Attaching device

Abstract

The utility model provides an attaching device which comprises a mechanical arm, at least two stations are arranged at the execution end of the mechanical arm, and attaching modules are arranged on the at least two stations respectively. The attaching module comprises an attaching air cylinder and a profiling soft rubber head, the driving end of the attaching air cylinder is connected with the profiling soft rubber head, the attaching air cylinder is used for driving the profiling soft rubber head to move, a suction cup is arranged on the profiling soft rubber head, and the suction cup is used for sucking the attaching piece so that the attaching piece can be disassembled and assembled on the attachable product. In the utility model, the attaching module is arranged at the execution end of the manipulator, so that the attaching module can replace manual work to execute the action of dismounting and mounting the attaching piece on the attachable product, and has higher attaching consistency and automation degree, so that the quality of the attachable product is guaranteed; and meanwhile, a profiling soft rubber head is arranged at the adsorption end of the attaching module and can be matched with the surface shape of the attachable product, the attaching and stripping efficiency of the attaching piece is improved, a buffering effect is achieved in the attaching process, and it is effectively guaranteed that the attachable product is not damaged.

Description

Technical Field

[0001] The utility model belongs to the technical field of electronic product component attachment, and in particular relates to an attachment device. Background Art

[0002] With the continuous development of economy and the continuous advancement of science and technology, electronic products are becoming more and more abundant, and the related equipment of electronic products are constantly improving. Among them, the most demanded is the component attachment device for electronic products.

[0003] Currently, most electronic product components are attached manually. Manual attachment has poor consistency and cannot guarantee product quality. At the same time, it often requires the cooperation of several people, which is costly and inefficient. In addition, the product is easily damaged during the attachment process. Manual operations have poor safety, poor practicality, and low automation. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to provide an attaching device, which can replace manual installation and disassembly of attachments on attachable products by setting an attaching module, and has good attachment consistency and high degree of automation.

[0005] In order to solve the above problems, the utility model provides an attaching device, including a manipulator, wherein the execution end of the manipulator is provided with at least two workstations, and at least two of the workstations are respectively provided with attaching modules;

[0006] The attachment module includes an attachment cylinder and a contoured soft rubber head. The driving end of the attachment cylinder is connected to the contoured soft rubber head. The attachment cylinder is used to drive the contoured soft rubber head to move. A suction cup is provided on the contoured soft rubber head. The suction cup is used to adsorb the attachment so as to disassemble and assemble the attachment on the attachable product.

[0007] Optionally, the attachable product is a concave structure, and the surface of the contoured soft rubber head in contact with the attachment protrudes toward the attachable product.

[0008] Optionally, the attachable product is an outwardly convex structure, and the surface of the contoured soft rubber head in contact with the attachment is concave in the opposite direction to the attachable product.

[0009] Optionally, the manipulator has at least six degrees of freedom.

[0010] Optionally, the attachment module further includes an attachment force sensor, and the attachment force sensor is arranged between the driving end of the attachment cylinder and the contoured soft rubber head.

[0011] Optionally, a transfer plate is provided at the driving end of the attached cylinder, the transfer plate is L-shaped, and a plurality of connection holes are provided on the transfer plate.

[0012] Optionally, at least two of the workstations are respectively provided with a leveling module, and the leveling module includes a side thrust cylinder and a leveling roller. The leveling roller is rotatably arranged on the driving end of the side thrust cylinder, and the rotation center of the leveling roller is perpendicular to the driving end of the side thrust cylinder.

[0013] Optionally, the leveling module is arranged to be tilted, and the tilt angle of the leveling module relative to the attaching module is adjustable.

[0014] Optionally, a cylinder speed regulating valve is respectively provided on the attachment cylinder and the side thrust cylinder, and the cylinder speed regulating valve is arranged at the air inlet of the cylinder.

[0015] Optionally, the attaching device further comprises a control module, wherein the control module is electrically connected to the manipulator, the attaching module and the leveling module respectively, and the control module is used to transmit control signals to the manipulator, the attaching module and the leveling module respectively.

[0016] Beneficial Effects

[0017] The attaching device provided in the embodiment of the utility model can replace manual execution of the action of assembling and disassembling the attachment on the attachable product by arranging the attaching module at the execution end of the robot, and has high attachment consistency, so that the quality of the attachable product is guaranteed; at the same time, by arranging the contoured soft rubber head at the adsorption end of the attaching module, it can adapt to the surface shape of the attachable product, improve the attachment and peeling efficiency of the attachment, and play a buffering role in the attaching process, effectively ensuring that the attachable product is not damaged; at the same time, by arranging at least two workstations for installing the attaching module at the execution end of the robot, the robot can complete the assembly and disassembly of at least two attachments in a single action process, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic structural diagram of an attachment device of an optional embodiment of the utility model;

[0019] Figure 2 This is a schematic structural diagram of an attaching module and a leveling module of an optional embodiment of the utility model;

[0020] Figure 3 The figure is a schematic structural diagram of a contoured soft rubber head according to an optional embodiment of the utility model.

[0021] The reference numerals are:

[0022] 1. Robot; 2. Attachment module; 21. Attachment cylinder; 22. Contour soft rubber head; 221. Suction cup; 23. Attachment force sensor; 3. Leveling module; 31. Side push cylinder; 32. Leveling roller; 4. Cylinder speed regulating valve; 5. Adapter plate; 6. Attachment accessories. DETAILED DESCRIPTION

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0024] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0025] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" 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 a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0027] See also Figures 1 to 3As shown, according to an embodiment of the utility model, there is provided an attaching device, including a manipulator 1, the execution end of the manipulator 1 is provided with at least two workstations, and at least two of the workstations are respectively provided with attaching modules 2; the attaching module 2 includes an attaching cylinder 21 and a contoured soft rubber head 22, the driving end of the attaching cylinder 21 is connected to the contoured soft rubber head 22, the attaching cylinder 21 is used to drive the contoured soft rubber head 22 to move, and the contoured soft rubber head 22 is provided with a suction cup 221, and the suction cup 221 is used to adsorb the attachment 6, so as to disassemble and assemble the attachment 6 on the attachable product.

[0028] The attaching device provided in the embodiment of the utility model can replace manual execution of the action of disassembling and assembling the attachment 6 on the attachable product by arranging the attaching module 2 at the execution end of the manipulator 1, and has high attachment consistency, so that the quality of the attachable product is guaranteed; at the same time, by arranging the contoured soft rubber head 22 at the adsorption end of the attaching module 2, it can adapt to the surface shape of the attachable product, improve the attachment and peeling efficiency of the attachment 6, and play a buffering role in the attaching process, effectively ensuring that the attachable product is not damaged; at the same time, by arranging at least two workstations for installing the attaching module 2 at the execution end of the manipulator 1, the manipulator 1 can complete the disassembly and assembly of at least two attachments 6 in a single action process, thereby improving work efficiency.

[0029] Among them, the robot 1 has at least six degrees of freedom, which can achieve precise control of the attachment position and angle, ensuring the accuracy and consistency of attachment. For example, in the process of attaching electronic components, tiny components can be accurately attached to the specified position with extremely small errors; at the same time, it has a larger range of activities and degrees of freedom, and can adapt to attachment objects of different shapes, sizes and positions. For example, when performing attachment operations on the surface of complex-shaped products, it can flexibly adjust the posture to complete the task.

[0030] Specifically, in the embodiment of the utility model, the manipulator 1 is a six-axis manipulator 1, comprising: a base, which is a fixed basic part of the manipulator 1 and provides stable support for the entire manipulator 1; a first axis, which is a rotation axis and is installed on the base, and can realize the overall horizontal rotation movement of the manipulator 1; a second axis; the second axis is a lower arm, which is connected to the first axis and can swing up and down to change the height and pitch angle of the manipulator 1; a third axis, which is an upper arm, which is connected to the second axis to further extend and adjust the length and height of the manipulator 1; a fourth axis, which is a wrist rotation axis, which is located in the wrist part of the manipulator 1 and realizes the horizontal rotation of the wrist; a fifth axis, which is a wrist swing axis, which controls the up and down swing of the wrist; a sixth axis, which is a wrist rotation axis, which enables the wrist to rotate around its own axis; and a connecting rod, which is used to connect each axis to transmit motion and force.

[0031] The manipulator 1 further includes an end flange, specifically a six-axis flange, which is used to firmly mount the end effector on the manipulator 1 and ensure the accuracy of the position and posture of the end effector after installation.

[0032] Among them, in the embodiment of the present application, the attachment module 2 is the end effector of the manipulator 1, that is, the six-axis flange is used to firmly install the attachment module 2 on the manipulator 1.

[0033] Specifically, at least two workstations are provided on the six-axis flange, and at least two workstations are parallel. It can be understood that one workstation can be installed with one attachment module 2, two workstations can be installed with two attachment modules 2, and multiple workstations can be installed with multiple attachment modules 2. By providing at least two workstations on the six-axis flange, the robot 1 can control at least two attachment modules 2 to work in a single action, thereby improving work efficiency.

[0034] When the robot 1 drives the attachment module 2 to move, it can transfer the attachment 6 on the one hand, and can also disassemble and install the attachment 6 on the other hand. For example, when attaching the attachment 6 to the attachable product, the robot 1 absorbs the attachment 6 through the attachment module 2 and then moves it to the attachment position, and presses the attachment 6 down to install it on the attachable product at the attachment position; when peeling the attachment 6 off the attachable product, the robot 1 absorbs the attachment 6 on the attachable product through the attachment module 2 and rises, so that the attachment 6 is separated from the attachable product, and then the separated attachment 6 is moved to the waste collection position.

[0035] Among them, the attachable products can be mobile phone screens, watch screens, external lenses, display screens, etc.

[0036] Among them, the attachment 6 can be a mobile phone screen protective film, a watch screen protective film, an external lens protective film, a display screen protective film, etc.

[0037] Specifically, in the embodiment of the utility model, the attachable product is a mobile phone screen, the attachment 6 is a mobile phone screen protective film, and the attachment module 2 can absorb the mobile phone screen protective film to achieve the purpose of pasting the mobile phone screen protective film on the mobile phone screen and tearing off the mobile phone screen protective film on the mobile phone screen.

[0038] Among them, the attachment module 2 includes an attachment cylinder 21 and a contoured soft rubber head 22. The adsorption end of the contoured soft rubber head 22 is provided with a suction cup 221, and the suction cup 221 can adsorb the attachment 6. The driving end of the attachment cylinder 21 is connected to the contoured soft rubber head 22. The attachment cylinder 21 is used to drive the contoured soft rubber head 22 to move, so as to drive the attachment 6 to move through the suction cup 221.

[0039] Specifically, the attaching cylinder 21 is installed on the six-axis flange, and the attaching cylinder 21 is arranged vertically. When attaching the film, the driving end of the attaching cylinder 21 extends to drive the contoured soft rubber head 22 to move downward, thereby driving the mobile phone screen protective film adsorbed on the suction cup 221 to move downward, so that it is pressed on the mobile phone screen; when tearing the film, the driving end of the attaching cylinder 21 shortens to drive the contoured soft rubber head 22 to move upward, thereby driving the mobile phone screen protective film adsorbed on the suction cup 221 to move upward, so that it is separated from the mobile phone screen.

[0040] Among them, the contoured soft rubber head 22 can be a hollow structure, and a micro joint is connected to the contoured soft rubber head 22, and the micro joint is used to connect the air pipe to realize the smooth delivery of compressed gas from the gas source to the suction cup 221. It can be understood that when the gas is passed into the suction cup 221, if the air in the suction cup 221 is sucked out, a negative pressure will be formed inside the suction cup 221, that is, a pressure state lower than atmospheric pressure. Under the action of atmospheric pressure, the suction cup 221 will tightly adsorb the attachment 6. When the attachment 6 needs to be released, an appropriate amount of gas is passed into the suction cup 221 through the air pipe to restore the pressure in the suction cup 221 to normal, thereby releasing the adsorption.

[0041] The shape of the profiling soft rubber head 22 is adapted to the shape of the attachable product, which can improve the attachment and peeling efficiency of the attachment 6. As an embodiment, the attachable product has a planar morphological feature, and its surface is flat, without obvious concave-convex or three-dimensional structure. In this case, the surface of the profiling soft rubber head 22 in contact with the attachment 6 is a plane, which can adapt to the attachable product with a planar structure; as another embodiment, the attachable product presents a unique curved surface morphology, and its surface has a certain curvature. In this case, the surface of the profiling soft rubber head 22 in contact with the attachment 6 is a curved surface, which can adapt to the attachable product with a curved surface structure.

[0042] Specifically, in the embodiment of the utility model, the attachable product is a curved mobile phone screen, and the attachment module 2 is used to absorb the curved mobile phone screen protective film, and to apply and tear off the film on the back of the curved mobile phone screen. It is understandable that during the production process of the curved mobile phone screen, in order to prevent the back of the curved mobile phone screen from being damaged by dust, magazines, scratches, etc. and to ensure the integrity and quality of the screen, it is necessary to apply a film on the back of the curved mobile phone screen; after the production is completed, in order to more clearly check whether there are defects, flaws or residual foreign matter on the back of the curved mobile phone screen, it is necessary to tear off the protective film on the back of the curved mobile phone screen.

[0043] The contoured soft rubber head 22 is made of a flexible material, such as silicone rubber, polyurethane, natural rubber, etc. In the embodiment of the utility model, the contoured soft rubber head 22 is preferably made of silicone rubber, which can ensure a close fit with the attachable product with a curved surface structure, and has a certain buffering effect, which can ensure that the attachable product is not damaged.

[0044] In some possible embodiments provided by the present invention, when the attaching device is used to perform film attaching and film peeling operations on the back side of a curved mobile phone screen, the back side of the curved mobile phone screen, that is, the attachable product is a concave structure, and the surface of the contoured soft rubber head 22 in contact with the attaching attachment 6 is convex toward the direction of the attachable product, so that the adsorption end of the contoured soft rubber head 22 can fit tightly with the back side of the curved mobile phone screen, thereby improving the efficiency of attaching and peeling off the curved mobile phone screen protective film.

[0045] In addition, the contoured soft rubber head 22 can also be arranged in the following manner:

[0046] When the attaching device is used to apply and remove film on the front side of the curved mobile phone screen, the front side of the curved mobile phone screen, that is, the attachable product is a convex structure, and the surface of the contoured soft rubber head 22 in contact with the attaching attachment 6 is recessed in the opposite direction of the attachable product, so that the adsorption end of the contoured soft rubber head 22 can fit tightly with the front side of the curved mobile phone screen, thereby improving the efficiency of attaching and removing the curved mobile phone screen protective film.

[0047] It should be noted that in the production process of curved mobile phone screens, in addition to the back of the curved mobile phone screen needing to be filmed and torn off, the front of the curved mobile phone screen also needs to be filmed and torn off. At this time, the adsorption end of the contoured soft rubber head 22 is a concave structure to adapt to the convex structure on the front of the curved mobile phone screen.

[0048] In some possible implementations provided by the present invention, see Figure 2 As shown, the attachment module 2 also includes an attachment force sensor 23, which is arranged between the driving end of the attachment cylinder 21 and the contoured soft rubber head 22. The attachment force sensor 23 can be arranged to detect whether the force applied during the attachment process meets the standards and requirements. For example, in the process of applying film to the screen of an electronic product, it is ensured that the attachment force of the film is moderate, neither too loose to cause the film to fall off easily, nor too tight to cause damage to the screen, so as to achieve the best attachment effect.

[0049] The adhesion force sensor 23 may be a capacitive adhesion force sensor, a resistive adhesion force sensor, a piezoelectric adhesion force sensor, a strain gauge adhesion force sensor, or the like.

[0050] Among them, the adhesion force sensor 23 is arranged between the adhesion cylinder 21 and the contoured soft rubber head 22, and is used to detect the adhesion force applied by the adhesion cylinder 21. Specifically, a system including a control module (such as a PLC or a microcontroller) can be built. The adhesion force sensor 23 transmits the detected pressure signal to the controller. The controller controls the action of the adhesion cylinder 21 according to the preset force value range and logic. For example, when the adhesion force reaches the set upper limit value, the control module issues a command to retract the adhesion cylinder 21; when the adhesion force is lower than the set lower limit value, the controller instructs the adhesion cylinder 21 to advance.

[0051] Among them, the top of the profiling software head can be provided with an attachment head flange, and the attachment force sensor 23 is installed on the attachment head flange and connected to the driving end of the attachment cylinder 21.

[0052] In some possible implementations provided by the present invention, see Figure 2 As shown, a transfer plate 5 is provided on the driving end of the attached cylinder 21. The transfer plate 5 is L-shaped and has a plurality of connection holes.

[0053] Among them, a plurality of connection holes are evenly arranged on the adapter plate 5 , and the connection holes can be bolt holes or the like.

[0054] Specifically, the adapter plate 5 is disposed between the attachment cylinder 21 and the attachment force sensor 23. One side of the adapter plate 5 can be connected to the driving end of the attachment cylinder 21 by bolts, and the other side of the adapter plate 5 can be connected to the attachment force sensor 23 by bolts. In the embodiment of the utility model, since a plurality of connection holes are provided on the adapter plate 5, it is convenient to connect the driving end of the attachment cylinder 21 and the attachment force sensor 23, thereby improving the assembly efficiency of the attachment module 2.

[0055] In some possible implementations provided by the present invention, see Figure 1 and Figure 2 As shown, at least two workstations are respectively provided with a leveling module 3, the leveling module 3 includes a side thrust cylinder 31 and a leveling roller 32, the leveling roller 32 is rotatably arranged on the driving end of the side thrust cylinder 31, and the rotation center of the leveling roller 32 is perpendicular to the driving end of the side thrust cylinder 31.

[0056] The flattening module 3 is disposed on one side of the attaching module 2, and is used to flatten the attaching attachment 6 on the attachable product. In the embodiment of the utility model, the flattening module 3 is specifically used to flatten the curved mobile phone screen protective film on the curved mobile phone screen.

[0057] Among them, the leveling module 3 includes a side-thrust cylinder 31 and a leveling roller 32. The axis of the leveling roller 32 is parallel to the attachable product. The driving end of the side-thrust cylinder 31 is connected to the leveling roller 32. The side-thrust cylinder 31 is used to drive the leveling roller 32 to move, so that the leveling roller 32 can approach or move away from the attachable product.

[0058] The leveling roller 32 may be made of a flexible material, such as silicone rubber, polyurethane, natural rubber, etc. In the embodiment of the present invention, the contoured soft rubber head 22 is preferably made of silicone rubber, which has a certain buffering effect and can ensure that the attachable product is not damaged.

[0059] In the embodiment of the utility model, the working principle of the attaching device when attaching the film is as follows: first, the suction cup 221 on the contoured soft rubber head 22 adsorbs the curved mobile phone screen protective film in the protective film storage area, and then the manipulator 1 moves the protective film to the attaching position, and then the contoured soft rubber head 22 is pushed by the attaching cylinder 21 to make it move in the direction close to the curved mobile phone screen until the curved mobile phone screen protective film is pressed on the curved mobile phone screen, and then the suction cup 221 is released from adsorption, and the attaching cylinder 21 retracts, and then the side push cylinder 31 pushes the leveling roller 32 to move in the direction close to the curved mobile phone screen until the leveling roller 32 is connected with the curved mobile phone screen protective film pressed on the curved mobile phone screen, and finally the manipulator 1 drives the leveling roller 32 to roll on the curved mobile phone screen protective film, so that the curved mobile phone screen protective film and the curved mobile phone screen are tightly attached.

[0060] In some possible implementations provided by the present invention, see Figure 1 and Figure 2 As shown, the leveling module 3 is tilted, and the tilt angle of the leveling module 3 relative to the attaching module 2 is adjustable. By setting the leveling module 3 tilted, the manual leveling action can be simulated, so that the leveling roller 32 can better fit the surface of the object to be leveled during operation, especially for a surface with a certain slope or unevenness, the protective film can be more effectively leveled to reduce the generation of wrinkles and bubbles.

[0061] Among them, a mounting plate is fixedly provided on the outer wall of the attached cylinder 21, and a sliding plate is fixedly provided on the outer wall of the side thrust cylinder 31. An arc groove is provided on the sliding plate, and the arc groove is located in the projection area of ​​the mounting plate. A threaded hole is provided on the mounting plate at a position relative to the arc groove, and a bolt can be inserted into the threaded hole.

[0062] Specifically, the arc groove is an adjustment path for the tilt angle of the leveling module 3, and the arc groove is suitable for passing the bolt and making it move in the arc groove. It should be noted that the position of the bolt is fixed, and when the bolt moves in the arc groove, it can represent the movement of the sliding plate relative to the bolt, and the position of the bolt in the arc groove will change.

[0063] Among them, the mounting plate and the bolt are relatively stationary, and the sliding plate moves relative to the bolt, that is, the sliding plate moves relative to the mounting plate, that is, the side thrust cylinder 31 moves relative to the attachment cylinder 21, so as to achieve the purpose of adjusting the tilt angle of the leveling module 3. It can be understood that after the angle of the leveling module 3 is adjusted to the desired position, the bolt passing through the arc groove can be tightened in the threaded hole.

[0064] In some possible implementations provided by the present invention, see Figure 2 As shown, the attached cylinder 21 and the side thrust cylinder 31 are respectively provided with a cylinder speed regulating valve 4, which is arranged at the cylinder air inlet. By arranging the cylinder speed regulating valve 4 at the cylinder air inlet, the air flow velocity and flow rate of the air inlet can be adjusted, so as to realize the precise control of the speed of the cylinder movement.

[0065] Among them, the air inlets of the attaching cylinder 21 and the side-thrusting cylinder 31 are both provided with cylinder speed regulating valves 4, so as to accurately control the movement stroke of the attaching cylinder 21 and the side-thrusting cylinder 31 to avoid damage to the attachable product.

[0066] In some possible embodiments provided by the present invention, the attaching device also includes a control module, which is electrically connected to the manipulator 1, the attaching module 2 and the leveling module 3 respectively, and the control module is used to transmit control signals to the manipulator 1, the attaching module 2 and the leveling module 3 respectively to improve the degree of automation of the attaching device.

[0067] The control module may be a PLC or a microcontroller.

[0068] Among them, the control signal may include a start-stop signal and the like.

[0069] The attaching device provided in the embodiment of the utility model can replace manual execution of the action of disassembling and assembling the attachment 6 on the attachable product by arranging the attaching module 2 at the execution end of the manipulator 1, and has high attachment consistency, so that the quality of the attachable product is guaranteed; at the same time, by arranging the contoured soft rubber head 22 at the adsorption end of the attaching module 2, it can adapt to the surface shape of the attachable product, improve the attachment and peeling efficiency of the attachment 6, and play a buffering role in the attaching process, effectively ensuring that the attachable product is not damaged; at the same time, by arranging at least two workstations for installing the attaching module 2 at the execution end of the manipulator 1, the manipulator 1 can complete the disassembly and assembly of at least two attachments 6 in a single action process, thereby improving work efficiency.

[0070] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. The above are only preferred implementations of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and variations can be made without departing from the technical principles of the present invention, and these improvements and variations should also be regarded as the protection scope of the present invention.

Claims

1. An attachment device, characterized in that: It comprises a robot (1), wherein the execution end of the robot (1) is provided with at least two workstations, and at least two of the workstations are respectively provided with attachment modules (2); The attachment module (2) comprises an attachment cylinder (21) and a contoured soft rubber head (22); a driving end of the attachment cylinder (21) is connected to the contoured soft rubber head (22); the attachment cylinder (21) is used to drive the contoured soft rubber head (22) to move; a suction cup (221) is provided on the contoured soft rubber head (22); the suction cup (221) is used to absorb an attachment (6) so as to detach and assemble the attachment (6) on an attachable product.

2. The attaching device according to claim 1, characterized in that: The attachable product is a concave structure, and the surface of the contoured soft rubber head that contacts the attachment (6) is convex toward the attachable product.

3. The attaching device according to claim 1, characterized in that: The attachable product is an outwardly convex structure, and the surface of the contoured soft rubber head that contacts the attachment (6) is concave in the direction opposite to the direction of the attachable product.

4. The attaching device according to claim 1, characterized in that: The robot (1) has at least six degrees of freedom.

5. The attaching device according to claim 1, characterized in that: The attachment module (2) further comprises an attachment force sensor (23), wherein the attachment force sensor (23) is arranged between the driving end of the attachment cylinder (21) and the contoured soft rubber head (22).

6. The attaching device according to claim 1, characterized in that: The driving end of the attached cylinder (21) is provided with an adapter plate (5), the adapter plate (5) is L-shaped, and a plurality of connection holes are provided on the adapter plate (5).

7. The attaching device according to claim 1, characterized in that: At least two of the workstations are also provided with a leveling module (3), respectively. The leveling module (3) comprises a side thrust cylinder (31) and a leveling roller (32). The leveling roller (32) is rotatably arranged on the driving end of the side thrust cylinder (31), and the rotation center of the leveling roller (32) is perpendicular to the driving end of the side thrust cylinder (31).

8. The attaching device according to claim 7, characterized in that: The leveling module (3) is arranged tilted, and the tilting angle of the leveling module (3) relative to the attaching module (2) is adjustable.

9. The attaching device according to claim 7, characterized in that: The attached cylinder (21) and the side thrust cylinder (31) are respectively provided with a cylinder speed regulating valve (4), and the cylinder speed regulating valve (4) is arranged at the air inlet of the cylinder.

10. The attaching device according to claim 7, characterized in that: The attaching device further comprises a control module, wherein the control module is electrically connected to the manipulator (1), the attaching module (2) and the flattening module (3) respectively, and the control module is used to transmit control signals to the manipulator (1), the attaching module (2) and the flattening module (3) respectively.

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