Automatic assembly system

Abstract

The utility model provides an automatic assembly system. The automatic assembly system comprises a base plate, a floating device, a clamping device and a screw supply device. The floating device is arranged on the substrate; the clamping device is arranged on the floating device and is used for clamping a workpiece; the screw supply device is arranged on the floating device and used for providing screws and fixing the workpiece to a preset position through the screws provided by the screw supply device.

Description

Technical Field

[0001] The present disclosure relates to an automated assembly system, belonging to the technical field of automated equipment. Background Art

[0002] What is provided in this section is only background information related to the present disclosure, and it is not necessarily prior art.

[0003] With the development of technology, more and more factories produce 3C products through automated equipment. Moreover, the products produced by these automated equipment have high precision and consistency.

[0004] However, due to the special structure of some components in 3C products, the assembly is still completed manually. Taking mobile phones as an example, when installing the side keys of a mobile phone on the middle frame, due to the special structure of the side keys and the requirement for the tightening precision of micro screws, these processes are still implemented manually. Correspondingly, during the process of workers installing these components, they are prone to fatigue, errors, and low efficiency, which cannot meet the requirements of mass production.

[0005] Therefore, it is necessary to design an automated assembly system to solve the above technical problems. Summary of the Utility Model

[0006] To solve one of the above technical problems, the present disclosure provides an automated assembly system.

[0007] According to one aspect of the present disclosure, there is provided an automated assembly system, which includes:

[0008] A substrate;

[0009] A floating device, the floating device is arranged on the substrate;

[0010] A clamping device, the clamping device is arranged on the floating device and is used for clamping a workpiece;

[0011] A screw supply device, the screw supply device is arranged on the floating device and is used for providing screws, and fixing the workpiece at a preset position by the screws provided by the screw supply device.

[0012] For the automated assembly system according to at least one embodiment of the present disclosure, the floating device includes:

[0013] A fixing plate, the fixing plate is arranged on the substrate; wherein, an upper limit member is arranged at the upper end of the fixing plate;

[0014] An intermediate plate, the intermediate plate is slidably arranged on the fixing plate, wherein the intermediate plate can slide along the fixing plate in the up and down direction; and

[0015] A spring is disposed between the intermediate plate and the upper limit member, and the spring is in a pre-compressed state.

[0016] In the automated assembly system according to at least one embodiment of the present disclosure, a lower limit member is provided at the lower end of the fixed plate, and the lower limit member is used to limit the maximum stroke of the intermediate plate in the downward movement direction.

[0017] In the automated assembly system according to at least one embodiment of the present disclosure, a first guide rail is provided on the fixed plate, and a first slider is provided on the intermediate plate. The first slider is slidably disposed on the first guide rail, and the first guide rail is disposed substantially vertically.

[0018] In the automated assembly system according to at least one embodiment of the present disclosure, a base is fixed to the lower end of the intermediate plate.

[0019] In the automated assembly system according to at least one embodiment of the present disclosure, the clamping device includes:

[0020] A clamping drive device disposed on the base;

[0021] A first jaw, one end of which is fixed to the base;

[0022] A second jaw, one end of which is fixed to the clamping drive device. The clamping drive device drives the second jaw to act, so that the other end of the second jaw can cooperate with the other end of the first jaw to realize clamping and releasing of the workpiece.

[0023] In the automated assembly system according to at least one embodiment of the present disclosure, a second guide rail is provided on the base, and the second jaw is slidably disposed on the second guide rail, and the second guide rail is disposed substantially horizontally.

[0024] In the automated assembly system according to at least one embodiment of the present disclosure, the screw feeding device includes:

[0025] A screw feeding drive device disposed on the base;

[0026] A holding member disposed on the screw feeding drive device and driven by the screw feeding drive device to generate a lifting motion;

[0027] A screw channel, one end of which is disposed on the holding member, and the screw channel is in a bent state.

[0028] An automated assembly system according to at least one embodiment of the present disclosure, the other end of the screw channel includes a straight portion, and a through hole is formed in the side wall of the screw channel, and a screwdriver bit is inserted into the interior of the straight portion through the through hole to perform screw tightening operation.

[0029] An automated assembly system according to at least one embodiment of the present disclosure, a force sensor is provided on the substrate, and the substrate is connected to the robotic arm through the force sensor. Description of the Drawings

[0030] The drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, are used to explain the principles of the present disclosure. The drawings are included to provide a further understanding of the present disclosure and are included in this specification and form a part of this specification.

[0031] Figure 1 is a schematic diagram of the usage state of an automated assembly system according to an embodiment of the present disclosure.

[0032] Figure 2 is a schematic structural diagram of an automated assembly system according to an embodiment of the present disclosure.

[0033] Figure 3 is Figure 2 a schematic enlarged view of part A.

[0034] Figure 4 is a schematic structural diagram of an automated assembly system according to an embodiment of the present disclosure from another angle.

[0035] Figure 5 is Figure 4 a schematic enlarged view of part B.

[0036] Figure 6 is a schematic structural diagram of an automated assembly system according to another embodiment of the present disclosure from another angle.

[0037] The specific reference numerals in the drawings are as follows:

[0038] 100 Substrate

[0039] 200 Floating device

[0040] 210 Fixed plate

[0041] 220 Intermediate plate

[0042] 230 Spring

[0043] 240 Upper limit member

[0044] 250 Lower limit member

[0045] 260 Base

[0046] 300 Clamping Device

[0047] 310 Clamping Driving Device

[0048] 320 First Jaw

[0049] 321 Protrusion

[0050] 330 Second Jaw

[0051] 400 Screw Feeding Device

[0052] 410 Screw Feeding Driving Device

[0053] 420 Holder

[0054] 430 Screw Channel

[0055] 431 Through Hole

[0056] 500 Force Sensor Detailed Embodiment

[0057] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and do not limit the present disclosure. Additionally, it should be noted that for the sake of description, only parts related to the present disclosure are shown in the drawings.

[0058] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0059] Unless otherwise specified, the exemplary embodiments / Examples shown will be understood to provide exemplary features of various details of some ways that can implement the technical concept of the present disclosure in practice. Therefore, unless otherwise specified, without departing from the technical concept of the present disclosure, the features of various embodiments / Examples can be additionally combined, separated, interchanged, and / or rearranged.

[0060] In the drawings, the use of hatching and / or shading is generally used to make the boundaries between adjacent components clear. Thus, unless stated otherwise, the presence or absence of hatching or shading does not convey or imply any preference or requirement for the specific material, material properties, dimensions, proportions, commonality between the components shown, and / or any other characteristics, attributes, properties, etc. of the components. In addition, in the drawings, for clarity and / or descriptive purposes, the dimensions and relative dimensions of components may be exaggerated. When the exemplary embodiments can be implemented differently, the specific process orders may be performed in an order different from that described. For example, two consecutively described processes may be performed substantially simultaneously or in an order opposite to the described order. In addition, the same reference numerals denote the same components.

[0061] When a component is referred to as being "on" or "above" another component, "connected to" or "coupled to" another component, the component can be directly on the other component, directly connected to or directly coupled to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to" or "directly coupled to" another component, there are no intermediate components. For this reason, the term "connected" can refer to physical connection, electrical connection, etc., and with or without intermediate components.

[0062] For descriptive purposes, the present disclosure may use spatial relative terms such as "under", "below", "beneath", "lower", "above", "upper", "on", "over", "higher", and "side (e.g., as in "sidewall")" to describe the relationship of one component to another (other) component as shown in the drawings. In addition to the orientation depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as being "under" or "beneath" another component or feature will then be positioned "above" the other component or feature. Thus, the exemplary term "under" can encompass both the "above" and "below" orientations. In addition, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations), and accordingly, the spatial relative descriptors used herein are to be interpreted.

[0063] The terms used herein are for the purpose of describing particular embodiments and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are also intended to include the plural forms. In addition, when the terms "comprising" and / or "including" and their variants are used in this specification, it is stated that there are the stated features, integers, steps, operations, components, assemblies, and / or groups thereof, but it does not exclude the presence or addition of one or more other features, integers, steps, operations, components, assemblies, and / or groups thereof. It should also be noted that, as used herein, the terms "substantially", "about", and other similar terms are used as approximate terms and not as terms of degree, so they are used to explain the inherent deviations of measured values, calculated values, and / or provided values that would be recognized by a person of ordinary skill in the art.

[0064] Figure 1 is a schematic diagram of the usage state of an automated assembly system according to an embodiment of the present disclosure. Figure 2 is a schematic structural diagram of an automated assembly system according to an embodiment of the present disclosure. Figure 3 is Figure 2 a schematic enlarged view of part A of Figure 4 is a schematic structural diagram of an automated assembly system from another angle according to an embodiment of the present disclosure. Figure 5 is Figure 4 a schematic enlarged view of part B of Figure 6 is a schematic structural diagram of an automated assembly system from another angle according to another embodiment of the present disclosure.

[0065] As Figures 1 to 6 shown, the automated assembly system of the present disclosure may include components such as a substrate 100, a floating device 200, a clamping device 300, and a screw supply device 400.

[0066] The substrate 100 may be formed into a plate-like structure and be disposed substantially vertically. Correspondingly, a force sensor 500 may be disposed on one side surface of the substrate 100. Thus, the substrate 100 is connected to components such as a robotic arm through the force sensor 500. Thus, the workpiece assembly system of the present disclosure can be driven by a robotic arm or the like, so as to move to a preset position to realize the picking, placing, and installation of the workpiece. In a preferred embodiment, the force sensor 500 may be a six-axis force sensor, so as to be able to detect the multi-directional force on the substrate 100 through the six-axis force sensor. Of course, the force sensor 500 of the present disclosure may also be implemented by a pressure sensor.

[0067] The floating device 200 is disposed on the substrate 100; thus, by the arrangement of the floating device 200, a certain floating effect can be achieved for the clamping device 300 and the screw supply device 400, and correspondingly, products such as workpieces will not be damaged.

[0068] In a specific embodiment, the floating device 200 may include components such as a fixing plate 210, an intermediate plate 220, and a spring 230.

[0069] In the present disclosure, the fixing plate 210 is disposed on the substrate 100; among them, an upper limiting member 240 is provided at the upper end of the fixing plate 210; a lower limiting member 250 is provided at the lower end of the fixing plate 210.

[0070] A first guide rail is provided on the fixing plate 210, and among them, the first guide rail is disposed substantially vertically. A first slider is provided on the intermediate plate 220, and the first slider is slidably disposed on the first guide rail. Thus, the intermediate plate 220 can be slidably disposed on the fixing plate 210, and the intermediate plate 220 can slide in the up and down directions along the fixing plate 210.

[0071] The spring 230 is disposed between the intermediate plate 220 and the upper limiting member 240, and among them, the spring 230 is in a pre-compressed state. Thus, by the arrangement of the spring 230, the floating device of the present disclosure has a certain floating effect.

[0072] The lower limiting member 250 is used to limit the maximum stroke of the intermediate plate 220 in the downward movement direction. Thus, the intermediate plate 220 will not detach from the fixing plate 210.

[0073] More preferably, when the slider is located at the position in contact with the lower limiting member 250, the spring 230 is used to apply a thrust force to the intermediate plate 220. In other words, the spring 230 is always in a pre-compressed state.

[0074] In the present disclosure, a base 260 is fixed to the lower end of the intermediate plate 220, so that the clamping device 300 and the screw supply device 400 are installed through the base 260.

[0075] Refer again to Figure 1 , the clamping device 300 of the present disclosure is disposed on the floating device 200 and is used for clamping a workpiece; specifically, the clamping device 300 of the present disclosure is disposed on the base 260 of the floating device 200. The screw supply device 400 is disposed on the floating device 200 and is used for providing screws, and the workpiece is fixed at a preset position by the screws provided by the screw supply device 400. Specifically, the screw supply device 400 of the present disclosure is also disposed on the base 260 of the floating device 200.

[0076] The clamping device 300 includes components such as a clamping driving device 310, a first clamping jaw 320, and a second clamping jaw 330.

[0077] The clamping drive device 310 is arranged on the base 260; specifically, the clamping drive device 310 can be a finger cylinder; of course, the clamping drive device 310 of the present disclosure can also be selected as a slide cylinder or other components.

[0078] One end of the first jaw 320 is fixed to the base 260; one end of the second jaw 330 is fixed to the clamping drive device 310, and the clamping drive device 310 drives the second jaw 330 to act, so that the other end of the second jaw 330 can cooperate with the other end of the first jaw 320 to realize the clamping and releasing of the workpiece.

[0079] A second guide rail is arranged on the base 260, and the second jaw 330 is slidably arranged on the second guide rail, wherein the second guide rail is arranged substantially horizontally.

[0080] That is to say, the clamping and releasing of the workpiece can be realized by the second jaw 330 moving horizontally.

[0081] Such as Figure 5 As shown, a gas flow channel is further arranged on the first jaw 320 of the present disclosure, so that by applying negative pressure to the gas flow channel, at least part of the workpiece can be adsorbed by the first jaw 320. For example, when the workpiece is a mobile phone side key, the mobile phone side key includes a flexible cable, and the first jaw 320 can adsorb the flexible cable of the mobile phone side key, so that the workpiece can be accurately placed on the middle frame of the mobile phone.

[0082] A groove is formed in the first jaw 320 at a position corresponding to the through hole of the mounting screw of the workpiece. Thus, the other end of the screw channel 430 of the screw supply device 400 can be located in the groove to accurately supply the screw to the vicinity of the through hole of the mounting screw of the workpiece.

[0083] In the present disclosure, a protrusion 321 is formed on the first jaw 320, and a recess for accommodating the workpiece can be formed between the protrusion 321 and the second jaw 330. Correspondingly, at least part of the workpiece can be located in the recess, thereby realizing the clamping of the workpiece.

[0084] That is to say, the automatic assembly system of the present disclosure greatly reduces the operation required space through the arrangement of the fixed first jaw 320 (close to the product side) and the moving second jaw 330 (far from the product side). As long as the jaws can be put in, automatic operation can be realized.

[0085] Such as Figure 5 And Figure 6 As shown, the screw supply device 400 of the present disclosure includes components such as a screw supply drive device 410, a holder 420, and a screw channel 430.

[0086] The screw driving device 410 is arranged on the base 260; that is to say, the position between the screw driving device 410 of the present disclosure and the base 260 will not change. The holding member 420 is arranged on the screw driving device 410 and is driven by the screw driving device 410 to generate a lifting motion; one end of the screw channel 430 is arranged on the holding member 420, wherein the screw channel 430 is in a bent state. Thus, through the specially designed screw channel 430, screws can be stably provided to the through holes for installing screws of the workpiece.

[0087] More preferably, the upper end of the screw channel 430 has an upward opening, so as to receive screws through the opening at the upper end of the screw channel 430; correspondingly, the lower end of the screw channel 430 has a downward opening. Thus, the screws entering the screw channel 430 can move to the vicinity of the lower end opening of the screw channel 430 under the action of gravity, that is, move to the vicinity of the through hole for installing screws of the workpiece (or the through hole for the screw to pass through).

[0088] More preferably, the other end of the screw channel 430 includes a straight portion, and a through hole 431 is formed in the side wall of the screw channel 430. The screw bit is inserted into the inside of the straight portion through the through hole 431 to perform the screw tightening operation.

[0089] In a preferred embodiment, the straight portion of the screw channel 430 may not be perpendicular to the horizontal plane. For example, the straight portion of the screw channel 430 and the horizontal plane have an included angle with an acute angle value (the acute angle value is preferably about 87.5°) to achieve position avoidance of the automatic assembly system of the present disclosure.

[0090] The screw channel 430 of the present disclosure can be provided with one or multiple, so as to provide screws to multiple screw holes to meet the installation operation of the workpiece.

[0091] In addition, when the positions of some screw holes are conducive to installing screws, the screws can be directly installed by the way of the electric screwdriver adsorbing the screws, so that the installation operation of the workpiece can be quickly realized.

[0092] Thus, the automatic assembly system of the present disclosure can be arranged on the robotic arm (six-axis robot) as the end, and cooperate with the vision module and the electric screwdriver to complete the screw locking operation. Specifically, when the automatic assembly system of the present disclosure is working, first control the automatic assembly system to move to the material taking position; then adsorb the product through the adsorption function of the first jaw and clamp the product through the cooperation of the first jaw and the second jaw.

[0093] The robotic arm transports the workpiece to the lower vision photographing position and takes a photo for positioning through the lower vision system so that the robotic arm corrects the deviation; then the robotic arm transports the workpiece to the assembly position and takes a photo for positioning through the upper vision system to confirm that the assembly position is correct.

[0094] Actuate the screw driving device to drive the screw channel to descend; supply screws to the entrance of the screw channel by an electric screwdriver and blow air; the screws are provided to the vicinity of the workpiece through the screw channel, control the electric screwdriver to pass through the through hole of the screw channel, and lock the first screw.

[0095] The electric screwdriver picks up the second screw, and at the same time, actuate the screw driving device to drive the screw channel to ascend.

[0096] The robotic arm drives the automated assembly system to move to another position for screwing, the electric screwdriver supplies the second screw to the second screw locking position and performs locking; the electric screwdriver returns to the initial position, stops providing vacuum to the first jaw, and moreover, control the clamping driving device 310 to actuate so that the first jaw and the second jaw release the workpiece.

[0097] The robotic arm returns to the initial position, and the upper vision system reinspects the two screws that have been locked; thus, the assembly operation of one workpiece is completed.

[0098] Based on the structure of the automated assembly system of the present disclosure, compared with manual assembly operations, the automated assembly system of the present disclosure has at least the following advantages:

[0099] 1. Reduce labor costs: The automated assembly system of the present disclosure can complete the high-precision and high-intensity locking work that originally required manual labor, thereby reducing the dependence on manual labor and lowering labor costs. Moreover, compared with manual operations, robot operations are simpler, and employees only need to undergo short-term training to operate, reducing training costs.

[0100] 2. Improve product quality: The automated assembly system of the present disclosure accurately positions through a vision camera and cooperates with an intelligent tightening module to ensure the accurate locking of screws, reducing locking errors caused by human factors; during the robot locking process, each screw is detected to prevent product quality problems caused by missing screws or poor locking, thereby reducing the defective rate of products.

[0101] 3. Good flexibility: Through the design of the screw special-shaped material channel and the special-shaped jaw, it is easier and more stable to install and lock miniature screws.

[0102] 4. High safety: Automated operations reduce human intervention and lower safety risks during the production process.

[0103] In the description of this specification, the description with reference to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0104] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0105] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present disclosure and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications can be made on the basis of the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. An automated assembly system, characterized in that: include: substrate; A floating device, wherein the floating device is disposed on the substrate; A clamping device, the clamping device is arranged on the floating device and is used to clamp a workpiece; A screw supply device is arranged on the floating device and is used to provide screws. The workpiece is fixed at a preset position by the screws provided by the screw supply device.

2. The automated assembly system according to claim 1, characterized in that: The floating device comprises: A fixing plate, the fixing plate being arranged on the base plate; wherein an upper limit member is arranged on the upper end of the fixing plate; an intermediate plate slidably disposed on the fixed plate, wherein the intermediate plate can slide in an up-and-down direction along the fixed plate; and A spring is arranged between the middle plate and the upper limit member, wherein the spring is in a pre-compressed state.

3. The automated assembly system according to claim 2, characterized in that: A lower limit piece is arranged at the lower end of the fixing plate, and the lower limit piece is used to limit the maximum travel of the middle plate in the downward movement direction.

4. The automated assembly system according to claim 2, characterized in that: The fixed plate is provided with a first guide rail, the middle plate is provided with a first slider, and the first slider is slidably provided on the first guide rail, wherein the first guide rail is substantially vertically provided.

5. The automated assembly system according to claim 2, characterized in that: A base is fixed to the lower end of the middle plate.

6. The automated assembly system according to claim 5, characterized in that: The clamping device comprises: A clamping drive device, wherein the clamping drive device is arranged on the base; a first clamping jaw, one end of which is fixed to the base; The second clamping jaw has one end fixed to the clamping drive device, and the clamping drive device drives the second clamping jaw to move, so that the other end of the second clamping jaw can cooperate with the other end of the first clamping jaw to achieve clamping and releasing of the workpiece.

7. The automated assembly system according to claim 6, characterized in that: A second guide rail is arranged on the base, and the second clamping jaw is slidably arranged on the second guide rail, wherein the second guide rail is arranged substantially horizontally.

8. The automated assembly system according to claim 5, characterized in that: The screw supply device comprises: A screw supply driving device, wherein the screw supply driving device is arranged on the base; A retaining member, the retaining member is arranged on the screw driving device and driven by the screw driving device to generate a lifting motion; A screw channel, one end of which is arranged on the retaining member, wherein the screw channel is in a bent state.

9. The automated assembly system according to claim 8, characterized in that: The other end of the screw channel includes a straight portion, and a through hole is opened on the side wall of the screw channel. The screwdriver head is inserted into the interior of the straight portion through the through hole to realize the screwing operation.

10. The automated assembly system according to claim 1, characterized in that: A force sensor is arranged on the substrate, and the substrate is connected to the robot arm via the force sensor.

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