Intelligent assembly head
By integrating a pressure sensor, vision mechanism, and quick-change mechanism into the assembly head, and combining them with the perforation mechanism of the Y-axis and Z-axis lead screw modules, the problems of insufficient pressure feedback, unstable suction, and unstable perforation in the assembly head are solved. This achieves precise positioning and flexible contact, improves assembly accuracy and efficiency, reduces defect rate, and enhances the versatility and adaptability of the assembly head.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHUHAI BOJAY ELECTRONICS
- Filing Date
- 2026-04-07
- Publication Date
- 2026-07-14
AI Technical Summary
Existing vehicle assembly heads lack feedback during the pressing process, leading to product damage. They also exhibit unstable suction, are difficult to adapt to various products, and have unstable perforation operations, resulting in abnormal FPC defects.
The pressure measuring mechanism uses an integrated pressure sensor, combined with a vision mechanism using a CCD camera and a laser displacement sensor. The quick-change mechanism uses a locking steel ball and locking groove structure. The perforation mechanism drives the U-shaped suction nozzle through Y-axis and Z-axis lead screw modules. The conveying mechanism uses a constant pressure output cylinder and a spring buffer seat to achieve precise positioning, flexible contact and stable adsorption.
It enables real-time pressure monitoring, precise positioning and height measurement during the assembly process, and rapid changeover, thereby improving assembly accuracy and efficiency, reducing defect rates, enhancing the versatility and adaptability of the assembly head, reducing manual intervention, and improving production efficiency and product quality.
Smart Images
Figure CN122378432A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of automated assembly equipment technology, specifically to an intelligent assembly head. Background Technology
[0002] With the continuous improvement of industrial automation, the assembly processes of various electronic products place higher demands on the precision, efficiency, and flexibility of equipment. In automated assembly, the assembly head, as the execution end, directly determines the assembly precision and efficiency. However, existing assembly heads have the following problems in practical applications: However, existing automotive assembly heads make rigid contact with the product, lacking feedback during the pressing process, resulting in blind, rigid pressing for bonding or assembly, which can damage the product. Furthermore, existing automotive assembly heads cannot guarantee a proper product suction level or optimal suction state when picking up products (due to the wide variety of automotive products), and the vacuum nozzles have limited adaptability. Additionally, the FPC-piercing mechanism in market automotive assembly heads uses cylinders directly, which makes it difficult to control the smoothness of piercing for high-value automotive products, easily leading to FPC malfunctions during the piercing process. Summary of the Invention
[0003] The purpose of this invention is to provide an intelligent assembly head to solve the problems mentioned in the background art, such as damage to products, inability to ensure product absorption level, and easy occurrence of FPC malfunctions.
[0004] To achieve the above objectives, the present invention provides the following technical solution: an intelligent assembly head, comprising a mounting frame, a pressure measuring mechanism mounted at the bottom of the mounting frame, a vision mechanism connected to the bottom of the pressure measuring mechanism, the vision mechanism being used for visual positioning during assembly; a quick-change mechanism connected to the surface of the vision mechanism, a perforation mechanism fixed to the bottom of the quick-change mechanism, and a transport mechanism mounted on the surface of the quick-change mechanism. The conveying mechanism includes a constant pressure output cylinder, a fixed frame, a carrier, and adjustable components. The surface of the constant pressure output cylinder is provided with three horizontal points and two positioning points to form a two-point positioning and three-point horizontal structure. The output end of the constant pressure output cylinder is equipped with a fixed frame. The bottom of the fixed frame is equipped with a carrier via a spring buffer seat. The bottom end of the carrier is equipped with four sets of adjustable components.
[0005] Preferably, the pressure measuring mechanism includes a fixed plate, a pressure sensor, and a carrier plate. The fixed plate is fixedly installed at the bottom of the mounting frame, the pressure sensor is installed at the bottom end of the fixed plate, and the carrier plate is fixed at the bottom end of the pressure sensor.
[0006] Preferably, the vision mechanism consists of an L-shaped frame, a CCD camera, and a laser displacement sensor. The L-shaped frame is fixed to the bottom of the carrier plate, and the CCD camera and laser displacement sensor are installed at the bottom of the L-shaped frame. The CCD camera and laser displacement sensor are used for visual positioning and height measurement, respectively.
[0007] Preferably, the quick-change mechanism is composed of a mechanical end clamp, a load end clamp, a locking groove, and a locking steel ball. The mechanical end clamp is fixedly connected to the surface of the L-shaped frame, and a load end clamp is provided below the mechanical end clamp. The constant pressure output cylinder is fixedly connected to the load end clamp through a bracket.
[0008] Preferably, the inner wall of the load end clamp is provided with three sets of locking grooves, and the bottom of the mechanical end clamp is inlaid with three sets of locking steel balls. When the mechanical end clamp and the load end clamp are installed, the locking steel balls and the locking grooves lock together.
[0009] Preferably, the perforation mechanism includes a Y-axis lead screw module, a Z-axis lead screw module, a connecting frame, an adjusting screw, and a U-shaped suction nozzle. The Y-axis lead screw module is fixed to the surface of the load end clamp by a mounting plate, and the Z-axis lead screw module is installed on the sliding end of the Y-axis lead screw module.
[0010] Preferably, the sliding end of the Z-axis lead screw module is fixed with a connecting frame, and the two ends of the bottom of the connecting frame are threaded with adjusting screws, and the bottom end of the adjusting screws is equipped with a U-shaped suction nozzle.
[0011] Preferably, a positioning cylinder is installed on the surface of the carrier, and multiple sets of fixed suction nozzles are fixed at the bottom of the carrier for picking up products.
[0012] Preferably, the adjustable component consists of a venting screw, an up-and-down moving part, a locking nut, and an adjusting nozzle. The venting screw is mounted on the surface of the carrier, and the surface of the venting screw is threaded with a locking nut.
[0013] Preferably, the bottom end of the locking nut is welded with a vertically movable part, and the bottom end of the vertically movable part is fixed with an adjusting nozzle.
[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention integrates a pressure sensor into the assembly head by setting a pressure measuring mechanism, which can monitor pressure changes in real time during the assembly process. When the pressure exceeds a set threshold, an alarm or shutdown is triggered in time, effectively preventing workpiece damage caused by excessive pressure and improving the yield and safety of assembly. By setting a vision mechanism, using a combination of a CCD camera and a laser displacement sensor, the invention achieves precise positioning and height measurement of the workpiece, solving the problem of inaccurate positioning in traditional assembly heads, ensuring the accuracy of the assembly position, and improving assembly precision.
[0015] 2. This invention, through the setting of a quick-change mechanism, adopts a quick-locking structure of locking steel balls and locking grooves to achieve rapid replacement of different functional ends, completing the changeover operation without tools. This solves the problems of long changeover time and cumbersome operation, significantly improving changeover efficiency and adapting to the production needs of multiple varieties and small batches. The invention also features a conveying mechanism that uses a constant pressure output cylinder to provide stable adsorption force, combined with a spring buffer seat to achieve flexible contact, avoiding impact damage to the workpiece. Furthermore, the two-point positioning and three-point horizontal structure ensures the horizontality of the adsorption plane, making workpiece adsorption more stable and reliable, solving the problems of unstable adsorption and easy workpiece damage caused by traditional suction nozzles.
[0016] 3. This invention, by setting up a piercing mechanism, uses Y-axis and Z-axis lead screw modules to drive the U-shaped suction nozzle for precise movement. The height of the suction nozzle can be adjusted with an adjusting screw, enabling piercing operations on workpieces of different thicknesses. The structure is compact, the positioning is precise, and the automation level and work efficiency of the piercing process are improved. By setting up adjustable components, using a threaded engagement structure of a venting screw and a locking nut, the extension height of the suction nozzle can be flexibly adjusted, achieving adaptation to workpieces of different specifications. This enhances the versatility and adaptability of the assembly head and solves the problem of poor compatibility in traditional assembly heads.
[0017] In summary, this invention integrates multiple functions such as pressure measurement, visual positioning, quick change, perforation, and handling into one unit, realizing one-stop automated assembly operations. This reduces workstation switching and manual intervention, significantly improving production efficiency and automation, and reducing the labor intensity of operators. Through the collaborative work between various mechanisms, closed-loop control of pressure, position, and height during the assembly process is achieved, ensuring the consistency of assembly quality, effectively reducing the defect rate, and improving the overall quality of the product. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the three-dimensional front view structure of the present invention; Figure 2 This is a schematic diagram of the three-dimensional rear view structure of the present invention; Figure 3 This is a magnified view of the structure of the present invention from below; Figure 4 This is a three-dimensional exploded structure diagram of the present invention; Figure 5 This is a partially enlarged structural schematic diagram of the present invention; Figure 6 This is an enlarged schematic diagram of the perforation mechanism of the present invention; Figure 7 This is an enlarged structural schematic diagram of the conveying mechanism of the present invention; Figure 8 This is a schematic diagram of the oblique view structure of the handling mechanism of the present invention; Figure 9 This is a magnified schematic diagram of the vision mechanism of the present invention.
[0019] In the diagram: 1. Mounting bracket; 11. Horizontal point; 12. Positioning point; 2. Pressure measuring mechanism; 21. Fixing plate; 22. Pressure sensor; 23. Carrier plate; 3. Quick-change mechanism; 31. Mechanical end clamp; 32. Load end clamp; 33. Locking groove; 34. Locking steel ball; 4. Perforation mechanism; 41. Y-axis lead screw module; 42. Z-axis lead screw module; 43. Connecting bracket; 44. Adjusting screw; 45. U-shaped suction nozzle; 5. Transport mechanism; 51. Constant pressure output cylinder; 52. Fixing bracket; 53. Carrier frame; 531. Positioning cylinder; 532. Fixing suction nozzle; 533. Spring buffer seat; 54. Adjustable component; 541. Venting screw; 542. Up and down moving part; 543. Locking nut; 544. Adjusting suction nozzle; 6. Vision mechanism; 61. L-shaped bracket; 62. CCD camera; 63. Laser displacement sensor. Detailed Implementation
[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. In addition, the terms "first," "second," "third," "upper," "lower," "left," "right," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0021] The present invention provides a structure for an intelligent assembly head as follows: Figure 1 as well as Figure 5 As shown, the assembly includes a mounting frame 1, with a pressure measuring mechanism 2 mounted at the bottom of the mounting frame 1. The pressure measuring mechanism 2 includes a fixing plate 21, a pressure sensor 22, and a carrier plate 23. The fixing plate 21 is fixedly mounted on the bottom of the mounting frame 1, and the pressure sensor 22 is mounted at the bottom of the fixing plate 21. The carrier plate 23 is fixed at the bottom of the pressure sensor 22. The pressure sensor 22 is used to detect the pressure applied during the assembly process in real time to ensure that the pressure is controlled within the set range.
[0022] During implementation, the pressure sensor 22 monitors the pressure in real time during the assembly process. When the pressure exceeds the set threshold, the control system issues an alarm or stops the operation to prevent damage to the workpiece.
[0023] Furthermore, such as Figure 2 as well as Figure 9 As shown, a vision mechanism 6 is connected to the bottom of the pressure measuring mechanism 2. The vision mechanism 6 is used for visual positioning during assembly. The vision mechanism 6 consists of an L-shaped frame 61, a CCD camera 62, and a laser displacement sensor 63. The L-shaped frame 61 is fixed to the bottom of the carrier plate 23. The CCD camera 62 and the laser displacement sensor 63 are installed at the bottom of the L-shaped frame 61. The CCD camera 62 and the laser displacement sensor 63 are used for visual positioning and height measurement, respectively. The CCD camera 62 is used to identify the position and posture of the workpiece, and the laser displacement sensor 63 is used to measure the height of the workpiece to ensure the accuracy of the assembly position.
[0024] During implementation, the CCD camera 62 takes pictures of the workpiece for identification to obtain the workpiece's position coordinates and posture information; the laser displacement sensor 63 measures the height of the workpiece to provide a height reference for subsequent assembly.
[0025] Furthermore, such as Figure 4 as well as Figure 5 As shown, a quick-change mechanism 3 is connected to the surface of the vision mechanism 6. The quick-change mechanism 3 is composed of a mechanical end clamp 31, a load end clamp 32, a locking groove 33, and a locking steel ball 34. The mechanical end clamp 31 is fixed to the surface of the L-shaped frame 61, and the load end clamp 32 is provided below the mechanical end clamp 31. Three sets of locking grooves 33 are provided on the inner side wall of the load end clamp 32. Three sets of locking steel balls 34 that can move radially are embedded in the bottom of the mechanical end clamp 31. When the mechanical end clamp 31 and the load end clamp 32 are installed, the locking steel balls 34 and the locking grooves 33 lock together. This quick-change mechanism 3 can realize the quick replacement of different functional ends and improve the changeover efficiency.
[0026] During implementation, the load end clamp 32 is precisely connected to the mechanical end clamp 31 via a positioning pin. The piston inside the mechanical end clamp 31 moves forward under the drive of the air source, pushing the locking steel ball 34 radially inward into the locking groove 33. After the locking steel ball 34 is pressed by the piston, the load end clamp 32 is firmly locked onto the mechanical end clamp 31. At this time, even if the air source is disconnected, some designs rely on the spring to maintain the piston position, realizing air loss protection (i.e., it remains locked after the air is cut off to prevent the tool from falling accidentally). When releasing, the piston only needs to move in the opposite direction.
[0027] Furthermore, such as Figure 4 as well as Figure 6As shown, a perforation mechanism 4 is fixedly connected to the bottom of the quick-change mechanism 3. The perforation mechanism 4 includes a Y-axis lead screw module 41, a Z-axis lead screw module 42, a connecting frame 43, an adjusting screw 44, and a U-shaped suction nozzle 45. The Y-axis lead screw module 41 is fixed to the surface of the load end clamp 32 by a mounting plate. The Z-axis lead screw module 42 is installed on the sliding end of the Y-axis lead screw module 41. The connecting frame 43 is fixed to the sliding end of the Z-axis lead screw module 42. The two ends of the bottom of the connecting frame 43 are threadedly connected to the adjusting screw 44, and the bottom end of the adjusting screw 44 is equipped with a U-shaped suction nozzle 45. The U-shaped suction nozzle 45 is used to pick up the workpiece for perforation operation. The adjusting screw 44 can adjust the height of the suction nozzle to adapt to different workpieces.
[0028] During implementation, the Y-axis lead screw module 41 and the Z-axis lead screw module 42 drive the U-shaped suction nozzle 45 to move to the target position. The U-shaped suction nozzle 45 picks up the workpiece to be pierced and moves it to the piercing position to complete the piercing operation. The height of the U-shaped suction nozzle 45 can be adjusted by adjusting the screw 44 to adapt to the piercing requirements of workpieces of different thicknesses.
[0029] Furthermore, such as Figure 3 as well as Figure 8 As shown, a conveying mechanism 5 is mounted on the surface of the quick-change mechanism 3. The conveying mechanism 5 includes a constant pressure output cylinder 51, a fixed frame 52, a carrier frame 53, and adjustable components 54. The surface of the constant pressure output cylinder 51 is provided with three horizontal points 11 and two positioning points 12 to form a two-point positioning and three-point horizontal structure. The constant pressure output cylinder 51 is fixed to the load end clamp 32 by a bracket. The output end of the constant pressure output cylinder 51 is mounted with the fixed frame 52. The bottom of the fixed frame 52 is mounted with the carrier frame 53 by a spring buffer seat 533. Four sets of adjustable components 54 are mounted on the bottom of the carrier frame 53. The surface of the carrier frame 53 is mounted with a positioning cylinder 531. Multiple sets of fixed suction nozzles 532 are fixed to the bottom of the carrier frame 53. The fixed suction nozzles 532 are used for suction of products. The constant pressure output cylinder 51 can output a constant pressure to ensure stable suction force. The spring buffer seat 533 plays a buffering role to avoid damage to the workpiece.
[0030] During implementation, the constant pressure output cylinder 51 outputs constant pressure, driving the carrier 53 to descend. The fixed suction nozzle 532 and the adjusting suction nozzle 544 contact the workpiece, and the workpiece is adsorbed by negative pressure. The positioning cylinder 531 positions the workpiece to ensure accurate suction position. The two-point positioning and three-point horizontal structure ensures the horizontality of the adsorption plane, making the adsorption more stable. The spring buffer seat 533 plays a buffering role when contacting the workpiece to avoid impact damage to the workpiece.
[0031] Furthermore, such as Figure 7 as well as Figure 8As shown, the adjustable component 54 consists of a venting screw 541, a vertical moving part 542, a locking nut 543, and an adjusting nozzle 544. The venting screw 541 is mounted on the surface of the carrier 53, and the locking nut 543 is threaded onto the surface of the venting screw 541. The vertical moving part 542 is welded to the bottom end of the locking nut 543, and the adjusting nozzle 544 is fixed to the bottom end of the vertical moving part 542. By adjusting the locking nut 543, the height of the vertical moving part 542 can be changed, thereby adjusting the height of the adjusting nozzle 544 to accommodate workpieces of different specifications.
[0032] In practice, the height of the up-and-down moving part 542 can be adjusted by rotating the locking nut 543, thereby changing the extension length of the adjusting nozzle 544 and adapting it to workpieces of different heights.
[0033] Working principle: When in use, the mounting frame 1 is first connected to the external robotic arm or motion mechanism. The entire movement is driven by the external control system. The CCD camera 62 takes pictures of the workpiece and identifies it to obtain the workpiece's position coordinates and posture information. The laser displacement sensor 63 measures the height of the workpiece to provide a height reference for subsequent assembly.
[0034] During assembly, the pressure sensor 22 monitors the pressure in real time. When the pressure exceeds the set threshold, the control system issues an alarm or stops the operation to prevent damage to the workpiece.
[0035] When it is necessary to replace the end with different functions, quick change is achieved through quick change mechanism 3. The locking steel ball 34 and locking groove 33 lock together, which can realize quick disassembly and assembly of mechanical end clamp 31 and load end clamp 32. Replacement can be completed without the use of tools.
[0036] When the conveying mechanism 5 conveys the workpiece, the constant pressure output cylinder 51 outputs constant pressure, driving the carrier 53 to descend. The fixed suction nozzle 532 and the adjustable suction nozzle 544 contact the workpiece, and the workpiece is adsorbed by negative pressure. The positioning cylinder 531 positions the workpiece to ensure accurate suction position. The two-point positioning and three-point horizontal structure ensures the horizontality of the adsorption plane, making the adsorption more stable. The spring buffer seat 533 plays a buffering role when contacting the workpiece to avoid impact damage to the workpiece.
[0037] When the piercing mechanism 4 performs the piercing operation, the Y-axis lead screw module 41 and the Z-axis lead screw module 42 drive the U-shaped suction nozzle 45 to move to the target position. The U-shaped suction nozzle 45 picks up the workpiece to be pierced and moves it to the piercing position to complete the piercing operation. The adjusting screw 44 can adjust the height of the U-shaped suction nozzle 45 to adapt to the piercing requirements of workpieces of different thicknesses.
[0038] When adjustment is required, the height of the up-and-down moving part 542 can be adjusted by rotating the locking nut 543, thereby changing the extension length of the adjusting nozzle 544 and adapting it to workpieces of different heights.
[0039] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.
Claims
1. An intelligent assembly head, comprising a mounting bracket (1), characterized in that: The mounting bracket (1) is equipped with a pressure measuring mechanism (2) at its bottom end. The bottom of the pressure measuring mechanism (2) is connected to a vision mechanism (6), which is used for visual positioning during assembly. The surface of the vision mechanism (6) is connected to a quick-change mechanism (3), the bottom of which is fixed with a perforation mechanism (4), and the surface of the quick-change mechanism (3) is equipped with a transport mechanism (5). The conveying mechanism (5) includes a constant pressure output cylinder (51), a fixed frame (52), a carrier frame (53), and adjustable components (54). The surface of the constant pressure output cylinder (51) is provided with three horizontal points (11) and two positioning points (12) to form a two-point positioning and three-point horizontal structure. The output end of the constant pressure output cylinder (51) is equipped with a fixed frame (52). The bottom of the fixed frame (52) is equipped with a carrier frame (53) through a spring buffer seat (533). The bottom end of the carrier frame (53) is equipped with four sets of adjustable components (54).
2. The intelligent assembly head according to claim 1, characterized in that: The pressure measuring mechanism (2) includes a fixed plate (21), a pressure sensor (22) and a carrier plate (23). The fixed plate (21) is fixedly installed at the bottom of the mounting frame (1). The pressure sensor (22) is installed at the bottom of the fixed plate (21), and the carrier plate (23) is fixed at the bottom of the pressure sensor (22).
3. The intelligent assembly head according to claim 1, characterized in that: The vision mechanism (6) consists of an L-shaped frame (61), a CCD camera (62), and a laser displacement sensor (63). The L-shaped frame (61) is fixed to the bottom of the carrier plate (23). The bottom of the L-shaped frame (61) is equipped with a CCD camera (62) and a laser displacement sensor (63). The CCD camera (62) and the laser displacement sensor (63) are used for visual positioning and height measurement, respectively.
4. The intelligent assembly head according to claim 1, characterized in that: The quick-change mechanism (3) is composed of a mechanical end clamp (31), a load end clamp (32), a locking groove (33) and a locking steel ball (34). The mechanical end clamp (31) is fixed to the surface of the L-shaped frame (61), and the load end clamp (32) is provided below the mechanical end clamp (31). The constant pressure output cylinder (51) is fixed to the load end clamp (32) through a bracket.
5. The intelligent assembly head according to claim 4, characterized in that: The inner wall of the load end clamp (32) is provided with three sets of locking grooves (33), and the bottom of the mechanical end clamp (31) is inlaid with three sets of locking steel balls (34). When the mechanical end clamp (31) and the load end clamp (32) are installed, the locking steel balls (34) and the locking grooves (33) lock together.
6. The intelligent assembly head according to claim 1, characterized in that: The perforation mechanism (4) includes a Y-axis lead screw module (41), a Z-axis lead screw module (42), a connecting frame (43), an adjusting screw (44), and a U-shaped suction nozzle (45). The Y-axis lead screw module (41) is fixed to the surface of the load end clamp (32) by a mounting plate, and the Z-axis lead screw module (42) is installed on the sliding end of the Y-axis lead screw module (41).
7. The intelligent assembly head according to claim 6, characterized in that: The sliding end of the Z-axis lead screw module (42) is fixed with a connecting frame (43), and the two ends of the bottom of the connecting frame (43) are threaded with adjusting screws (44), and the bottom end of the adjusting screws (44) is equipped with a U-shaped suction nozzle (45).
8. The intelligent assembly head according to claim 1, characterized in that: The carrier (53) is equipped with a positioning cylinder (531) on its surface, and multiple sets of fixed suction nozzles (532) are fixed at the bottom of the carrier (53). The fixed suction nozzles (532) are used for picking up products.
9. The intelligent assembly head according to claim 1, characterized in that: The adjustable component (54) consists of a ventilation screw (541), an up-and-down moving part (542), a locking nut (543), and an adjusting nozzle (544). The ventilation screw (541) is mounted on the surface of the carrier (53), and the surface of the ventilation screw (541) is threaded with a locking nut (543).
10. The intelligent assembly head according to claim 9, characterized in that: The bottom end of the locking nut (543) is welded with a vertical moving part (542), and the bottom end of the vertical moving part (542) is fixed with an adjusting nozzle (544).