Assembly device

Abstract

The utility model discloses an assembling device which comprises a workbench, a first driving device, a first driving device and a second driving device. The carrier moves along the first station, the carrier comprises a first assembly station and a second assembly station, the first assembly station is used for placing a first assembly, and the second assembly station is used for placing a second assembly; the first mechanical arm is arranged on the workbench and located above the first station, and the first mechanical arm clamps the first assembly in a detachable mode; the grabbing driving part is arranged on the first manipulator; wherein the first manipulator moves the first assembly to the position over the station of the second assembly, the grabbing driving piece performs the first action, and the first manipulator performs linear interpolation motion, so that one side of the first assembly is connected with one side of the second assembly; and then, the grabbing driving piece performs second action, and the first manipulator performs arc interpolation motion, so that the first assembly is assembled to the second assembly. According to the assembling device, automatic assembling can be achieved, and the assembling success rate and accuracy of the first assembly and the second assembly can be improved.

Description

Technical Field

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

[0002] Connectors are an important part that connects the upper and lower components of a product. Connectors firmly connect the upper and lower components of the product to prevent them from loosening or falling off during use, and play a role in fixing and bearing weight, ensuring the safe use of the product.

[0003] At present, the upper components, lower components and connectors of a product are generally assembled manually during installation. However, in the manual assembly process, if a certain precision requirement needs to be achieved, the entire assembly process is not only cumbersome but also takes a lot of time, thus failing to meet the requirements for high assembly efficiency. Utility Model Content

[0004] The present application provides an assembly device to solve the technical problem that the upper component, the lower component and the connecting parts of a product are generally assembled manually during installation.

[0005] To solve the above technical problems, the present application proposes an assembly device, comprising: a workbench, provided with a first workstation; a carrier moves along the first workstation, the carrier comprising a first component workstation and a second component workstation, the first component workstation is used to place the first component, and the second component workstation is used to place the second component; a first manipulator is arranged on the workbench and located above the first workstation, the first manipulator can releasably clamp the first component; a grabbing drive member is arranged on the first manipulator; wherein the first manipulator moves the first component to just above the second component workstation, the grabbing drive member performs a first action, and the first manipulator performs a linear interpolation motion to connect one side of the first component with one side of the second component; then, the grabbing drive member performs a second action, and the first manipulator performs a circular interpolation motion to assemble the first component to the second component.

[0006] Wherein, the grabbing driving member is a center-discharge cylinder; and / or, the first manipulator includes a four-axis manipulator.

[0007] Wherein, the first manipulator includes a clamping portion, which can releasably clamp the first component; and / or, the first manipulator includes an auxiliary clamping portion, which can releasably clamp the first component.

[0008] The assembly device includes a blocking drive and a lifting drive. When the carrier moves to the first station, the blocking drive blocks the carrier from continuing to move, and the lifting drive lifts the carrier to keep the carrier away from the workbench.

[0009] The assembly device comprises at least one of a feed proximity detection member, a discharge proximity detection member and a blocking proximity detection member, and the feed proximity detection member, the discharge proximity detection member and the blocking proximity detection member are all arranged at the first station.

[0010] Wherein, the assembly device includes a first visual component and a first control component, the first visual component includes a first visual component and a second visual component, the first visual component and the second visual component are both connected to the first control component signal, and the first control component is connected to the first manipulator signal; when the first manipulator clamps the first component, the first visual component is used to determine the first position of the first component and transmit the information of the first position to the first control component; the second visual component is used to determine the second position of the second component and transmit the information of the second position to the first control component, and the first control component is used to determine the assembly position of the first manipulator through the information of the first position and the information of the second position.

[0011] Among them, the workbench is provided with a second workstation, and the first workstation and the second workstation are arranged along the first direction; the assembly device includes a second manipulator, a second visual component and a second control component, the second manipulator is arranged on the workbench and located above the second workstation, the second visual component is connected to the second control component signal, and the second control component is connected to the second manipulator signal.

[0012] Among them, the assembly device includes a conveying component, the conveying component is arranged on the workbench, the conveying component includes an upper speed chain, and the carrier moves along the upper speed chain.

[0013] The first component includes an upper component, the second component includes a lower component and a connecting member, and the connecting member is arranged between the upper component and the lower component.

[0014] Among them, the connecting piece is a clamp.

[0015] The beneficial effect of the present application is as follows: Different from the prior art, the present application provides an assembly device. The assembly device includes a workbench, a carrier, a first manipulator and a grabbing drive. The workbench is provided with a first station. The carrier moves along the first station. The carrier includes a first component station and a second component station. The first component station is used to place the first component. The second component station is used to place the second component. The first manipulator is arranged on the workbench and located above the first station. The first manipulator can releasably clamp the first component. The grabbing drive is arranged on the first manipulator. Among them, the first manipulator moves the first component to the top of the second component station, and the grabbing drive performs a first action. That is, the grabbing drive moves to a tilted state. The first manipulator performs a linear interpolation motion to connect one side of the first component with one side of the second component. Then, the grabbing drive performs a second action. That is, the solenoid valve of the grabbing drive is powered off to make it in a free state. The first manipulator performs a circular interpolation motion to assemble the first component to the second component.

[0016] The workbench, the carrier and the first manipulator work together to realize automatic assembly of the first component and the second component. At the same time, the first action and the second action of the grabbing driving member work together to improve the success rate and accuracy of assembling the first component and the second component. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0018] Figure 1 It is a structural schematic diagram of an embodiment of the assembly device of the present application;

[0019] Figure 2 yes Figure 1 A schematic diagram of the structure shown;

[0020] Figure 3 yes Figure 2 The structural schematic diagram of B shown;

[0021] Figure 4 yes Figure 2 Schematic diagram of the structure of C shown.

[0022] Figure numbers: 10, assembly device; 11, workbench; 111, first workstation; 112, second workstation; 12, carrier; 13, first manipulator; 131, clamping part; 132, auxiliary clamping part; 14, grabbing drive; 15, first visual component; 151, first camera; 152, second camera; 16, second manipulator; 17, second visual component; 18, conveying component; 181, upper speed chain; 21, first component; 211, upper component; 22, second component; 221, lower component; 222, connecting part. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] The assembling device provided by the utility model is described in detail below in conjunction with the embodiments.

[0026] See also Figure 1 , Figure 2 as well as Figure 3 , Figure 1 It is a structural schematic diagram of an embodiment of the assembly device of the present application; Figure 2 yes Figure 1 A schematic diagram of the structure shown; Figure 3 yes Figure 2 The structural diagram of B is shown. The present application provides an assembly device 10. The assembly device 10 includes a workbench 11, a carrier 12, a first manipulator 13 and a grab driving member 14. The workbench 11 is provided with a first station 111. The carrier 12 moves along the first station 111. The carrier 12 includes a first assembly station (not shown in the figure) and a second assembly station (not shown in the figure). The first assembly station is used to place a first assembly 21. The second assembly station is used to place a second assembly 22.

[0027] The first manipulator 13 is disposed on the workbench 11. The first manipulator 13 is located above the first workstation 111. The first manipulator 13 can releasably clamp the first component 21. When the first component 21 is assembled to the second component 22, the first manipulator 13 can clamp the first component 21. When the first component 21 is assembled to the second component 22, the first manipulator 13 releases the clamping of the first component 21.

[0028] The grab driving member 14 is arranged on the first manipulator 13. The grab driving member 14 can be arranged on a flange (not shown in the figure) of the first manipulator 13. The grab driving member 14 can have multiple actions. For example, the grab driving member 14 can move to a tilted state. The solenoid valve of the grab driving member 14 can have a power-off state.

[0029] When the first component 21 and the second component 22 are assembled, the first manipulator 13 moves the first component 21 to the position directly above the second component, and the grabbing driving member 14 performs the first action. That is, the grabbing driving member 14 moves to a tilted state, at which time the first manipulator 13 performs a linear interpolation motion to connect one side of the first component 21 with one side of the second component 22, so that one edge of the first component 21 is firmly attached to one edge of the lower component 221, and the rough positioning between the first component 21 and the second component 22 is achieved. Then, the grabbing driving member 14 performs the second action. That is, the solenoid valve of the grabbing driving member 14 is powered off to make it in a free state, and at this time the first manipulator 13 performs a circular interpolation motion to stably assemble the first component 21 to the second component 22.

[0030] The workbench 11, the carrier 12 and the first manipulator 13 work together to realize the automatic assembly of the first component 21 and the second component 22. At the same time, the first action and the second action of the grabbing driving member 14 work together to improve the success rate and accuracy of the assembly of the first component 21 and the second component 22.

[0031] The first component 21 is placed at the first component station of the carrier 12, and the second component 22 is placed at the second component station of the carrier 12. They are automatically placed at the corresponding positions of the carrier 12 in the previous process of the automation system. In addition, the linear interpolation motion and circular interpolation motion are conventional techniques of those skilled in the art and are not limited here.

[0032] In some embodiments, the grab driving member 14 is a center-leakage cylinder (not shown in the figure). When the center-leakage cylinder performs the first action, the center-leakage cylinder moves to a tilted state. When the center-leakage cylinder performs the second action, the solenoid valve of the center-leakage cylinder loses power, making it in a free state. The working principle of the center-leakage cylinder is conventional technology and is not limited here.

[0033] In some embodiments, the first manipulator 13 includes a four-axis manipulator (not shown in the figure). The four-axis manipulator can realize the rotation of the X-axis, Y-axis, and Z-axis and the translation of the free end along the Z-axis. Among them, the four-axis manipulator can be a SCARA (Selective Compliance Assembly Robot Arm), a four-axis manipulator of a selective compliance assembly robot arm. The above-mentioned four-axis manipulator is a conventional technology of those skilled in the art, and its specific structure is not described here. By including the above-mentioned four-axis manipulator, the movement trajectory of the first manipulator 13 is more convenient and flexible, further improving the success rate and accuracy of the assembly of the first component 21 and the second component 22.

[0034] In some embodiments, the first manipulator 13 includes a clamping portion 131. The clamping portion 131 can releasably clamp the first component 21. When the first component 21 is assembled to the second component 22, the clamping portion 131 can clamp the first component 21. When the first component 21 is assembled to the second component 22, the clamping portion 131 releases the clamping of the first component 21.

[0035] The first manipulator 13 includes an auxiliary clamping portion 132. The auxiliary clamping portion 132 can releasably clamp the first component 21. When the first component 21 is assembled to the second component 22, the auxiliary clamping portion 132 can clamp the first component 21. When the first component 21 is assembled to the second component 22, the auxiliary clamping portion 132 releases the clamping of the first component 21.

[0036] The first manipulator 13 may include a clamping portion 131 and an auxiliary clamping portion 132 . The clamping portion 131 and the auxiliary clamping portion 132 can clamp the first component 21 to move, thereby completing the assembly between the first component 21 and the second component 22 .

[0037] In some embodiments, the assembly device 10 includes a blocking drive member (not shown in the figure) and a lifting drive member (not shown in the figure). When the carrier 12 moves to the first station 111, the blocking drive member blocks the carrier 12 from continuing to move so that the carrier 12 stays at the first station 111. When the carrier 12 is completely at the position of the first station 111, the lifting drive member lifts the carrier 12 to move the carrier 12 away from the workbench 11, thereby realizing the subsequent assembly work between the first component 21 and the second component 22. Through the interaction between the above-mentioned blocking drive member and the lifting drive member, the position of the carrier 12 can be limited, and the success rate and accuracy rate of the assembly between the first component 21 and the second component 22 can be improved. The above-mentioned blocking drive member can be a blocking drive motor (not shown in the figure). The lifting drive member can be a lifting drive motor (not shown in the figure).

[0038] When the first component 21 and the second component 22 in the carrier 12 are assembled and the downstream process allows feeding, the lifting drive member in the first station 111 descends into place, and the carrier 12 lands on the conveying component 18 mentioned later, and the carrier 12 is then transported to the downstream process.

[0039] In some embodiments, the assembly device 10 includes at least one of a feed proximity detection member (not shown in the figure), a discharge proximity detection member (not shown in the figure) and a blocking proximity detection member (not shown in the figure). That is, the assembly device 10 can select one, two or three of the feed proximity detection member, the discharge proximity detection member and the blocking proximity detection member according to actual needs. The feed proximity detection member, the discharge proximity detection member and the blocking proximity detection member are all arranged at the first station 111. Among them, the feed proximity detection member is used to detect whether the carrier 12 has reached the first station 111. The discharge proximity detection member is used to detect whether the carrier 12 is away from the first station 111. The blocking proximity detection member is used to detect whether the carrier 12 has completely reached the first station 111. After the blocking proximity detection member of the first station 111 detects that the carrier 12 has completely reached the first station 111, the lifting drive member raises the carrier 12 to its position, and the carrier 12 is separated from the subsequent mentioned conveying assembly 18; the blocking drive member is lowered to its position.

[0040] The above-mentioned feed proximity detection member can be arranged at the first station 111 near the left end. The discharging proximity detection member can be arranged at the first station 111 near the right end. The blocking-in-place proximity detection member can be arranged at the first station 111 near the right end. Among them, the specific setting positions of the feed proximity detection member, the discharging proximity detection member and the blocking-in-place proximity detection member can be determined according to actual needs and are not limited here. The above-mentioned feed proximity detection member can be a feed proximity switch. The discharging proximity detection member can be a discharging proximity switch. The blocking-in-place proximity detection member can be a blocking-in-place proximity switch. Among them, the detection principles of the feed proximity switch, the discharging proximity switch and the blocking-in-place proximity switch are conventional principles and are not limited here.

[0041] Please continue reading Figures 1 to 3 In some embodiments, the assembly device 10 includes a first visual component 15 and a first control member (not shown in the figure). The first visual component 15 includes a first visual member (not shown in the figure) and a second visual member (not shown in the figure). The first visual member and the second visual member are both connected to the first control member signal, so that the position data obtained by the first visual member and the position data obtained by the second visual member are respectively transmitted to the first control member. The first control member is connected to the first manipulator 13 signal.

[0042] When the first manipulator 13 clamps the first component 21, the first manipulator 13 moves the first component 21 to the first visual component, so that the first visual component is used to determine the first position of the first component 21 and transmit the information of the first position to the first control component. The second visual component is used to determine the second position of the second component 22 and transmit the information of the second position to the first control component. The first control component is used to determine the assembly position of the first manipulator 13 through the information of the first position and the information of the second position, so that the first component 21 is just installed above the second component 22. Therefore, through the interaction of the above-mentioned first visual component, the second visual component and the first control component, the positions of the first component 21 and the second component 22 can be determined respectively, thereby achieving high-precision assembly between the first component 21 and the second component 22, thereby improving the assembly efficiency and qualified rate of the assembly device 10.

[0043] Specifically, the first visual component includes a first camera 151. The first camera 151 is disposed on the workbench 11 and close to the first station 111. The first camera 151 is used to take pictures and position the first component 21. The second visual component includes a second camera 152. The second camera 152 is mounted above the first station 111. The second camera 152 is used to take pictures and position the second component 22. Through the joint action of the first camera 151 and the second camera 152, not only can the first component 21 and the second component 22 be positioned and photographed, thereby further improving the assembly efficiency and accuracy; but also the structure is simple and easy to install and disassemble.

[0044] After the first camera 151 and the second camera 152 identify the Mark point, the offset coordinates obtained by comparing the Mark point with the coordinates of the visually calibrated Mark point are transmitted to the first manipulator 13. The first manipulator 13 performs addition and subtraction operations on the offset coordinate values ​​sent by the first camera 151 and the second camera 152, and then performs precise positioning to complete the assembly of the first component 21 and the second component 22.

[0045] In some embodiments, the workbench 11 is provided with a second station 112. The first station 111 and the second station 112 are arranged along a first direction. The assembly device 10 includes a second manipulator 16, a second visual component 17 and a second control component (not shown in the figure). The second manipulator 16 is arranged on the workbench 11 and is located above the second station 112. The second visual component 17 is connected to the second control component by signal, and the second control component is connected to the second manipulator 16 by signal. The above-mentioned assembly device 10 assembles the first component 21 and the second component 22 simultaneously through the above-mentioned first station 111 and the second station 112, which not only has a fast beat but also has a high assembly efficiency.

[0046] Of course, the above-mentioned workbench 11 can also be provided with a third station (not shown in the figure), a fourth station (not shown in the figure), etc. along the first direction, and the number of stations can be determined according to actual needs and is not limited here. It should be noted that when there are multiple stations on the workbench 11, the mechanical gripper, grabbing drive 14, visual components, control components and other related structures at the station are similar to the first manipulator 13, first visual component 15 and first control components and other related structures at the above-mentioned first station 111, and will not be repeated here. In addition, corresponding blocking drive components, lifting drive components, feed proximity detection components, discharge proximity detection components and blocking proximity detection components can be provided at the corresponding position of each station.

[0047] See also Figure 4 , Figure 4 yes Figure 2 Schematic diagram of the structure of C. Figures 1 to 3 In some embodiments, the assembly device 10 includes a conveying component 18. The conveying component 18 is disposed on the workbench 11. The conveying component 18 includes an upper double-speed chain 181. The carrier 12 can perform a linear flow motion along the upper double-speed chain 181 on the workbench 11. The carrier 12 performs a linear flow motion along the upper double-speed chain 181 on the workbench 11. The upper double-speed chain 181 drives the carrier 12 to move, thereby improving the circulation efficiency of the carrier 12 and thereby improving the assembly efficiency. When the lifting drive member lifts the carrier 12, the carrier 12 is separated from the upper double-speed chain 181 on the workbench 11 up and down.

[0048] Specifically, the conveying component 18 also includes a lower-layer double-speed chain (not shown in the figure). The upper-layer double-speed chain 181 is used for loading and unloading the carrier 12. The lifting structure (not shown in the figure) at the end of the assembly device 10 moves the carrier 12 to the lower-layer double-speed chain, and then the carrier 12 is moved from the lower-layer double-speed chain to the upper-layer double-speed chain 181, so as to achieve the purpose of cyclic loading and unloading and recycling of the carrier 12, which is simple and efficient. Among them, the carrier 12 can be provided with first component stations and second component stations of different models, which can place different first components 21 and second components 22 to meet the assembly operations of different models of products. Among them, the lifting structure can be a lifting motor, etc.

[0049] In some embodiments, the first component 21 includes an upper component 211. The second component 22 includes a lower component 221 and a connector 222. The connector 222 is disposed between the upper component 211 and the lower component 221. The connector 222 is used to connect the upper component 211 and the lower component 221 so that the upper component 211 and the lower component 221 are firmly connected to prevent loosening or falling off during use, play a fixing and load-bearing role, and ensure the safe use of the product. Before entering the assembly device 10, the upper component 211 is located at the first assembly station, and the lower component 221 is located at the second assembly station. At this time, the connector 222 has been assembled to the end of the lower component 221 away from the carrier 12.

[0050] Specifically, the connecting member 222 is a clamp (not shown in the figure). The clamp is an important component for connecting the upper component 211 and the lower component 221 in the product. The assembly device 10 can realize automatic loading and unloading of the upper component 211, the clamp, and the lower component 221, as well as automatic and precise assembly. The clamp can be an iron clamp, a copper clamp, a plastic clamp, etc., which is not limited here.

[0051] In some embodiments, the assembly device 10 includes a programmable controller (not shown in the figure). The programmable controller controls the movement of the first manipulator 13 and the middle-discharge cylinder respectively. The programmable controller is a conventional means for those skilled in the art, and its principle is not described in detail.

[0052] The terms "first", "second", "third" in this application are only used for descriptive purposes and cannot be understood as indicating the quantity of the indicated technical features. Thus, the features defined as "first", "second", "third" can expressly or implicitly include at least one of these features. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back ...) are only used to explain the relative positional relationship, motion conditions, 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 "include" and "have" and any of their variations are intended to cover non-exclusive inclusions. The process, method, system, product or equipment such as including a series of steps or units is not limited to the listed steps or units, 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 equipment.

[0053] The above descriptions are merely embodiments of the present application and are not intended to limit the patent 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 applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An assembly device, characterized in that: include: A workbench is provided with a first workstation; A carrier moves along the first station, the carrier comprising a first component station and a second component station, the first component station is used to place the first component, and the second component station is used to place the second component; A first manipulator, disposed on the workbench and located above the first station, the first manipulator being capable of releasably clamping the first component; A grabbing driving member, arranged on the first manipulator; The first manipulator moves the first component to the position directly above the second component, the grab driving member performs a first action, and the first manipulator performs a linear interpolation motion to connect one side of the first component with one side of the second component; Then, the grabbing drive member performs a second action, and the first manipulator performs a circular interpolation motion to assemble the first component to the second component.

2. The assembly device according to claim 1, characterized in that: The grabbing driving member is a center-discharge cylinder; the first manipulator includes a four-axis manipulator.

3. The assembly device according to claim 1, characterized in that: The first manipulator includes a clamping portion, which can releasably clamp the first component; the first manipulator includes an auxiliary clamping portion, which can releasably clamp the first component.

4. The assembly device according to claim 1, characterized in that: The assembly device comprises a blocking driving member and a lifting driving member. When the carrier moves to the first station, the blocking driving member blocks the carrier from continuing to move, and the lifting driving member lifts the carrier to move the carrier away from the workbench.

5. The assembly device according to claim 4, characterized in that: The assembly device comprises at least one of a feed proximity detection member, a discharge proximity detection member and a blocking-in-place proximity detection member, and the feed proximity detection member, the discharge proximity detection member and the blocking-in-place proximity detection member are all arranged at the first station.

6. The assembly device according to claim 1, characterized in that: The assembly device comprises a first visual component and a first control component, the first visual component comprises a first visual component and a second visual component, the first visual component and the second visual component are both connected to the first control component by signal, and the first control component is connected to the first manipulator by signal; When the first manipulator clamps the first component, the first visual component is used to determine a first position of the first component and transmit information of the first position to the first control component; The second visual component is used to determine the second position of the second component and transmit the information of the second position to the first control component. The first control component is used to determine the assembly position of the first manipulator through the information of the first position and the information of the second position.

7. The assembly device according to any one of claims 1 to 6, characterized in that: The workbench is provided with a second workstation, and the first workstation and the second workstation are arranged in a first direction; The assembly device includes a second manipulator, a second visual component and a second control component. The second manipulator is arranged on the workbench and located above the second workstation. The second visual component is connected to the second control component by signal, and the second control component is connected to the second manipulator by signal.

8. The assembly device according to any one of claims 1 to 6, characterized in that: The assembly device comprises a conveying component, the conveying component is arranged on the workbench, the conveying component comprises an upper double-speed chain, and the carrier moves along the upper double-speed chain.

9. The assembly device according to any one of claims 1 to 6, characterized in that: The first component includes an upper component, and the second component includes a lower component and a connecting member, wherein the connecting member is arranged between the upper component and the lower component.

10. The assembly device according to claim 9, characterized in that The connecting piece is a clamp.

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