Automatic assembling device

Abstract

The utility model provides an automatic assembling device. The automatic assembling device comprises a feeding assembly, a first material receiving assembly, a second material receiving assembly and a material grabbing assembly. The first material receiving assembly is arranged on the feeding assembly and located on the material taking side. The first material receiving assembly is used for receiving the first material conveyed by the feeding assembly. The second material receiving assembly is used for supporting a second material and located on the assembling side. The grabbing assembly comprises a capturing part and a rotary driving mechanism; the rotary driving mechanism is connected with the capturing part; the rotation driving mechanism is used for driving the catching part to rotate so as to adjust the angle of the first material caught by the catching part. The material grabbing assembly can move between the material taking side and the assembling side so as to transfer the first material captured by the capturing part to be assembled with the second material.

Description

Technical Field

[0001] The present application relates to the technical field of assembly equipment, and in particular to an automatic assembly device. Background Art

[0002] The oil cup of the electronic cigarette may include a silicone part and a plastic part that can be assembled. Usually, the silicone part and the plastic part are assembled together manually. However, the manual assembly efficiency is low. Utility Model Content

[0003] The main technical problem solved by the present application is to provide an automatic assembly device to solve the problem of low efficiency of manual assembly in the prior art.

[0004] In order to solve the above technical problems, the first technical solution adopted in this application is: to provide an automatic assembly device, which includes a feeding component, a first material receiving component, a second material receiving component and a material grabbing component. The first material receiving component is arranged on the feeding component and is located on the material picking side; the first material receiving component is used to receive the first material transferred by the feeding component. The second material receiving component is used to support the second material and is located on the assembly side. The material grabbing component includes a capturing part and a rotating drive mechanism; the rotating drive mechanism is connected to the capturing part; the rotating drive mechanism is used to drive the capturing part to rotate so as to adjust the angle of the first material captured by the capturing part. The material grabbing component can move between the material picking side and the assembly side to transfer the first material captured by the capturing part to be assembled with the second material.

[0005] The feeding component conveys the first material to the first receiving component; the second receiving component receives the second material. The grabbing component moves between the material receiving side and the assembly side, so that the capturing part of the grabbing component captures the first material on the first receiving component and assembles it on the second material of the second receiving component; the capturing part is separated from the first material. Thus, the first material and the second material are automatically assembled, and the assembly efficiency of the first material and the second material is improved. This solves the problem of low efficiency of the existing manual assembly of silicone parts and plastic parts. The rotary drive mechanism can drive the capturing part to rotate, thereby adjusting the angle of the first material on the capturing part, so that the angle of the first material is the same as the angle of the second material, so as to improve the assembly accuracy of the first material and the second material.

[0006] In some embodiments, the material grabbing assembly further includes an angle sensor and a controller, wherein the angle sensor is used to identify the angle of the first material on the first material receiving assembly. The controller electrically connects the angle sensor and the rotary drive mechanism to control the rotary drive mechanism to drive the capturing part to rotate according to the angle of the first material on the first material receiving assembly, so as to adjust the angle of the first material captured by the capturing part to a preset angle.

[0007] In some embodiments, the material grabbing assembly further comprises a mounting member, on which a first moving driving assembly and a pressing plate are disposed; the first moving driving assembly is rotatably connected to the capturing portion to drive the capturing portion to move between a first position and a second position. When the rotating driving mechanism is in the first position, the end of the capturing portion passes through the pressing plate, and when the rotating driving mechanism is in the second position, the end of the capturing portion is located in the pressing plate or exits the pressing plate.

[0008] In some embodiments, the material grabbing assembly further comprises a telescopic mechanism connecting the capturing part and the rotating drive mechanism, and a floating member connected to the first moving drive assembly, wherein the capturing part or the telescopic mechanism is rotationally connected to the floating member. When the rotating drive mechanism is in a first position, the telescopic mechanism has a first length, and when the rotating drive mechanism is in a second position, the telescopic mechanism has a second length, and the first length is greater than the second length.

[0009] In some embodiments, the rotary drive mechanism is retained on the mounting member.

[0010] In some embodiments, the material grabbing assembly further includes a bracket and a second mobile drive assembly, the second mobile drive assembly connects the mounting member and the bracket, and the second mobile drive assembly is used to drive the mounting member to move between the material grabbing side and the assembly side.

[0011] In some embodiments, the angle sensor includes a camera.

[0012] In some embodiments, the automatic assembly device further comprises a third moving drive assembly disposed on the material taking side, the third moving drive assembly being connected to the first material receiving assembly to drive the first material receiving assembly to move between the third position and the fourth position. When the first material receiving assembly is at the third position, the first material receiving assembly is disposed corresponding to the material loading assembly, and when the first material receiving assembly is at the fourth position, the first material receiving assembly and the material loading assembly are staggered, and the capturing portion captures the first material at the fourth position on the material taking side.

[0013] In some embodiments, the angle sensor is disposed corresponding to the third position.

[0014] In some embodiments, the rotation drive mechanism can drive the capture portion to rotate 360°.

[0015] In some embodiments, the capturing portion captures the first material by sucking, grabbing, or embedding into the interior of the first material and having an interference fit with the first material.

[0016] In some embodiments, the gripping assembly includes a plurality of capturing portions.

[0017] In some embodiments, the second material receiving assembly includes a conveying mechanism for conveying the second material. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 and Figure 2 It is a structural schematic diagram of the automatic assembly device provided by the present application;

[0020] Figure 3 It is a structural schematic diagram of the material grabbing assembly provided in this application;

[0021] Figure 4 yes Figure 3 The enlarged view at Q in the figure;

[0022] Figure 5 yes Figure 1 Magnified view at P.

[0023] In the figure: 1. material grabbing assembly; 10. bearing; 11. first movable drive assembly; 12. mounting bracket; 13. rotary drive mechanism; 131. first mounting part; 132. rotating part; 14. telescopic mechanism; 141. first telescopic part; 142. second telescopic part; 143. first plane; 15. capturing part; 16. pressing plate; 161. material return channel; 17. floating part; 181. sliding rod; 182. mounting seat; 183. second connecting part; 184. limiting mechanism; 191. second movable drive assembly; 192. bracket; 193. angle sensor; 2. second material receiving assembly; 3. mounting bracket; 4. first material receiving assembly; 41. first material receiving hole; 42. second material receiving hole; 5. feeding assembly; 6. third movable drive assembly; 7. transmission member; 8. first material. DETAILED DESCRIPTION

[0024] The scheme of the embodiment of the present application is described in detail below in conjunction with the drawings of the specification.

[0025] In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures, interfaces, and technologies are provided to facilitate a thorough understanding of the present application.

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] The terms "first", "second", "third" in this application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of the features. In the description of this application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of this application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the steps or units listed, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] An embodiment of the present disclosure provides an automatic assembly device. The automatic assembly device is used to automatically assemble a first material and a second material together, thereby improving the assembly efficiency of the first material and the second material; thereby solving the problem of low efficiency of existing manual assembly of silicone pads and plastic parts. The first material can be a silicone part or other products; for example, the first material can have a plug-in hole to facilitate the plug-in of the capture part described below. The second material can be a plastic part or other products; for example, the second material has an assembly hole, and the first material is assembled in the assembly hole, so that the first material and the second material are assembled.

[0030] See also Figures 1 to 3 The automatic assembly device includes a loading component 5, a first receiving component 4, a second receiving component 2 and a grabbing component 1.

[0031] The first material receiving component 4 is disposed on the material loading component 5 . The first material receiving component 4 is located at the material taking side. The first material receiving component 4 is used for receiving the first material 8 transferred by the material loading component 5 .

[0032] In some embodiments, the feeding component 5 may have a first feed port and a first discharge port. The first feed port is used to add the first material 8 into the feeding component 5. The first discharge port is arranged corresponding to the first receiving component 4, so that the first material 8 in the feeding component 5 is transferred to the first receiving component 4 through the first discharge port. The material taking side can be understood as the location of the first receiving component 4.

[0033] Exemplarily, the first material receiving assembly 4 directly corresponds to the material loading assembly 5, so that the first material 8 coming out of the first material outlet can directly reach the first material receiving assembly 4. At this time, the material taking side can include the first material outlet.

[0034] As another example, the first material receiving component 4 indirectly corresponds to the material loading component 5. For example, the automatic assembly device further includes a transmission component 7, and the transmission component 7 has multiple (for example, two, three, etc.) transmission channels, and the material loading component 5 is connected to the first material receiving component 4 through the transmission component 7; so that one end of the transmission channel is connected to the first material outlet, and the other end is connected to the first material receiving component 4. So that the first material 8 in the material loading component 5 is transmitted to the first material receiving component 4 through the transmission channel. At this time, the material taking side may include the other end of the transmission channel, that is, the connection between the transmission component 7 and the first material receiving component 4.

[0035] In some examples, the feeding assembly 5 uses the principle of vibration to divide the materials, and in this case, the feeding assembly 5 can be called a vibration plate.

[0036] In some embodiments, the automatic assembly device further includes a mounting frame 312 , the feeding device is mounted on the mounting frame 312 , and the first receiving component 4 is mounted on the mounting frame 312 , so that the first receiving component 4 is arranged on the feeding component 5 .

[0037] In some examples, the first material receiving component 4 can be a staggered material receiving component, that is, the first material 8 received by the staggered material receiving component from the first feeding component 5 is less than the first material 8 delivered by the staggered material receiving component to the material grabbing component 1 last time. For example, the feeding component 5 delivers n first materials 8 to the staggered material receiving component at one time, and then after the staggered material receiving component staggers the materials, the staggered material receiving component can accept n first materials 8 delivered by the feeding component 5 again, so that the staggered material receiving component has at least 2n first materials 8 at this time. In this way, the first material receiving component 4 can receive more first materials 8. Among them, the staggered material receiving component can arrange 2n first materials 8 in a row. In other examples, the first material receiving component 4 is a conventional first material receiving component 4, that is, the first material receiving component 4 can receive n first materials 8 each time.

[0038] The second material receiving component 2 is used to support the second material, and the second material receiving component 2 is located on the assembly side. The second material receiving component 2 can be a type of structure that can support the second material, for example, the second material receiving component 2 can be a clamping mechanism, a clamp, a suction cup, a manipulator, etc. In this way, the second material receiving component 2 can support the second material and wait for assembly with the first material 8. In some embodiments, the second material receiving component 2 includes a conveying mechanism for conveying the second material. In this way, the second material receiving component 2 can continuously provide the second material to achieve automation, thereby speeding up the assembly efficiency of the first material 8 and the second material. The assembly side can be understood as the location of the second material receiving component 2, for example, the assembly side can be the location where the first material 8 and the second material are assembled.

[0039] Exemplarily, the conveying mechanism may be a conveyor belt, a manipulator, etc. Exemplarily again, the conveying mechanism may include a connected fourth mobile drive assembly and a material receiving portion, the fourth mobile drive assembly is used to drive the material receiving portion to move between the fourth position, the fifth position and the sixth position, and the material receiving portion is used to receive the second material. When the material receiving portion is in the fourth position, the material receiving portion receives the second material. When the material receiving portion is in the fifth position, the first material 8 captured by the capture portion 15 of the material grabbing assembly 1 is assembled with the second material of the material receiving portion. When the material receiving portion is in the sixth position, the first material 8 and the second material assembled on the material receiving portion are grabbed by the manipulator of the next process, etc., and assembled with the third material of the next process. In some examples, the automatic assembly device may also include a feeding mechanism, which corresponds to the conveying mechanism, and the feeding mechanism can convey the second material in the feeding mechanism to the conveying mechanism. For example, in the fourth position, the feeding mechanism can convey the second material to the material receiving portion. The fourth mobile drive assembly may be a cylinder, an electric push rod, a stretching mechanism, etc.

[0040] The material grabbing assembly 1 may include a capturing portion 15 and a rotating drive mechanism 13; the rotating drive mechanism 13 is connected to the capturing portion 15; the rotating drive mechanism 13 is used to drive the capturing portion 15 to rotate so as to adjust the angle of the first material 8 captured by the capturing portion 15. In this way, the rotating drive mechanism 13 can drive the capturing portion 15 to rotate, and the capturing portion 15 drives the first material 8 to rotate, so that the angle of the first material 8 after rotation is consistent with the angle of the second material, so that the first material 8 is more accurately assembled in the second material.

[0041] The rotary drive mechanism 13 has a mounting portion (in order to distinguish it from the mounting portion hereinafter, the mounting portion may be referred to as a first mounting portion 131) and a rotating portion 132. The rotating portion 132 is relative to the first mounting portion 131, and the rotating portion 132 can rotate about its own axis. The rotary drive mechanism 13 may be a mechanism that can rotate. For example, the rotary drive mechanism 13 may be a motor; in this case, the shaft end of the motor may be the rotating portion 132, and the housing of the motor may be the first mounting portion 131. For another example, the rotary drive mechanism 13 may include a connected motor and an output mechanism, and the motor drives the output mechanism to rotate, in which case the shaft end of the output mechanism may be the rotating portion 132, and the housing of the motor and the output mechanism may be the first mounting portion 131. The output mechanism may be a reducer, a transmission, a gear mechanism, a belt mechanism, a chain mechanism, etc. The following description takes the rotary drive mechanism 13 as an example that it may be a motor. In some examples, the rotary drive mechanism 13 can drive the capture portion 15 to rotate 360°, so that the capture portion 15 can drive the first material 8 to rotate 360°. For example, the rotation drive mechanism 13 may be a unidirectional motor that can rotate 360°. For another example, the rotation drive mechanism 13 may be a bidirectional motor that can rotate 180°.

[0042] Exemplarily, the angle of the first material 8 is determined manually, and then the rotary drive mechanism 13 is controlled to drive the first material 8 to rotate at a preset angle, so that the first material 8 can be more accurately assembled in the second material.

[0043] As another example, the material grabbing assembly 1 further includes a controller and an angle sensor 193. The controller is electrically connected to the rotary drive mechanism 13; the angle sensor 193 is electrically connected to the controller. The angle sensor 193 is used to identify the angle of the first material 8 on the first material receiving assembly 4. The controller electrically connects the angle sensor 193 and the rotary drive mechanism 13 to control the rotary drive mechanism 13 to drive the capturing portion 15 to rotate according to the angle of the first material 8 on the first material receiving assembly 4, so as to adjust the angle of the first material 8 captured by the capturing portion 15 to a preset angle.

[0044] In some examples, the material grabbing assembly 1 further includes a reference mechanism, which is connected to the controller for reference, so that the angle sensor 193 detects the angle of the first material 8, so that the rotary drive mechanism 13 drives the capture part 15 to rotate a preset angle. The preset angle can be understood as the angle of the first material 8 that is the same as the angle of the second material. At this time, the angle of the first material 8 is the preset angle, so that the first material 8 can be more accurately assembled in the second material.

[0045] In some examples, the angle sensor 193 includes a camera. In other examples, the angle sensor 193 may also include an angle instrument, etc.

[0046] In some examples, the rotary drive mechanism 13 can be directly connected to the capture portion 15, that is, the rotating portion 132 of the rotary drive mechanism 13 is in contact with and connected to the connecting portion of the capture portion 15. In other examples, the rotary drive mechanism 13 can be indirectly connected to the capture portion 15, that is, the rotating portion 132 of the rotary drive mechanism 13 can be connected to the capture portion 15 through some connecting parts such as a coupling, a flange, or a telescopic mechanism 14 described below.

[0047] In some embodiments, the capturing part 15 captures the first material 8 by sucking, grabbing, or embedding inside the first material 8 and interfering with the first material 8. Exemplarily, the capturing part 15 captures the first material 8 by sucking. For example, the capturing part 15 can be a suction cup, etc. Another exemplary method is that the capturing part 15 captures the first material 8 by grabbing. For example, the capturing part 15 can be a manipulator, a clamping mechanism, etc.

[0048] As another example, the capturing portion 15 captures the first material 8 by being embedded inside the first material 8 and having an interference fit with the first material 8. The interference fit is used to prevent the first material 8 from falling off the capturing portion 15. In some examples, the material grabbing assembly 1 also includes a mounting member, a first mobile drive assembly 11, and a pressure plate 16. The mounting member is provided with a first mobile drive assembly 11 and a pressure plate 16, and the first mobile drive assembly 11 is rotatably connected to the capturing portion 15, and the first mobile drive assembly 11 drives the capturing portion 15 to move between a first position and a second position. When the rotating drive mechanism 13 is in the first position, the end of the capturing portion 15 passes through the pressure plate 16, and when the rotating drive mechanism 13 is in the second position, the end of the capturing portion 15 is located in the pressure plate 16 or exits the pressure plate 16.

[0049] In this way, in the first position, the capturing portion 15 can pass through the pressing plate 16, so that the capturing portion 15 can capture the first material 8. In the second position, the end of the capturing portion 15 can be located in the pressing plate 16 or exit the pressing plate 16, so that the first material 8 on the capturing portion 15 is blocked by the pressing plate 16, and the first material 8 is separated from the capturing portion 15. In addition, when the material grabbing assembly 1 does not capture the first material 8 (i.e., it is stopped or not taking materials), the end of the capturing portion 15 can be located in the pressing plate 16 or exit the pressing plate 16, which can also protect the capturing portion 15.

[0050] At this time, the first position can be understood as the position of the rotary drive mechanism 13 as long as the capture part 15 passes through the first pressure plate 16; for example, the first position can be the position of the rotary drive mechanism 13 when the capture part 15 takes the first material 8; for another example, the first position can be the position of the rotary drive mechanism 13 after the capture part 15 takes the first material 8. The second position can be understood as the position of the rotary drive mechanism 13 as long as the end of the capture part 15 is located in the pressure plate 16 or exits the pressure plate 16; for example, the second position can be the position of the rotary drive mechanism 13 when the capture part 15 assembles the first material 8 on the second material and the capture part 15 is separated from the first material 8. For another example, the second position can be the position of the rotary drive mechanism 13 when the capture part 15 is located in the pressure plate 16 or exits the pressure plate 16 when the machine is stopped.

[0051] The mounting member is used to mount various components (such as the first mobile drive assembly 11, the pressure plate 16, etc.). Therefore, the structure of the mounting member can be any structure. For example, the mounting member can be a plate-like structure, in which case the mounting member can be called a mounting plate. For another example, the mounting member can be a frame structure, in which case the mounting member can be called a mounting frame. The material of the mounting member can be a metal material, and the metal material can be a single substance, for example, the single substance can be iron, aluminum, silver, copper, etc. The metal material can also be an alloy of the above-mentioned single substances. For example, the alloy can be an iron alloy, an aluminum alloy, etc. The material of the mounting member can also be a non-metallic material, for example, it can be plastic, etc.

[0052] The first mobile drive component 11 is arranged on the mounting member. The first mobile drive component 11 may be a type of movable mechanism, that is, the first mobile drive component 11 may include a first movable part and a second mounting part, the first movable part is relative to the second mounting part, and the first movable part can be extended and retracted along the first direction X. The second mounting part may be arranged on the mounting member; in some examples, the second mounting part is detachably mounted on the mounting member, for example, the second mounting part is mounted on the mounting member by bolts, snaps, adhesives, etc. In other examples, the second mounting part is fixed to the mounting member, for example, the second mounting part is welded to the mounting member. The first mobile drive component 11 may be a hydraulic cylinder, a pneumatic cylinder, an electric push rod, a ball screw mechanism, etc. For example, the first mobile drive component 11 may be a cylinder, the piston of the cylinder may be the first movable part, and the housing of the cylinder may be the second mounting part.

[0053] The pressing plate 16 has a material withdrawal channel 161, and the capturing portion 15 is directly opposite to the material withdrawal channel 161; thus, when the first moving driving assembly 11 drives the capturing portion 15 to move along the first direction X, the capturing portion 15 of the capturing portion 15 can pass through the material withdrawal channel 161, or exit the material withdrawal channel 161. The capturing portion 15 is directly opposite to the material withdrawal channel 161; it can be understood that the material withdrawal channel 161 covers the positive projection of the capturing portion 15 on the plane where the pressing plate 16 is located.

[0054] Specifically, when the first mobile drive assembly 11 drives the capture part 15 to move in the forward direction of the first direction X, the capture part 15 passes through the material return channel 161 and is inserted into the first material 8. In this way, the portion of the capture part 15 located on the side of the pressure plate 16 away from the first mobile drive assembly 11 can be inserted into the first material 8, so that the capture part 15 can take the material. After the capture part 15 captures the first material 8, when the first mobile drive assembly 11 drives the capture part 15 to move in the reverse direction of the first direction X, the end of the capture part 15 exits the material return channel 161, so that the first material 8 is blocked by the pressure plate 16 and cannot pass through the material return channel 161, and the capture part 15 is separated from the first material 8.

[0055] The first mobile drive component 11 drives the capture part 15 to move in the reverse direction of the first direction X; it can be understood that the distance between the second mounting part of the first mobile drive component 11 and the capture part 15 is reduced; that is, the second mounting part of the first mobile drive component 11 and the capture part 15 are close to each other. The first mobile drive component 11 drives the capture part 15 to move in the positive direction of the first direction X; it can be understood that the distance between the second mounting part of the first mobile drive component 11 and the capture part 15 is increased; that is, the second mounting part of the first mobile drive component 11 and the capture part 15 are away from each other. In this article, the first direction X can be the positive direction of the first direction X, and can also be the reverse direction of the first direction X. The reverse direction of the first direction X is the opposite direction to the positive direction of the first direction X, for example, the reverse direction of the first direction X is Figure 3 The arrow direction of the first direction X is shown in FIG. 1 , and the positive direction of the first direction X is Figure 3 The opposite direction of the arrow direction of the first direction X shown in (i.e., the non-arrow direction). Taking the example for convenience of explanation, the embodiment of the present disclosure also has a second direction Y and a third direction, the first direction X intersects with the second direction Y (e.g., perpendicularly), and intersects with the third direction (e.g., perpendicularly); the second direction Y intersects with the third direction (e.g., perpendicularly). Among them, when the first direction X is perpendicular to the second direction Y, and perpendicular to the third direction; the second direction Y is perpendicular to the third direction, the first direction X, the second direction Y, and the third direction can constitute a three-dimensional coordinate system. For the sake of convenience, this article takes the example that the first direction X, the second direction Y, and the third direction can constitute a three-dimensional coordinate system.

[0056] The shape of the material withdrawal channel 161 is adapted to the shape of the capture portion 15. In some examples, the material withdrawal channel 161 is a circular hole, and the capture portion 15 is a rod; the capture portion 15 and the material withdrawal channel 161 are clearance fit or interference fit. The diameter of the material withdrawal channel 161 is smaller than the size of the first material 8 in the direction perpendicular to the first direction X. In this way, the capture portion 15 can pass through the material withdrawal channel 161, while the first material 8 cannot pass through the material withdrawal channel 161, thereby separating the first material 8 from the capture portion 15. Among them, the material withdrawal channel 161 is a circular hole, which can be understood as the cross section of the material withdrawal channel 161 is circular. The capture portion 15 is a rod, which can be understood as the cross section of the capture portion 15 is circular. At this time, the size of the first material 8 in the direction perpendicular to the first direction X. It can be understood that the size of the first material 8 in the second direction Y or the third direction is larger than the size of the material withdrawal channel 161, so that the first material 8 can be prevented from passing through the material withdrawal channel 161. In some other examples, when the cross section of the capturing portion 15 is rectangular, the cross section of the material withdrawal channel 161 is also rectangular. Accordingly, the material withdrawal channel 161 can be called a material withdrawal square hole.

[0057] The pressing plate 16 is connected to the mounting member. Exemplarily, the pressing plate 16 and the mounting member may be directly connected, that is, the pressing plate 16 and the mounting member are in contact and connected. Also exemplarily, the pressing plate 16 and the mounting member may also be indirectly connected, that is, the pressing plate 16 and the mounting member are connected through a connecting portion, for example, the connecting portion may be a connecting rod, that is, the pressing plate 16 is connected to the mounting member through a connecting rod. The number of connecting rods may be one or more. In some examples, the pressing plate 16 and the mounting member are fixedly connected, for example, the pressing plate 16 and the mounting member are welded. In other examples, the pressing plate 16 and the mounting member are detachably connected, for example, the pressing plate 16 and the mounting member are connected by a buckle, a bolt, etc.

[0058] In some embodiments, the material grabbing assembly 1 further includes a floating member 17 connected to the first mobile drive assembly 11. The capturing portion 15 is rotationally connected to the floating member 17. The rotary drive mechanism 13 is slidably disposed on the mounting member. In this way, the first mobile drive assembly 11 drives the floating member 17, the capturing portion 15 and the rotary drive mechanism 13 to move as a whole, so that the capturing portion 15 passes through the pressure plate 16, or exits the pressure plate 16. In addition, the rotary drive mechanism 13 can also rotate with the capturing portion 15. The capturing portion 15 is rotationally connected to the floating member 17, for example, the capturing portion 15 and the floating member 17 can be rotationally connected via a bearing 10.

[0059] In other embodiments, the material grabbing assembly 1 further includes a telescopic mechanism 14 connecting the capturing portion 15 and the rotating drive mechanism 13, and a floating member 17 connected to the first moving drive assembly 11. The capturing portion 15 or the telescopic mechanism 14 is rotationally connected to the floating member 17. When the rotating drive mechanism 13 is in the first position, the telescopic mechanism 14 has a first length, and when the rotating drive mechanism 13 is in the second position, the telescopic mechanism 14 has a second length, and the first length is greater than the second length.

[0060] In this way, when the rotary drive mechanism 13 drives the capture part 15 to rotate through the telescopic mechanism 14, it will not drive the floating member 17 to rotate. The first mobile drive assembly 11 can drive a part of the telescopic mechanism 14 (i.e., the second telescopic part 142) and the capture part 15 to move along the first direction X, so that the capture part 15 can pass through the pressure plate 16 or exit the pressure plate 16; and the first mobile drive assembly 11 will not drive the rotary drive mechanism 13 and another part of the telescopic mechanism 14 (i.e., the first telescopic part 141) to move along the first direction X.

[0061] When the rotary drive mechanism 13 is in the first position, the telescopic mechanism 14 has a first length. When the rotary drive mechanism 13 is in the second position, the telescopic mechanism 14 has a second length, and the first length is greater than the second length. Since the position of the rotary drive mechanism 13 remains unchanged, the first mobile drive assembly 11 drives the capture portion 15 to pass through the pressure plate 16 in the first position, and drives the capture portion 15 to exit the pressure plate 16 in the second position; therefore, the first length is greater than the second length. That is, when the telescopic mechanism 14 is in the first length, the capture portion 15 passes through the pressure plate 16; when the telescopic mechanism 14 is in the second length, the capture portion 15 exits the pressure plate 16.

[0062] In some examples, the rotation drive mechanism 13 is retained on the mounting member, that is, the rotation drive mechanism 13 is disposed on the mounting member. The first mounting portion 131 is disposed on the mounting member. For example, the first mounting portion 131 is detachably connected to the mounting member. For another example, the first mounting portion 131 is fixedly connected to the mounting member. In other examples, the rotation drive mechanism 13 is disposed on the above-mentioned mounting frame 312. For example, the first mounting portion 131 is disposed on the mounting frame 312.

[0063] The telescopic mechanism 14 may be a mechanism that slides along the axial direction of the rotary drive mechanism 13 (i.e., the first direction X) and rotates synchronously. In some examples, the telescopic mechanism 14 may include a first telescopic portion 141 and a second telescopic portion 142. The first telescopic portion 141 and the second telescopic portion 142 are slidably arranged along the first direction X and rotate synchronously. The first telescopic portion 141 is connected to the rotary drive mechanism 13 (or the rotating portion 132), and the second telescopic portion 142 is connected to the capturing portion 15. The telescopic mechanism 14 is rotatably connected to the floating member 17, which can be understood as the second telescopic portion 142 of the telescopic mechanism 14 is rotatably connected to the floating member 17. In some examples, the first telescopic portion 141 may be a connecting rod, and the second telescopic portion 142 may be a sleeve. One of the connecting rod or the sleeve has a slide groove, and the other has a slider. The connecting rod is sleeved in the sleeve, and the slider is slidably arranged in the slide groove. Thereby, the first telescopic portion 141 and the second telescopic portion 142 can be telescoped along the first direction X and rotate synchronously. In other examples, see Figure 4 , the first telescopic part 141 can be a connecting rod, and the second telescopic part 142 can be a sleeve. The connecting rod has at least one (for example, one, or more) first plane 143, and the inner wall of the sleeve has at least one second plane. The connecting rod is sleeved in the sleeve, and the first plane matches and contacts the second plane. For example, when the number of the first plane and the second plane is one, the cross-section of the connecting rod and the inner wall of the sleeve is D-shaped. Thereby, the first telescopic part 141 and the second telescopic part 142 can be telescoped along the first direction X and rotate synchronously.

[0064] The telescopic mechanism 14 (or the second telescopic part 142) and the capture part 15 may be fixedly connected or detachably connected. The telescopic mechanism 14 (or the first telescopic part 141) and the rotation drive mechanism 13 may be fixedly connected or detachably connected.

[0065] The capture part 15 or the telescopic mechanism 14 (or the second telescopic part 142) is rotatably connected to the floating member 17. For example, the capture part 15 or the telescopic mechanism 14 is connected to the floating member 17 through a bearing 10. For example, the floating member 17 has a mounting hole, and the capture part 15 or the telescopic mechanism 14 (or the second telescopic part 142) is mounted in the mounting hole of the floating member 17 through the bearing 10.

[0066] In some embodiments, the material grabbing assembly 1 includes a plurality of capturing parts 15. In this way, the plurality of capturing parts 15 of the material grabbing assembly can capture a plurality of first materials 8 at a time. Accordingly, the number of the rotating drive mechanism 13 and the telescopic mechanism 14 are both multiple, and the number of the capturing parts 15, the rotating drive mechanism 13, and the telescopic mechanism 14 are equal. The number of the capturing parts 15, the rotating drive mechanism 13, and the telescopic mechanism 14 are all 2 to 20. For example, 2, 4, 5, 6, 8, 10, 12, 14, 16, 18, 20, etc. In some examples, a plurality of angle sensors 193 are used to obtain the angle of the first material 8 on the plurality of capturing parts 15.

[0067] In some embodiments, the first mobile drive assembly 11 is directly connected to the floating member 17; that is, the first mobile drive assembly 11 (or the first mobile part) is in contact with the floating member 17 and connected. In other embodiments, the first mobile drive assembly 11 is indirectly connected to the capture part 15, that is, the first mobile drive assembly 11 is connected to the capture part 15 through other parts. In some examples, the material grabbing assembly also includes a mounting seat 182, a slide bar 181, and a second connecting member 183. The mounting seat 182 is arranged on the mounting member, and the mounting seat 182 is fixedly arranged on the mounting member, and for example, the mounting seat 182 is detachably arranged on the mounting member. The mounting seat 182 has a slideway along the first direction X. The slide bar 181 is slidably arranged in the slideway; one end of the slide bar 181 is connected to the floating member 17. The second connecting member 183 is connected to the other end of the slide bar 181, for example, a fixed connection, and for example, a detachable connection). The second connecting member 183 is connected to the first mobile drive assembly 11, for example, a fixed connection, and for example, a detachable connection). In this way, the first moving part of the first moving driving assembly 11 is connected to the floating member 17 through the second connecting member 183 and the entirety of the sliding rod 181. The sliding rod 181 is arranged in the slideway of the mounting seat 182, which can make the sliding more stable.

[0068] In some embodiments, the material grabbing assembly 1 further includes a limiting mechanism 184, which is disposed on the mounting member. When the first mobile drive assembly 11 drives the capturing portion 15 to move in the reverse direction of the first direction X, and the end of the capturing portion 15 moves into the material return channel 161, the limiting mechanism 184 limits the movement of the first mobile drive assembly 11 in the reverse direction of the first direction X. Since the end of the capturing portion 15 is returned to the material return channel 161, the capturing portion 15 is separated from the first material 8. At this time, the capturing portion 15 does not need to move anymore, that is, the limiting mechanism 184 can limit the reverse movement of the capturing portion 15 in the first direction X.

[0069] In some examples, the limiting mechanism 184 can be a fixing member fixed on the mounting member, and the fixing member can prevent the first mobile drive assembly 11 from driving the capture portion 15 to move in the reverse direction along the first direction X. For example, the fixing member can prevent the second connecting member 183 from moving. For another example, the fixing member can prevent the floating member 17 from moving. In this way, by blocking the floating member 17 and / or the second connecting member 183, it is possible to prevent the first mobile drive assembly 11 from driving the capture portion 15 to move in the reverse direction along the first direction X. In other examples, the limiting mechanism 184 can also be a sensor. When the sensor detects that the first mobile drive assembly 11 drives the capture portion 15 to move in the reverse direction along the first direction X, and the end of the capture portion 15 is located in the material collection channel, the sensor transmits the detection signal to the controller, and the controller controls the first mobile drive assembly 11 to stop extending and retracting. At this time, the sensor and the first mobile drive assembly 11 are both electrically connected to the controller.

[0070] The material grabbing assembly 1 can move between the material taking side and the assembly side to transfer the first material 8 captured by the capturing portion 15 to be assembled with the second material. In this way, the material grabbing assembly 1 can capture the first material 8 on the first material receiving assembly 4, and then move to assemble the first material 8 on the second material, thereby completing the assembly of the first material 8 and the second material.

[0071] In some embodiments, the material grabbing assembly 1 further includes a bracket 192 and a second mobile drive assembly 191, the second mobile drive assembly 191 connects the mounting member and the bracket 192, and the second mobile drive assembly 191 is used to drive the mounting member to move between the material grabbing side and the assembly side.

[0072] The second mobile drive assembly 191 is used to drive the grabbing assembly 1 to move. The second mobile drive assembly 191 is a type of mechanism that can drive the grabbing assembly 1 to move. The second mobile drive assembly 191 may include a first mobile mechanism that moves in the horizontal direction. For example, the horizontal direction may be a single direction of the second direction Y, or a single direction of the third direction, or a two-dimensional direction formed by the second direction Y and the third direction. In some examples, the second mobile drive assembly 191 may also include a second mobile mechanism that moves along the first direction X. Among them, the first mobile mechanism and the second mobile mechanism may be a hydraulic cylinder, a pneumatic cylinder, an electric push rod, a ball screw mechanism, etc.

[0073] The bracket 192 may be a part of the above-mentioned mounting bracket 312. The bracket 192 may also be connected to the mounting bracket 312.

[0074] When the first material receiving component 4 is a dislocated material receiving component, the automatic assembly device further comprises a third moving driving component 6 arranged on the material taking side, the third moving driving component 6 is connected to the first material receiving component 4 to drive the first material receiving component 4 to move between the third position and the fourth position;

[0075] When the first material receiving component 4 is located at the third position, the first material receiving component 4 is arranged corresponding to the material loading component 5. When the first material receiving component 4 is located at the fourth position, the first material receiving component 4 and the material loading component 5 are staggered, and the capturing part 15 captures the first material 8 at the fourth position on the material taking side.

[0076] In this way, the first receiving component 4 can capture the first material 8 in the feeding component 5 once at the third position. Afterwards, the third moving driving component 6 drives the first receiving component 4 to shift, so that the first receiving component 4 captures the first material 8 in the feeding component 5 again. After the first receiving component 4 moves the material twice on the feeding component 5, more first materials 8 can be present in the first receiving component 4. At this time, the number of capturing parts 15 is the same as the number of first materials 8 on the first receiving component 4.

[0077] The third position mentioned above can be understood as the position of the first receiving component 4 when the first receiving component 4 captures the first material 8 from the feeding component 5 for the first time. The fourth position mentioned above can be understood as the position of the first receiving component 4 when the first receiving component 4 captures the first material 8 from the feeding component 5 for the second time.

[0078] The position of the first receiving component 4 when the second receiving hole 42 is aligned with the feeding component 5. The fourth position can be understood as the second receiving hole 42 of the first receiving component 4 is aligned with the feeding component 5, and the second receiving hole 42 is located behind the first material 8.

[0079] For example, see Figure 5 , the first material receiving component 4 has a first material receiving hole 41 and a second material receiving hole 41. When in the third position, the feeding component 5 is connected with the first material receiving hole 41 of the first material receiving component 4, so that the first material 8 in the feeding component 5 can be conveyed to the first material receiving hole 41. Afterwards, the third moving driving component 6 drives the first material receiving component 4 to move, so that the feeding component 5 is misaligned with the first material receiving hole 41 and is aligned and connected with the second material receiving hole 42. At this time, the first material 8 in the feeding component 5 can be conveyed to the second material receiving hole 42. So that the first material 8 exists in both the first material receiving hole 41 and the second material receiving hole 42 of the first material receiving component 4.

[0080] Correspondingly, the third position mentioned above can be understood as the position of the first receiving component 4 when the first receiving hole 41 of the first receiving component 4 captures the first material 8 from the feeding component 5. The fourth position mentioned above can be understood as the position of the first receiving component 4 after the second receiving hole 42 of the first receiving component 4 is aligned with the feeding component 5 and the first material 8 is captured in the second receiving hole 42.

[0081] The number of the first material receiving holes 41 and the first material receiving holes 41 is plural, and the plural first material receiving holes 41 and the plural first material receiving holes 41 are alternately arranged.

[0082] Exemplarily, the angle sensor 193 is arranged corresponding to the third position. For example, the angle sensor 193 can be arranged on the above-mentioned mounting bracket 312. In this way, the angle sensor 193 obtains the angle of the first material 8 on the first material receiving component 4 before the material grabbing component 1 captures the first material 8, so that before the capturing part 15 of the material grabbing component 1 captures the first material 8, the rotating driving mechanism 13 drives the capturing part 15 to rotate to a preset angle. Therefore, after the capturing part 15 captures the first material 8, the first material 8 captured by the capturing part 15 can be directly assembled into the second material to speed up the assembly of the first material 8 and the second material.

[0083] As another example, the angle sensor 193 is disposed on the mounting member, so that the angle sensor 193 can obtain the angle of the first material 8 after the capturing portion 15 captures the first material 8, thereby rotating the first material 8 to a preset angle.

[0084] The working principle of the automatic assembly device is:

[0085] The loading component 5 conveys the first material 8 to the first receiving component 4; the second receiving component 2 receives the second material.

[0086] The second mobile drive assembly 191 drives the material grabbing assembly 1 to move between the material picking side and the assembly side, so that the material grabbing assembly 1 captures the first material 8 on the first material receiving assembly 4 and assembles it on the second material of the second material receiving assembly 2; and the capturing portion 15 is separated from the first material 8. Specifically, the second mobile drive assembly 191 drives the material grabbing assembly 1 to approach the first material receiving assembly 4, so that the capturing portion 15 is aligned with the first material 8 of the first material receiving assembly 4. The first mobile drive assembly 11 drives the capturing portion 15 to pass through the pressing plate 16, so that the capturing portion 15 is inserted into the first material 8. The second mobile drive drives the material grabbing assembly 1 to move, so that the first material 8 on the capturing portion 15 is separated from the first material receiving assembly 4. The second mobile drive assembly 191 moves to the assembly side and assembles the first material 8 on the material grabbing assembly 1 on the second material. The first movable driving component 11 drives the capturing part 15 to exit the pressure plate 16, but the first material 8 is larger in size and cannot pass through the material withdrawal channel 161. The first material 8 is blocked by the surface of the pressure plate 16 away from the first movable driving component 11, thereby separating the capturing part 15 from the first material 8.

[0087] The above description is only an implementation method of the present application, and does not limit the patent protection scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic assembly device, characterized in that: include: Loading components; A first material receiving assembly is arranged on the material feeding assembly and is located at the material taking side; The first material receiving component is used to receive the first material transferred by the material feeding component; A second material receiving assembly is used to support the second material and is located at the assembly side; and A material grabbing assembly, comprising a capturing portion and a rotating drive mechanism; The rotation drive mechanism is connected to the capture portion; The rotary drive mechanism is used to drive the capture portion to rotate so as to adjust the angle of the first material captured by the capture portion; The material grabbing assembly is capable of moving between the material taking side and the assembly side to transfer the first material captured by the capturing portion to be assembled with the second material.

2. The automatic assembly device according to claim 1, characterized in that: The material grabbing assembly also includes: An angle sensor, used for identifying the angle of the first material on the first material receiving component; The controller electrically connects the angle sensor and the rotary drive mechanism to control the rotary drive mechanism to drive the capture part to rotate according to the angle of the first material on the first material receiving component, so as to adjust the angle of the first material captured by the capture part to a preset angle.

3. The automatic assembly device according to claim 1, characterized in that: The material grabbing assembly also includes: A mounting member, on which a first moving driving assembly and a pressing plate are arranged; the first moving driving assembly is rotatably connected to the capturing portion to drive the capturing portion to move between a first position and a second position; When the rotary drive mechanism is located at the first position, the end of the capture portion passes through the pressure plate, and when the rotary drive mechanism is located at the second position, the end of the capture portion is located in the pressure plate or exits the pressure plate.

4. The automatic assembly device according to claim 3, characterized in that: The material grabbing assembly further comprises a telescopic mechanism connecting the capturing part and the rotating drive mechanism, and a floating member connected to the first moving drive assembly, wherein the capturing part or the telescopic mechanism is rotationally connected to the floating member; When the rotation drive mechanism is located at the first position, the telescopic mechanism has a first length, and when the rotation drive mechanism is located at the second position, the telescopic mechanism has a second length, and the first length is greater than the second length.

5. The automatic assembly device according to claim 3, characterized in that: The rotary drive mechanism is retained on the mounting member.

6. The automatic assembly device according to claim 3, characterized in that: The material grabbing assembly also includes: Bracket; The second moving driving component is connected to the mounting member and the bracket, and the second moving driving component is used to drive the mounting member to move between the material taking side and the assembly side.

7. The automatic assembly device according to claim 2, characterized in that: The angle sensor includes a camera.

8. The automatic assembly device according to claim 2, characterized in that: The automatic assembly device further comprises a third moving driving assembly arranged at the material picking side, wherein the third moving driving assembly is connected to the first material receiving assembly to drive the first material receiving assembly to move between a third position and a fourth position; When the first material receiving component is located at the third position, the first material receiving component is arranged corresponding to the material loading component, and when the first material receiving component is located at the fourth position, the first material receiving component and the material loading component are staggered, and the capturing part captures the first material at the fourth position on the material picking side.

9. The automatic assembly device according to claim 8, characterized in that: The angle sensor is arranged corresponding to the third position.

10. The automatic assembly device according to claim 1, characterized in that: The rotation drive mechanism can drive the capture portion to rotate 360 ​​degrees.

11. The automatic assembly device according to claim 1, characterized in that: The capturing portion captures the first material by sucking, grabbing or embedding into the first material and having an interference fit with the first material.

12. The automatic assembly device according to claim 1, characterized in that: The material grabbing assembly comprises a plurality of the capturing parts; and / or The second material receiving assembly includes a conveying mechanism for conveying the second material.

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