector is subjected to pressure along the second direction, it can compress the elastic element.

8. The assembly equipment according to claim 1, characterized in that, The second driven part includes a first connecting member and a second connecting member connected along the second direction, and the second connecting member is connected to the second connecting part of the picking mechanism; A pressure sensor is provided between the first connector and the second connector, and the pressure sensor is used to detect the pressure on the second connector along the second direction.

9. The assembly equipment according to claim 1, characterized in that, The first driven part includes a third connecting member and a fourth connecting member. The third connecting member is connected to the first driving part, and the fourth connecting member is connected to the picking mechanism. The fourth connector is rotatable relative to the third connector about a second axis extending along the second direction, thereby driving the picking mechanism to rotate relative to the third connector.

10. The assembly equipment according to claim 9, characterized in that, The driving mechanism further includes a fourth driving mechanism, which is used to drive the fourth connector to rotate relative to the third connector.

11. The assembly equipment according to claim 10, characterized in that, The fourth drive mechanism includes a third drive unit and a third driven unit; The third driven part includes the outer ring of the bearing, the inner ring of the bearing is disposed on the third connecting member, and the outer ring of the bearing is connected to the fourth connecting member; The third driving unit is disposed on the third connecting member and is capable of driving the outer ring of the bearing to rotate around the second axis.

12. The assembly equipment according to claim 11, characterized in that, The third drive unit includes a first drive motor and a transmission belt. The first drive motor is mounted on the third connector, and the outer ring of the bearing and the output shaft of the first drive motor are connected by the transmission belt.

13. The assembly equipment according to claim 11, characterized in that, The second driving part is located on one side of the third connecting member along the second direction, the bearing is located on the other side of the third connecting member along the second direction, the second driven part passes through the third connecting member, and passes through the inner ring of the bearing to connect with the second connecting part.

14. The assembly equipment according to any one of claims 1 to 13, characterized in that, The assembly equipment also includes an image sensor, and the second drive mechanism is capable of driving the image sensor to move along the second direction.

15. The assembly equipment according to any one of claims 1 to 13, characterized in that, The assembly equipment further includes a loading platform and / or a unloading platform, the loading platform including a first bearing surface facing upwards, and the unloading platform including a second bearing surface facing upwards.

16. The assembly equipment according to any one of claims 1 to 13, characterized in that, The assembly equipment also includes a suction pen, and the second drive mechanism is capable of driving the suction pen to move in the second direction.

17. The assembly equipment according to any one of claims 1 to 13, characterized in that, The assembly equipment further includes a fifth drive mechanism for driving the part-picking mechanism to move along a third direction; wherein the third direction is perpendicular to the first direction and perpendicular to the second direction.

18. The assembly equipment according to any one of claims 1 to 13, characterized in that, The assembly equipment also includes: A first cylinder is used to push a first pusher block to move along the first direction; and / or, The second cylinder is used to push the second pusher block to move in the second direction.

19. An assembly method, characterized in that, For assembling components onto a main body component using an assembly device, wherein the assembly device is the assembly device as described in claim 1; The main component includes a receiving cavity having a first opening facing a fourth direction, through which the assembled component can be inserted into the receiving cavity, the fourth direction being parallel to the second direction; and when the assembled component is installed in the receiving cavity, a reference plane attached to the assembled component is parallel to a first plane, the first plane being perpendicular to the second direction; The cavity wall of the receiving cavity has a first slot, and the assembled component includes a first snap fastener; the method is at least used to insert the first snap fastener into the first slot along a first insertion direction, so as to at least partially install the assembled component in the receiving cavity, wherein the first insertion direction is parallel to the first direction; The method includes: When the assembled component is installed on the picking mechanism and the picking mechanism is in a first position, the third drive mechanism is controlled to drive the second connecting part of the picking mechanism to move along the second direction, so that the picking mechanism is in a first posture; wherein, when the picking mechanism is in the first position, the assembled component is located on the side of the main component facing the fourth direction; and, when the picking mechanism is in the first posture, the reference plane has a first angle with the first insertion direction, the first angle being 130° to 170°; At least the second driving mechanism is controlled to drive the picking mechanism to move along the second direction, so that the picking mechanism moves from the first position to the second position; wherein, when the picking mechanism is in the second position, the first buckle is located outside the first slot, and the front end of the first buckle is aligned with the opening of the first slot along the first insertion direction; The first driving mechanism is controlled to drive the picking mechanism to move from the second position to the third position, wherein when the picking mechanism is in the third position, the first buckle is inserted into the first slot through the slot.

20. The assembly method according to claim 19, characterized in that, The first included angle is 140° to 160°; and / or, When the picking mechanism is in the second position, the distance between the front end of the first buckle and the slot along the first insertion direction is 0.5cm to 1cm.

21. The assembly method according to claim 19, characterized in that, The assembled component further includes a second latch, the first latch and the second latch are located at opposite ends of the assembled component along the first direction, and the other cavity wall of the receiving cavity has a second slot. The method is also used to insert the second latch into the second slot along a second insertion direction opposite to the first insertion direction. The assembly equipment further includes: a first cylinder for pushing a first pusher block to move along the first direction; and a second cylinder for pushing a second pusher block to move along the second direction. After controlling the first drive mechanism to drive the picking mechanism to move from the second position to the third position, the method further includes: Control the part-retrieving mechanism to release the assembled component; The first cylinder is controlled to push the assembled component along the first direction via the first pusher block, and the second cylinder is controlled to push the assembled component along the second direction via the second pusher block, so that the assembled component moves from the third position to the fourth position; wherein, when the part-removing mechanism is in the fourth position, the first buckle is inserted into the first slot along the first insertion direction, and the second buckle is inserted into the second slot along the second insertion direction.

22. The assembly method according to claim 21, characterized in that, After the assembled component moves from the third position to the fourth position, the method further includes: The second drive mechanism is controlled to drive the picking mechanism to move along the fourth direction, so that the distance between the picking mechanism and the assembled part along the fourth direction is greater than a first value; The third driving mechanism is controlled to drive the second connecting part of the picking mechanism to move along the second direction, so that the angle between the picking mechanism and the first plane is 0° to 10°. The second drive mechanism is controlled to drive the picking structure to move in the opposite direction of the fourth direction, so as to press the assembled component in the fourth position by means of the picking mechanism.

23. The assembly method according to claim 22, characterized in that, The first value is 10cm to 20cm.

24. The assembly method according to claim 21, characterized in that, The assembly equipment further includes a fifth drive mechanism, which drives the picking mechanism to move along a third direction; wherein the third direction is perpendicular to the first direction and perpendicular to the second direction; The component retrieval mechanism includes an adsorption device, which is capable of retrievaling the assembled component. The assembled component further includes a third buckle, and the main component includes a third slot; the third buckle is located at one end of the assembled component along a third direction, and the method is also used to enable the third buckle to be inserted into the third slot along the third direction; After the assembled component moves from the third position to the fourth position, the method further includes: The control drive mechanism drives the part-picking mechanism to move so that the adsorption device of the part-picking mechanism fits into the assembled part; The adsorption device is controlled to pick up the assembled component; The fifth driving mechanism is controlled to drive the picking mechanism to move from the fourth position to the fifth position; wherein, when the picking mechanism is in the fifth position, the first buckle is inserted into the first slot, the second buckle is inserted into the second slot, and the third buckle is inserted into the third slot.

25. The assembly method according to claim 19, characterized in that, The second direction is parallel to the vertical direction; the assembly equipment also includes a feeding platform, a picking platform, a suction pen and an image sensor, the feeding platform includes a first bearing surface facing upwards, and the picking platform includes a second bearing surface facing upwards; The second drive mechanism can drive the pen to move in the second direction; The second driving mechanism can drive the image sensor to move along the second direction, and the image sensor is used to detect the assembled component; The method further includes: The drive mechanism is controlled to drive the picking mechanism to move, so that the picking mechanism is located in the first position; Furthermore, before controlling the drive mechanism to drive the picking mechanism to move so that the picking mechanism is in the first position, the method further includes: The second drive mechanism is controlled to drive the image sensor to move along the second direction, so that the image sensor is positioned above the loading platform; The image sensor is controlled to detect the assembled components placed on the loading platform; If the inspection is passed, the suction pen is controlled to transfer the qualified assembled component from the loading platform to the unloading platform.

26. The assembly method according to claim 25, characterized in that, After the method involves controlling the suction pen to transfer the qualified assembled component from the loading platform to the unloading platform upon successful detection, the method further includes: The drive mechanism is controlled to drive the picking mechanism to move so that the picking mechanism is positioned above the picking platform; The picking mechanism is controlled to remove the assembled component from the picking platform, and the driving mechanism is controlled to drive the picking mechanism to move to the first position.

27. The assembly method according to claim 25, characterized in that, The step of controlling at least the second drive mechanism to move along the second direction so that the picking mechanism moves from the first position to the second position includes: Foreign object detection is performed on the assembled component using the image sensor; If the foreign object detection passes, the second drive mechanism is controlled to move along the second direction so that the picking mechanism moves from the first position to the second position.

28. The assembly method according to claim 24, characterized in that, After controlling the third drive mechanism to drive the picking mechanism to move from the fourth position to the fifth position, the method further includes: The assembly result of the assembled component on the main component is detected by an image sensor.

29. A control device, comprising: A memory for storing instructions executed by one or more processors in the control device; The processor, when executing the instructions in the memory, causes the control device to perform the assembly method according to any one of claims 19 to 28.

30. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the assembly method according to any one of claims 19 to 28.

Images