Assembly equipment
By designing automated assembly equipment, using the module to automatically transfer, position and lock the module, the problems of low manual assembly efficiency and insufficient accuracy are solved, and an efficient and accurate assembly process is achieved, reducing the risk of small parts damage.
Patent Information
- Application Number
- CN202323355764.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-08
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2033-12-08
AI Technical Summary
When assembling small pieces with high precision requirements, manual assembly is time-consuming and labor-intensive, inefficient, and easy to damage small pieces due to insufficient control of force or assembly deviation.
Design an assembly equipment, including a base body, a feeding module, a positioning module, a first load transfer module, a second load transfer module and a locking module, and automatically transferring, positioning and locking module are improved by automatically transferring, positioning and locking module. Assembly efficiency and accuracy reduce the risk of small parts damage.
It improves assembly efficiency and accuracy, reduces the risk of small parts damage, and ensures efficient and safe assembly of workpieces through precise positioning of positioning modules and precise connection of locking modules.
Smart Images
Figure CN222289272U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of precision assembly technology, and in particular relates to an assembly device. Background Art
[0002] At present, when assembling small parts with high precision requirements, if manual work is used, it requires a high level of proficiency, and it is still time-consuming, labor-intensive, and inefficient. Moreover, even if the manual proficiency is high, there may be situations where the force cannot be controlled properly or assembly deviations occur, resulting in damage to the precision small parts. Utility Model Content
[0003] In view of the above situation, it is necessary to provide an assembly device that can improve assembly efficiency and reduce the risk of damage to small parts.
[0004] An embodiment of the present application provides an assembly device for assembling and connecting a first workpiece and a second workpiece, comprising a base, a loading module, a positioning module, a first transfer module, a second transfer module and a locking module arranged on the base. The loading module is used to carry the first workpiece and the second workpiece, the first transfer module is used to transfer the first workpiece to the positioning module, the second transfer module is used to transfer the second workpiece to the positioning module, and the second workpiece is arranged and connected with the first workpiece along a first direction. The locking module is configured to lock and connect the first workpiece and the second workpiece after alignment and connection.
[0005] In the above-mentioned assembly equipment, each module automatically transfers, positions and locks the first workpiece and the second workpiece, which is beneficial to improving assembly efficiency. The first workpiece and the second workpiece are positioned by the positioning module so that the first workpiece and the second workpiece are aligned and connected, which is beneficial to improving the docking accuracy of the first workpiece and the second workpiece and reducing the risk of damage to the first workpiece or the second workpiece.
[0006] In some embodiments of the present application, the positioning module also includes a first positioning component and a second positioning component, the first positioning component is configured to adjust the position and / or angle of the first workpiece, and the second positioning component is configured to adjust the position and / or angle of the second workpiece relative to the first workpiece, so that the second workpiece and the first workpiece are aligned and connected.
[0007] In some embodiments of the present application, the positioning assembly includes a reference block, the reference block is provided with a groove and a positioning portion, the groove and the positioning portion are arranged along the second direction, the groove is used to place the first workpiece, and the second direction is perpendicular to the first direction. The first positioning assembly includes a first moving member, a first limit block and a first elastic member, the first moving member is configured to be movable along the second direction, the first limit block is movably connected to the first moving member, the first moving member can drive the first limit block to move along the second direction, the first elastic member connects the first limit block and the first moving member, and the first limit block is configured to press the first workpiece against the positioning portion along the second direction. The positioning portion can be used as a reference positioning of the first workpiece, and when the first limit block presses the first workpiece against the positioning portion, the precise positioning of the first workpiece is completed, which is conducive to improving the positioning accuracy and efficiency, and the first elastic member can play the role of elastic buffering through elastic deformation, reducing the risk of the first limit block damaging the first workpiece.
[0008] In some embodiments of the present application, the first limit block is provided with a first limit part, the second positioning assembly includes a positioning block, a second moving member, a second limit block and a second elastic member, the positioning block is configured to be movable along the second direction and connected to the first limit part, the first limit part is configured to limit the movement of the positioning block along the second direction, the second moving member is configured to be movable in a direction opposite to the second direction, the second limit block is movably connected to the second moving member, the second moving member can drive the second limit block to move in a direction opposite to the second direction, the second elastic member connects the second limit block and the second moving member, and the second limit block is configured to press the second workpiece against the positioning block in a direction opposite to the second direction. The first limit part of the first limit block can limit the movement of the positioning block along the second direction by connecting the positioning block, so that the positioning block is used as a reference positioning of the second workpiece, and the second limit block presses the second workpiece against the positioning block when the second limit block presses the second workpiece against the positioning block, so that the second workpiece is accurately positioned, so that the second workpiece and the first workpiece are aligned and connected, which is conducive to improving the positioning accuracy and efficiency, and the second elastic member can play the role of elastic buffering through elastic deformation, reducing the risk of the second limit block damaging the second workpiece.
[0009] In some embodiments of the present application, the first transfer module includes a first gripping assembly and a first visual system. The first gripping assembly includes a first pressure block and a first clamping claw, the first pressure block is configured to be movable along a first direction and to press against the first workpiece along the first direction, and the first clamping claw is configured to grip the first workpiece pressed against by the first pressure block. The first gripping assembly presses against the first workpiece through the first pressure block, which helps to position the first workpiece in a correct gripped position, improves the accuracy of the first clamping claw in gripping the first workpiece, and reduces the risk of the first clamping claw damaging the first workpiece. The first visual system is configured to obtain the position of the first workpiece and adjust the position of the first gripping assembly relative to the first workpiece, which helps to improve the accuracy of the first gripping assembly in gripping the first workpiece and further reduce the risk of the first clamping claw damaging the first workpiece.
[0010] In some embodiments of the present application, the second transfer module includes a second gripping assembly, the second gripping assembly includes a third moving member, a second pressure block, a third elastic member, and a second claw, the third moving member is configured to be movable along a first direction, the second pressure block is movably connected to the third moving member, the third moving member can drive the second pressure block to move along the first direction, the second pressure block is configured to press against the second workpiece along the first direction, the third elastic member connects the second pressure block and the third moving member, and the second claw is configured to grasp the second workpiece pressed against by the second pressure block. The second gripping assembly presses against the second workpiece through the second pressure block, which is conducive to adjusting the position and angle of the second workpiece, so that the second workpiece is located in the correct grasped position, improving the accuracy of the second claw grasping the second workpiece, reducing the risk of the second claw damaging the second workpiece, and the elastic deformation of the third elastic member is conducive to reducing the risk of the second pressure block damaging the second workpiece.
[0011] In some embodiments of the present application, the second transfer module also includes a second visual system, which is configured to obtain the position of the second workpiece and adjust the position of the second grasping component relative to the second workpiece, which is beneficial to improving the accuracy of the second grasping component in grasping the second workpiece and further reducing the risk of the second clamping claw damaging the second workpiece.
[0012] In some embodiments of the present application, the locking module includes a screw feeding assembly, an intelligent electric screwdriver, and a third visual system. The screw feeding assembly is arranged on the base, and the screw feeding assembly is used to provide screws; the intelligent electric screwdriver is configured to obtain screws from the screw feeding assembly, and use the screws to lock and connect the first workpiece and the second workpiece located in the positioning module, which is beneficial to improve the locking efficiency. The third visual system is configured to obtain the position of the first workpiece and the second workpiece on the positioning module, and adjust the position of the intelligent electric screwdriver relative to the first workpiece and the second workpiece, which is beneficial to improve the accuracy of the intelligent electric screwdriver locking the first workpiece and the second workpiece, and reduce the risk of damaging the first workpiece or the second workpiece due to locking deviation.
[0013] In some embodiments of the present application, the loading module includes a first loading assembly and a second loading assembly. The first loading assembly includes two first loading trays, the first loading trays are used to carry the first workpiece, the two first loading trays are arranged along the first direction, and the two first loading trays are configured to alternately load materials for the first transfer module to grab the first workpiece. The second loading assembly includes two second loading trays, the second loading trays are used to carry the second workpiece, the two second loading trays are arranged along the first direction, and the two second loading trays are configured to alternately load materials for the second transfer module to grab the second workpiece. The loading module can reduce the impact of replacement of loading trays on assembly efficiency by alternating loading of the two first loading trays and alternating loading of the two second loading trays.
[0014] In some embodiments of the present application, the first loading tray and the second loading tray are both configured to move in the second direction or in the direction opposite to the second direction, the first loading assembly and the second loading assembly are arranged along the third direction, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and the second direction. The first transfer module includes a first grabbing assembly, the second transfer module includes a second grabbing assembly, and the first grabbing assembly and the second grabbing assembly are both configured to move in the third direction or in the direction opposite to the third direction. The first transfer module and the second transfer module are both arranged with the locking module in the second direction, and the positioning module is configured to move in the second direction or in the direction opposite to the second direction. The assembly equipment also includes a blanking module and a third transfer module, the blanking module is arranged on the base, and the blanking module is used to carry the workpiece assembly formed by connecting the first workpiece and the second workpiece to each other; the third transfer module is configured to move in the third direction or in the direction opposite to the third direction to transfer the workpiece assembly on the positioning module to the blanking module. The layout of the modules in the above-mentioned assembly equipment is conducive to the mutual cooperation between the modules, improving the assembly efficiency of the assembly equipment, and also helping to improve the space utilization of the assembly equipment. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural schematic diagram of an assembly device in an embodiment of the present application.
[0016] Figure 2 It is a view of an assembly device along a first direction in one embodiment of the present application.
[0017] Figure 3 It is a schematic structural diagram of the first feeding assembly in one embodiment of the present application.
[0018] Figure 4 It is a structural schematic diagram of the first transfer module in an embodiment of the present application.
[0019] Figure 5 It is a structural schematic diagram of the second transfer module in an embodiment of the present application.
[0020] Figure 6 It is a structural schematic diagram of the connection between the fifth drive assembly and the first grabbing assembly in one embodiment of the present application.
[0021] Figure 7 It is a view of a structure in which a fifth driving assembly and a first grabbing assembly are connected along a second direction in one embodiment of the present application.
[0022] Figure 8 yes Figure 7 A partial enlarged view of area A.
[0023] Fig. 9It is a schematic diagram of the structure of a second gripping assembly clamping a second workpiece in one embodiment of the present application.
[0024] Fig.10 yes Fig. 9 The structure is shown in a cross-sectional view along a direction perpendicular to the second direction.
[0025] Fig.11 It is a structural schematic diagram of a positioning module and a seventh driving assembly connected in one embodiment of the present application.
[0026] Fig.12 It is a structural schematic diagram of a positioning module in an embodiment of the present application.
[0027] Fig.13 yes Fig.12 A partial enlarged view of area B.
[0028] Fig.14 yes Fig.12 Cross-sectional view of section XIV-XIV.
[0029] Fig.15 It is a cross-sectional view of the positioning module when the first workpiece is placed in the groove in one embodiment of the present application.
[0030] Fig.16 It is a cross-sectional view of a positioning module when a second workpiece is positioned and connected to a first workpiece in one embodiment of the present application.
[0031] Fig.17 It is a view of the first loading assembly along the second direction in one embodiment of the present application.
[0032] Fig.18 It is a partial structural schematic diagram of the first feeding assembly in one embodiment of the present application.
[0033] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION
[0034] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.
[0035] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centrally arranged element at the same time. When an element is considered to be "set" on another element, it may be directly set on the other element or there may be a centrally arranged element at the same time. In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. The term "and / or" used herein includes any and all combinations of one or more related listed items.
[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.
[0037] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.
[0038] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment 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. The various embodiments in the present application may be combined with each other in the absence of conflict.
[0039] It should be noted that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary and should not constitute any limitation to the present application.
[0040] An embodiment of the present application provides an assembly device for assembling and connecting a first workpiece and a second workpiece, comprising a base, a loading module, a positioning module, a first transfer module, a second transfer module and a locking module arranged on the base. The loading module is used to carry the first workpiece and the second workpiece, the first transfer module is used to transfer the first workpiece to the positioning module, the second transfer module is used to transfer the second workpiece to the positioning module, and the second workpiece is arranged and connected with the first workpiece along a first direction. The locking module is configured to lock and connect the first workpiece and the second workpiece after alignment and connection.
[0041] In the above-mentioned assembly equipment, each module automatically transfers, positions and locks the first workpiece and the second workpiece, which is beneficial to improving assembly efficiency. The first workpiece and the second workpiece are positioned by the positioning module so that the first workpiece and the second workpiece are aligned and connected, which is beneficial to improving the docking accuracy of the first workpiece and the second workpiece and reducing the risk of damage to the first workpiece or the second workpiece.
[0042] The embodiments of the present application are further described below in conjunction with the accompanying drawings.
[0043] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides an assembly device 100 for assembling and connecting a first workpiece 200 and a second workpiece 300, including a base 10, a loading module 20 arranged on the base 10, a positioning module 50, a first transfer module 30, a second transfer module 40 and a locking module 60.
[0044] The loading module 20 is used to carry the first workpiece 200 and the second workpiece 300, the first transfer module 30 is used to transfer the first workpiece 200 to the positioning module 50, and the second transfer module 40 is used to transfer the second workpiece 300 to the positioning module 50, and arrange and connect the second workpiece 300 and the first workpiece 200 along the first direction X. The locking module 60 is configured to lock and connect the first workpiece 200 and the second workpiece 300 after alignment.
[0045] In the above-mentioned assembly equipment 100, each module automatically transfers, positions and locks the first workpiece 200 and the second workpiece 300, which is beneficial to improving the assembly efficiency. The first workpiece 200 and the second workpiece 300 are positioned by the positioning module 50 so that the first workpiece 200 and the second workpiece 300 are aligned and connected, which is beneficial to improving the docking accuracy of the first workpiece 200 and the second workpiece 300 and reducing the risk of damage to the first workpiece 200 or the second workpiece 300.
[0046] In one embodiment, the first direction X is vertically downward.
[0047] Please refer to Figure 3In one embodiment, the loading module 20 includes a first loading tray 211 and a second loading tray 221 . The first loading tray 211 is used to carry the first workpiece 200 , and the second loading tray 221 is used to carry the second workpiece 300 .
[0048] In one embodiment, the loading module 20 further includes a first driving assembly 23, the first driving assembly 23 includes a first driving member 231 and a first linear pair 232, the first driving member 231 is connected to the first linear pair 232, the first linear pair 232 is connected to the first loading tray 211, the first driving member 231 can drive the first loading tray 211 to move along the second direction Y through the first linear pair 232, and move to the loading position, so that the first transfer module 30 can grab the first workpiece 200. The second direction Y is perpendicular to the first direction X.
[0049] In one embodiment, the first linear pair 232 is a ball screw pair, which is beneficial to improve the accuracy and stability of the movement of the first loading tray 211. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0050] In one embodiment, the loading module 20 also includes a second driving component 24, the second driving component 24 includes a second driving member 241 and a second linear pair 242, the second driving member 241 is connected to the second linear pair 242, the second linear pair 242 is connected to the second loading tray 221, and the second driving member 241 can drive the second loading tray 221 to move along the second direction Y through the second linear pair 242, and move to the loading position for the second transfer module 40 to grab the second workpiece 300.
[0051] In one embodiment, the second linear pair 242 is a ball screw pair, which is beneficial to improve the accuracy and stability of the movement of the second loading tray 221. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0052] like Figure 4 and Figure 5 As shown, in one embodiment, the first transfer module 30 includes a first grabbing assembly 31 and a third driving assembly 32, the third driving assembly 32 includes a third driving member 321 and a third linear pair 322, the third driving member 321 is connected to the third linear pair 322, the third linear pair 322 is connected to the first grabbing assembly 31, and the third driving member 321 can drive the first grabbing assembly 31 to move along the third direction Z through the third linear pair 322, so as to grab the first workpiece 200 from the loading position of the first loading tray 211, and transfer the first workpiece 200 to the positioning module 50. The third direction Z is perpendicular to the first direction X and the second direction Y at the same time.
[0053] In one embodiment, the third linear pair 322 is a ball screw pair, which is beneficial to improve the movement accuracy and stability of the first grabbing assembly 31. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0054] In one embodiment, the second transfer module 40 includes a second grabbing component 41 and a fourth drive component 42, the fourth drive component 42 includes a fourth drive member 421 and a fourth linear pair 422, the fourth drive member 421 is connected to the fourth linear pair 422, the fourth linear pair 422 is connected to the second grabbing component 41, and the fourth drive member 421 can drive the second grabbing component 41 to move along the third direction Z through the fourth linear pair 422 to grab the second workpiece 300 from the loading position of the second loading tray 221, and transfer the second workpiece 300 to the positioning module 50.
[0055] In one embodiment, the fourth linear pair 422 is a ball screw pair, which is beneficial to improve the movement accuracy and stability of the second grab assembly 41. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0056] like Figure 4 , Figures 6 to 8 As shown, in one embodiment, the first transfer module 30 also includes a fifth drive component 33, and the fifth drive component 33 connects the third linear pair 322 and the first grabbing component 31. The third linear pair 322 drives the first grabbing component 31 to move along the third direction Z through the fifth drive component 33. The fifth drive component 33 can drive the first grabbing component 31 to move along the first direction X, so that the first grabbing component 31 moves close to the first loading tray 211, so as to facilitate the first grabbing component 31 to grab the first workpiece 200 from the first loading tray 211.
[0057] In one embodiment, the fifth driving component 33 includes a fifth driving member 331 and a fifth linear pair 332 . The fifth linear pair 332 connects the fifth driving member 331 and the first grabbing component 31 . The fifth driving member 331 drives the first grabbing component 31 to move along the first direction X through the fifth linear pair 332 .
[0058] In one embodiment, the fifth linear pair 332 is a ball screw pair, which is beneficial to improve the movement accuracy and stability of the first grab assembly 31. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0059] In one embodiment, the first grabbing assembly 31 includes a first pressing block 311 and a first clamping claw 312. The first pressing block 311 is configured to be movable along the first direction X and to press against the first workpiece 200 located on the first loading tray 211 along the first direction X. The first clamping claw 312 is configured to grab the first workpiece 200 pressed against by the first pressing block 311. The first grabbing assembly 31 presses against the first workpiece 200 through the first pressing block 311, which is conducive to adjusting the position and angle of the first workpiece 200, so that the first workpiece 200 is located at the correct grasping position and angle, improving the accuracy of the first clamping claw 312 grasping the first workpiece 200, and reducing the risk of the first clamping claw 312 damaging the first workpiece 200.
[0060] In one embodiment, the first transfer module 30 includes four first grabbing components 31, and the four first grabbing components 31 can synchronously grab different first workpieces 200, which is beneficial to improve assembly efficiency. In one embodiment, the four first grabbing components 31 are arranged along the third direction Z.
[0061] In one embodiment, the first transfer module 30 also includes a first vision system 313, which is connected to the first grasping component 31. The first vision system 313 is configured to obtain the position of the first workpiece 200 on the first loading tray 211 and adjust the position of the first grasping component 31 relative to the first workpiece 200, which is beneficial to improve the accuracy of the first grasping component 31 in grasping the first workpiece 200 and further reduce the risk of the first clamping claw 312 damaging the first workpiece 200.
[0062] In one embodiment, the first visual system 313 includes a charge coupled device (CCD) camera.
[0063] like Figure 5 , Fig. 9 and Fig.10 As shown, in one embodiment, the second grabbing assembly 41 includes a sixth driving member 411, a third moving member 412, a second pressing block 413, a third elastic member 414 and a second claw 415. The sixth driving member 411 is connected to the third moving member 412, and can drive the third moving member 412 to move along the first direction X. The second pressing block 413 is movably connected to the third moving member 412, and the third moving member 412 can drive the second pressing block 413 to move along the first direction X, and the third elastic member 414 connects the second pressing block 413 and the third moving member 412. The second pressing block 413 is configured to elastically press against the second workpiece 300 located on the second loading tray 221 along the first direction X, and the second claw 415 is configured to capture the second workpiece 300 pressed against by the second pressing block 413.
[0064] The second gripping assembly 41 presses against the second workpiece 300 through the second pressure block 413, which is helpful to adjust the position and angle of the second workpiece 300, so that the second workpiece 300 is located in the correct gripping position, improves the accuracy of the second clamping claw 415 in gripping the second workpiece 300, reduces the risk of the second clamping claw 415 damaging the second workpiece 300, and the elastic deformation of the third elastic member 414 is helpful to reduce the risk of the second pressure block 413 damaging the second workpiece 300.
[0065] In one embodiment, the second transfer module 40 includes four second grabbing components 41, and the four second grabbing components 41 can synchronously grab different second workpieces 300, which is beneficial to improve assembly efficiency. In one embodiment, the four second grabbing components 41 are arranged along the third direction Z.
[0066] In one embodiment, the second transfer module 40 also includes a second vision system 416, which is connected to the second grasping component 41. The second vision system 416 is configured to obtain the position of the second workpiece 300 on the second loading tray 221 and adjust the position of the second grasping component 41 relative to the second workpiece 300, which is beneficial to improve the accuracy of the second grasping component 41 in grasping the second workpiece 300 and further reduce the risk of the second clamping claw 415 damaging the second workpiece 300.
[0067] In one embodiment, the second vision system 416 includes a CCD camera.
[0068] like Figure 1 and Figure 2 , Figures 11 to 13 As shown, in one embodiment, the assembly device 100 further includes a seventh drive assembly 70, which is disposed on the base 10 and connected to the positioning module 50. The seventh drive assembly 70 can drive the positioning module 50 to move along the second direction Y. The positioning module 50 can move to a first position along the second direction Y, and receive the first workpiece 200 transferred by the first transfer module 30 at the first position, and can also move to a second position, and receive the second workpiece 300 transferred by the second transfer module 40 at the second position, and can also move to a third position, and at the third position, the locking module 60 can lock and connect the second workpiece 300 on the positioning module 50 and the first workpiece 200.
[0069] In one embodiment, the seventh driving assembly 70 includes a seventh driving member 71 and a seventh linear pair 72 . The seventh linear pair 72 connects the seventh driving member 71 and the positioning module 50 . The seventh driving member 71 can drive the positioning module 50 to move along the second direction Y through the seventh linear pair 72 .
[0070] In one embodiment, the seventh linear pair 72 is a ball screw pair, which is beneficial to improve the movement accuracy and stability of the positioning module 50. The structure and connection method of the ball screw pair are conventional settings for those skilled in the art, and will not be described in detail in this application.
[0071] like Figures 12 to 16 As shown, in one embodiment, the positioning module 50 includes a reference block 51 , and the reference block 51 is provided with a groove 511 . The first transfer module 30 transfers the first workpiece 200 captured from the first loading tray 211 to the groove 511 .
[0072] The positioning module 50 also includes a first positioning component 52 and a second positioning component 53. The first positioning component 52 is configured to adjust the position and / or angle of the first workpiece 200 in the groove 511, and the second positioning component 53 is configured to adjust the position and / or angle of the second workpiece 300 relative to the first workpiece 200, so that the second workpiece 300 and the first workpiece 200 are aligned and connected, which is beneficial to improving the docking accuracy of the first workpiece 200 and the second workpiece 300 and reducing the risk of damage to the first workpiece 200 and the second workpiece 300.
[0073] In one embodiment, the reference block 51 is provided with a positioning portion 512 , and the groove 511 and the positioning portion 512 are arranged along the second direction Y. When the first workpiece 200 is located in the groove 511 , the positioning portion 512 can limit the movement of the first workpiece 200 along the second direction Y.
[0074] The first positioning assembly 52 includes an eighth driving member 521, a first moving member 522 and a first limiting block 523. The eighth driving member 521 is connected to the first moving member 522 and can drive the first moving member 522 to move along the second direction Y. The first limiting block 523 is movably connected to the first moving member 522. The first moving member 522 can drive the first limiting block 523 to move along the second direction Y, so that the first limiting block 523 presses the first workpiece 200 against the positioning portion 512 along the second direction Y. The positioning portion 512 can be used as a reference positioning of the first workpiece 200. When the first limiting block 523 presses the first workpiece 200 against the positioning portion 512, the precise positioning of the first workpiece 200 is completed, which is conducive to improving positioning accuracy and efficiency.
[0075] In one embodiment, the first positioning assembly 52 also includes a first elastic member 524, which connects the first limit block 523 and the first movable member 522. The first elastic member 524 can play a role of elastic buffer through elastic deformation, thereby reducing the risk of the first limit block 523 damaging the first workpiece 200.
[0076] In one embodiment, the reference block 51 is further provided with a second limit portion 513, and the first limit block 523 and the second limit portion 513 are arranged along the second direction Y. The second limit portion 513 can limit the movement of the first limit block 523 along the second direction Y by connecting to the first limit block 523, thereby reducing the risk of the first limit block 523 crushing the first workpiece 200 due to excessive movement.
[0077] In one embodiment, the first limiting block 523 has a first limiting portion 5231 , and the second positioning assembly 53 includes a ninth driving member 531 , a tenth driving member 532 , a positioning block 533 , a second moving member 534 and a second limiting block 535 .
[0078] The ninth driving member 531 is connected to the positioning block 533 and can drive the positioning block 533 to move along the second direction Y. In the process of the positioning block 533 moving along the second direction Y, the first limiting portion 5231 can limit the movement of the positioning block 533 along the second direction Y by contacting and connecting the positioning block 533, so that the positioning block 533 is positioned according to the first limiting block 523. The positioning block 533 can be used as a reference positioning of the second workpiece 300, and the reference positioning is associated with the positioning of the first workpiece 200 by the first limiting block 523.
[0079] The tenth driving member 532 is connected to the second moving member 534 , and can drive the second moving member 534 to move in a direction opposite to the second direction Y.
[0080] The second limit block 535 is movably connected to the second movable member 534, and the second movable member 534 can drive the second limit block 535 to move in a direction opposite to the second direction Y, and make the second limit block 535 press the second workpiece 300 against the positioning block 533 in a direction opposite to the second direction Y, thereby completing the precise positioning of the second workpiece 300, and making the second workpiece 300 and the first workpiece 200 aligned and connected, which is beneficial to improving the positioning accuracy and efficiency.
[0081] In one embodiment, the second positioning assembly 53 also includes a second elastic member 536, which connects the second limit block 535 and the second movable member 534. The second elastic member 536 can play a role of elastic buffer through elastic deformation, thereby reducing the risk of the second limit block 535 damaging the second workpiece 300.
[0082] like Figure 1 and Figure 2As shown, in one embodiment, the locking module 60 includes a screw feeding assembly (not shown) and an intelligent electric screwdriver 61. The screw feeding assembly is provided on the base 10, and the screw feeding assembly is used to provide screws. The intelligent electric screwdriver 61 is configured to obtain screws from the screw feeding assembly, and use the screws to lock and connect the first workpiece 200 and the second workpiece 300 on the positioning module 50 located at the third position, so that the first workpiece 200 and the second workpiece 300 form a workpiece assembly, which is conducive to improving the locking efficiency.
[0083] In one embodiment, the smart screwdriver 61 can detect whether it has correctly adsorbed the screws through the vacuum level of its head, which is beneficial to improving the working efficiency of the locking module 60.
[0084] In one embodiment, the smart electric screwdriver 61 can monitor the torque of its head, which is helpful to control the torque of the locking screw, reduce the impact of too small torque on the connection reliability between the first workpiece 200 and the second workpiece 300, and reduce the risk of damage to the first workpiece 200 and the second workpiece 300 due to excessive torque.
[0085] In one embodiment, the locking module 60 also includes a third vision system 62, which can obtain the positions of the first workpiece 200 and the second workpiece 300 on the positioning module 50, and adjust the position of the smart electric screwdriver 61 relative to the first workpiece 200 and the second workpiece 300, which is beneficial to improve the accuracy of the smart electric screwdriver 61 in locking the first workpiece 200 and the second workpiece 300, and reduce the risk of damaging the first workpiece 200 or the second workpiece 300 due to locking deviation.
[0086] In one embodiment, the third vision system 62 includes a CCD camera.
[0087] In one embodiment, the assembly equipment 100 also includes a third transfer module 80 and a blanking module 90. The third transfer module 80 is configured to obtain the workpiece assembly from the positioning module 50 and transfer the workpiece assembly to the blanking tray of the blanking module 90. The staff can transfer and move the blanking tray away from the workpiece assembly equipment from the blanking module 90.
[0088] In one embodiment, the third transfer module 80 includes an eighth drive component 81 and a third grabbing component 82 . The eighth drive component 81 is connected to the third grabbing component 82 and can drive the third grabbing component 82 to move along the third direction Z to transfer the workpiece component on the positioning module 50 .
[0089] In one embodiment, the structure and operation mode of the eighth driving component 81 are the same as those of the first driving component 23 , and will not be described in detail in this application.
[0090] In one embodiment, the third grabbing assembly 82 grabs the second workpiece 300 in the workpiece assembly to realize grabbing and transporting the workpiece assembly. In one embodiment, the structure and operation mode of the third grabbing assembly 82 are the same as those of the second grabbing assembly 41, and this application will not repeat them.
[0091] like Figure 3 , Fig.17 and Fig.18 As shown, in one embodiment, the loading module 20 includes a first loading assembly 21, and the first loading assembly 21 includes two first loading trays 211, and the two first loading trays 211 are arranged along the first direction X, and the two first loading trays 211 are configured to alternately load materials for the first transfer module 30 to grab the first workpiece 200. The loading module 20 alternately loads materials through the two first loading trays 211, which is conducive to reducing the impact on assembly efficiency due to replacement of the first loading trays 211.
[0092] In one embodiment, the first drive component 23 movably connects the two first loading trays 211. The first drive component 23 moves the first loading tray 211 connected to the first drive component 23 to the loading position by connecting to different first loading trays 211. At this time, the first loading tray 211 not connected to the first drive component 23 can be replaced to achieve alternating loading.
[0093] In one embodiment, of the two first loading trays 211 , one is located at the upper layer and the other is located at the lower layer. The first loading tray 211 located at the upper layer is defined as the first upper layer tray 212 , and the first loading tray 211 located at the lower layer is defined as the first lower layer tray 213 .
[0094] The first driving assembly 23 includes an eleventh driving member 233 and a twelfth driving member 234 . The first linear pair 232 connects the eleventh driving member 233 and the twelfth driving member 234 and can drive the eleventh driving member 233 and the twelfth driving member 234 to move along the second direction Y.
[0095] The eleventh driving member 233 includes a first telescopic rod 2331, and the eleventh driving member 233 can drive the first telescopic rod 2331 to perform telescopic movement along the first direction X or the opposite direction of the first direction X. The first upper tray 212 is provided with a first connecting hole 2121, and the end of the first lower tray 213 along the second direction Y is provided with a notch 2131, and the first telescopic rod 2331 can be inserted into the first connecting hole 2121 through the notch 2131 to drive the first upper tray 212 to move. It can be understood that the notch 2131 can be used as an avoidance space to enable the first telescopic rod 2331 to pass through the first lower tray 213 and avoid the first lower tray 213 from interfering with the first telescopic rod 2331.
[0096] In one embodiment, the twelfth driving member 234 includes a second telescopic rod 2341, and the twelfth driving member 234 can drive the second telescopic rod 2341 to perform telescopic movement along the first direction X or the opposite direction of the first direction X. The first lower tray 213 is provided with a second connecting hole (not shown), and the second telescopic rod 2341 can be inserted into the second connecting hole by extending to drive the first lower tray 213 to move.
[0097] By flexibly connecting the first upper tray 212 with the eleventh driving member 233 and flexibly connecting the first lower tray 213 with the twelfth driving member 234, the first loading assembly 21 can realize alternating feeding of the two first loading trays 211, thereby reducing the impact on assembly efficiency caused by replacing the first loading tray 211.
[0098] In one embodiment, the loading module 20 includes a second loading assembly 22, and the second loading assembly 22 includes two second loading trays 221, which are arranged along the first direction X, and the two second loading trays 221 are configured to alternately load materials for the second transfer module 40 to grab the second workpiece 300. The second loading assembly 22 can reduce the impact of replacing the loading tray on the assembly efficiency by alternately loading materials through the two second loading trays 221.
[0099] In one embodiment, the mechanism principle of the two second loading trays 221 to achieve alternating loading is the same as the mechanism principle of the two first loading trays 211 to achieve alternating loading, and will not be described in detail in this application.
[0100] like Figure 1 and Figure 2 As shown, in one embodiment, the assembly device 100 includes two positioning modules 50 and two locking modules 60 . The two positioning modules 50 and the two locking modules 60 can be operated synchronously, which is beneficial to improving the assembly efficiency of the assembly device 100 .
[0101] In one embodiment, two positioning modules 50 are arranged along the third direction Z, and two locking modules 60 are arranged along the third direction Z, and one locking module 60 corresponds to one positioning module 50 .
[0102] To summarize, in the assembly equipment 100 of the present application, each module automatically transfers, positions and locks the first workpiece 200 and the second workpiece 300, which is beneficial to improving the assembly efficiency, and the first workpiece 200 and the second workpiece 300 are positioned by the positioning module 50 so that the first workpiece 200 and the second workpiece 300 are aligned and connected, which is beneficial to improving the docking accuracy of the first workpiece 200 and the second workpiece 300 and reducing the risk of damage to the first workpiece 200 or the second workpiece 300.
[0103] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the disclosure scope of the present application.
Claims
1. An assembly device for assembling and connecting a first workpiece and a second workpiece, characterized in that: include: matrix; A loading module, the loading module is arranged on the base, and the loading module is used to carry the first workpiece and the second workpiece; A positioning module, arranged on the base; A first transfer module, disposed on the base, and used for transferring the first workpiece to the positioning module; A second transfer module, disposed on the base, the second transfer module is used to transfer the second workpiece to the positioning module, and arrange and connect the second workpiece with the first workpiece along a first direction; A locking module is provided on the base, and is configured to lock and connect the first workpiece and the second workpiece after alignment.
2. The assembly device according to claim 1, characterized in that The positioning module also includes a first positioning component and a second positioning component. The first positioning component is configured to adjust the position and / or angle of the first workpiece, and the second positioning component is configured to adjust the position and / or angle of the second workpiece relative to the first workpiece so that the second workpiece and the first workpiece are aligned and connected.
3. The assembly device according to claim 2, characterized in that: The positioning module comprises a reference block, the reference block is provided with a groove and a positioning portion, the groove and the positioning portion are arranged along a second direction, the groove is used to place the first workpiece, and the second direction is perpendicular to the first direction; The first positioning component comprises: a first moving member, the first moving member being configured to be movable along the second direction; a first limiting block, wherein the first limiting block is movably connected to the first moving member, and the first moving member can drive the first limiting block to move along the second direction; a first elastic member, wherein the first elastic member connects the first limiting block and the first moving member; The first limiting block is configured to press the first workpiece against the positioning portion along the second direction.
4. The assembly device according to claim 3, characterized in that: The first limiting block is provided with a first limiting portion; The second positioning component comprises: a positioning block, the positioning block being configured to be movable along the second direction and connected to the first limiting portion, the first limiting portion being configured to limit the movement of the positioning block along the second direction; a second moving member, the second moving member being configured to be movable in a direction opposite to the second direction; a second limiting block, wherein the second limiting block is movably connected to the second moving member, and the second moving member can drive the second limiting block to move in a direction opposite to the second direction; a second elastic member, the second elastic member connecting the second limiting block and the second moving member; The second limiting block is configured to press the second workpiece against the positioning block along a direction opposite to the second direction.
5. The assembly device according to claim 1, characterized in that: The first transfer module includes a first gripping component and a first visual system, wherein the first visual system is configured to obtain a position of the first workpiece and adjust a position of the first gripping component relative to the first workpiece; The first grabbing component comprises: a first pressing block, the first pressing block being configured to be movable along the first direction and to press against the first workpiece along the first direction; A first clamping jaw is configured to grasp a first workpiece pressed against by the first pressing block.
6. The assembly device according to claim 1, characterized in that: The second transfer module includes a second grabbing component, and the second grabbing component includes: a third moving member, the third moving member being configured to be movable along the first direction; a second pressing block, the second pressing block being movably connected to the third moving member, the third moving member being capable of driving the second pressing block to move along the first direction, and the second pressing block being configured to press against the second workpiece along the first direction; a third elastic member, the third elastic member connecting the second pressing block and the third moving member; The second clamping jaw is configured to grasp a second workpiece pressed against by the second pressing block.
7. The assembly device according to claim 6, characterized in that The second transfer module also includes a second vision system, which is configured to obtain the position of the second workpiece and adjust the position of the second grabbing component relative to the second workpiece.
8. The assembly device according to claim 1, characterized in that The locking module comprises: A screw feeding assembly, arranged on the base, and used for providing screws; An intelligent electric screwdriver, the intelligent electric screwdriver being configured to obtain screws from the screw feeding assembly, and use the screws to lock and connect the first workpiece and the second workpiece located at the positioning module; The third visual system is configured to obtain the positions of the first workpiece and the second workpiece on the positioning module, and adjust the position of the intelligent electric screwdriver relative to the first workpiece and the second workpiece.
9. The assembly device according to claim 1, characterized in that: The feeding module comprises: A first loading assembly, wherein the first loading assembly comprises two first loading trays, the first loading trays are used to carry the first workpiece, the two first loading trays are arranged along the first direction, and the two first loading trays are configured to load materials alternately, so that the first transfer module can grab the first workpiece; The second loading assembly includes two second loading trays, the second loading trays are used to carry the second workpiece, the two second loading trays are arranged along the first direction, and the two second loading trays are configured to load alternately for the second transfer module to grab the second workpiece.
10. The assembly device according to claim 9, characterized in that The first loading tray and the second loading tray are both configured to move along a second direction or a direction opposite to the second direction, the first loading assembly and the second loading assembly are arranged along a third direction, the second direction is perpendicular to the first direction, and the third direction is perpendicular to the first direction and the second direction; The first transfer module includes a first grabbing component, the second transfer module includes a second grabbing component, and the first grabbing component and the second grabbing component are both configured to move along the third direction or in a direction opposite to the third direction; The first transfer module and the second transfer module are both arranged along the second direction with the locking module, and the positioning module is configured to move along the second direction or in a direction opposite to the second direction; The assembly equipment also includes: A blanking module, the blanking module is arranged on the base, and the blanking module is used to carry a workpiece assembly formed by connecting the first workpiece and the second workpiece; The third transfer module is configured to move along the third direction or in a direction opposite to the third direction to transfer the workpiece assembly on the positioning module to the unloading module.