Integrated assembly detection equipment and sequencer part assembly mechanism

Abstract

The utility model provides integrated assembly detection equipment, which is used for assembling a to-be-mounted part on a loading main body, and comprises an objective table for bearing the to-be-mounted part and the loading main body, and further comprises an assembly component suspended relative to the objective table, and the assembly component is configured to be adjustable in torque and capable of grabbing the to-be-mounted part in an adsorption manner, the to-be-mounted part is assembled on the loading main body; the visual camera is connected with the assembling assembly and faces the objective table, and the visual camera is configured to obtain position information and assembling postures of the to-be-installed part and the loading body by shooting optical images; the multi-axis driving kit is coupled with the assembling assembly and the visual camera, the multi-axis driving kit is movably arranged relative to the objective table, and the assembling assembly and the visual camera are configured to be adjustable at least in the direction parallel to and perpendicular to the plane where the objective table is located through the positions of the multi-axis driving kit relative to the to-be-installed part and the loading body on the objective table. The sequencer part assembly mechanism comprises the integrated assembly detection equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical instrument manufacturing, and in particular to an integrated assembly detection device and a sequencer component assembly mechanism comprising the same. BACKGROUND

[0002] Needles are a kind of medical instruments with high frequency of use, which can be subdivided into various specific products corresponding to different application scenarios, such as reagent needles and membrane-breaking needles. During the assembly process, the reagent needles and membrane-breaking needles are assembled in large quantities, and the material thereof can be titanium alloy material, which makes it impossible to be quickly assembled by magnetic adsorption. Moreover, the torque specifications corresponding to different specifications of needles differ, and repeated manual inspection and execution are required, which is prone to cause quality abnormalities and finger injuries of operators. At the same time, the detection of quality problems also needs to be performed separately. In summary, the existing needle assembly process faces problems such as low production efficiency, needle skewing, and torque specifications not meeting requirements. How to solve the above problems is a consideration for those skilled in the art. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the problems in the prior art, the embodiments of the present application provide an integrated assembly detection device.

[0004] The embodiments of the present application provide an integrated assembly detection device for assembling a to-be-installed part on a loading main body, which comprises:

[0005] A carrier for carrying the to-be-installed part and the loading main body;

[0006] An assembly component suspended relative to the carrier, the assembly component being configured to be adjustable in torque and capable of grasping the to-be-installed part in an adsorbed manner, and assembling the to-be-installed part on the loading main body;

[0007] A vision camera connected with the assembly component and disposed towards the carrier, the vision camera being configured to acquire position information and assembly posture of the to-be-installed part and the loading main body by shooting optical images;

[0008] A multi-axis driving kit coupled with the assembly component and the vision camera, the multi-axis driving kit being movably disposed relative to the carrier, the assembly component and the vision camera being configured to be adjustable relative to positions of the to-be-installed part and the loading main body on the carrier at least in a direction parallel to a plane on which the carrier is disposed and a direction perpendicular to the plane on which the carrier is disposed via the multi-axis driving kit.

[0009] In an embodiment, the integrated assembly detection device further comprises a jig platform detachably connected to the stage and configured to load the component to be mounted and the loading body, the assembly component and the vision camera are configured to be disposed along the Z direction towards the jig platform.

[0010] The jig platform comprises a jig fixing seat detachably connected to the stage, a material box and a clamp detachably connected to the jig fixing seat respectively, the material box is used to load the component to be mounted, and the clamp is used to load the loading body.

[0011] In an embodiment, the integrated assembly detection device further comprises a synchronous fixing plate, the assembly component and the vision camera are connected to the multi-axis driving kit through the synchronous fixing plate, and the assembly component and the vision camera are configured to move synchronously.

[0012] In an embodiment, the assembly component comprises an electric screwdriver, a screw head, a positioning seat and a sliding sleeve, the electric screwdriver and the positioning seat are disposed along the Z direction and are connected to the synchronous fixing plate respectively, the screw head is drivingly connected to the electric screwdriver and is configured to be able to rotate driven by the electric screwdriver, the sliding sleeve is connected to the positioning seat, the screw head passes through the sliding sleeve along the Z direction and is configured to be rotationally matched with the sliding sleeve, and the screw head is disposed along the Z direction away from the suction nozzle of the electric screwdriver towards the stage for grabbing the component to be mounted to assemble it on the loading body.

[0013] In an embodiment, the vision camera comprises a camera body and a ring-shaped light source, the camera body is connected to the synchronous fixing plate, and the ring-shaped light source is disposed on one side of the camera body along the Z direction towards the stage.

[0014] In an embodiment, the multi-axis driving kit comprises a Z-direction driving component coupled to the assembly component and the vision camera, the Z-direction driving component is configured to adjust the positions of the assembly component and the vision camera along the Z direction relative to the component to be mounted and the loading body on the stage.

[0015] The Z-direction driving component comprises a Z-direction support, a Z-direction sliding rail and a Z-direction driving part connected to the Z-direction support, the Z-direction sliding rail and the Z-direction driving part are drivingly connected, the assembly component and the vision camera are connected to the Z-direction sliding rail, and the Z-direction driving part is located on a side of the assembly component and the vision camera away from the stage along the Z direction.

[0016] In an embodiment, the multi-axis driving kit further comprises a Y-direction driving assembly, which is arranged at a Z-direction interval from the object table, and a Z-direction driving assembly, which is connected with the Y-direction driving assembly and used to drive the assembly component and the visual camera to be adjustable along the Y-direction relative to the position of the to-be-mounted member and the loading body on the object table.

[0017] In an embodiment, the integrated assembly detection device further comprises a bottom plate and a connecting column, the bottom plate is arranged at a Z-direction interval from the object table and connected through the connecting column, the assembly component and the visual camera are arranged at a side of the object table away from the bottom plate along the Z-direction, and the bottom plate is configured to carry the multi-axis driving kit.

[0018] In an embodiment, the multi-axis driving kit further comprises a first X-direction driving assembly and a second X-direction driving assembly arranged on the bottom plate, the first X-direction driving assembly and the second X-direction driving assembly are arranged in parallel along the X-direction and used to synchronously drive the assembly component and the visual camera to be adjustable along the X-direction relative to the position of the to-be-mounted member and the loading body on the object table, the first X-direction driving assembly is configured to be driven by a motor, and the second X-direction driving assembly is configured to be driven by a pneumatic cylinder.

[0019] In an embodiment, the multi-axis driving kit comprises a gantry frame, a Y-direction driving assembly and a Z-direction driving assembly, the gantry frame is arranged around the object table and configured to be movable along the X-direction relative to the object table, the first X-direction driving assembly and the second X-direction driving assembly are connected with one side of the gantry frame along the Z-direction relative to the object table, the Y-direction driving assembly is connected with the other side of the gantry frame along the Z-direction relative to the object table, the Z-direction driving assembly is connected with the Y-direction driving assembly and located at the same side of the object table along the Z-direction as the Y-direction driving assembly, and the assembly component and the visual camera are connected with the Z-direction driving assembly.

[0020] The application further provides a sequencing instrument component assembly mechanism, which comprises the integrated assembly detection device as described in any one of the foregoing embodiments.

[0021] Further, the assembly component suspended relative to the loading table is adjustable in position relative to the to-be-mounted piece and the loading body on the loading table via the multi-axis driving kit, so that the assembly component can adaptively adjust its position to grasp the to-be-mounted piece, and also adaptively adjust its position to transport the to-be-mounted piece to the loading body corresponding thereto, and further complete assembly with a suitable torque. The visual camera arranged towards the loading table is adjustable in position relative to the to-be-mounted piece and the loading body on the loading table via the multi-axis driving kit, so that the visual camera can adaptively acquire position information and assembly posture of the to-be-mounted piece and the loading body at a suitable position; the visual camera returns the position information and assembly posture to the control center of the integrated assembly detection device, so that the integrated assembly detection device can realize positioning according to the position information to adjust the position of the assembly component to realize accurate grasping and mounting; meanwhile, the integrated assembly detection device can determine whether the to-be-mounted piece and the loading body are assembled in place according to the assembly posture to synchronously complete quality detection. The integrated assembly detection device provided in the embodiments of the present application can realize automatic assembly of products (reagent needles and film-breaking needles), can take into account various assembly requirements by adjusting torque, can realize high-precision positioning and automatic quality detection by using a visual camera, and is simple, fast and convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A perspective view of the integrated assembly detection device provided in the embodiments of the present application from one angle.

[0023] Figure 2 A perspective view of the integrated assembly detection device provided in the embodiments of the present application from another angle.

[0024] Figure 3 A perspective view of cooperation of the assembly component, the visual camera and the Z-direction driving component of the integrated assembly detection device provided in the embodiments of the present application.

[0025] Figure 4 A perspective view of cooperation of the assembly component, the visual camera and the Z-direction driving component of the integrated assembly detection device provided in the embodiments of the present application.

[0026] Figure 5 A structural schematic view of the Y-direction driving component of the integrated assembly detection device provided in the embodiments of the present application.

[0027] Figure 6 A partial perspective view of the integrated assembly detection device provided in the embodiments of the present application.

[0028] Figure 7The first X-direction driving assembly and the second X-direction driving assembly of the integrated assembly detection device provided in the embodiments of the present application are arranged on the bottom plate.

[0029] Explanation of main element symbols

[0030] Integrated assembly detection device 10

[0031] Assembly assembly 11

[0032] Electric wrench 111

[0033] Chuck 112

[0034] Suction nozzle 1120

[0035] Positioning seat 113

[0036] Sliding sleeve 114

[0037] Exhaust hole 1140

[0038] Visual camera 12

[0039] Camera body 121

[0040] Lens 122

[0041] Annular light source 123

[0042] Multi-axis driving kit 13

[0043] First X-direction driving assembly 131

[0044] First X-direction sliding rail 1311

[0045] First X-direction driving part 1312

[0046] Second X-direction driving assembly 132

[0047] Second X-direction sliding rail 1321

[0048] Second X-direction driving part 1322

[0049] Y-direction driving assembly 133

[0050] Y-direction support 1330

[0051] Y-direction sliding rail 1331

[0052] Y-direction lead screw 13311

[0053] Y-direction sliding block 13312

[0054] Y-direction driving part 1332

[0055] Y-direction servo motor 13321

[0056] Y-direction speed reducer 13322

[0057] Z-direction driving assembly 134

[0058] Z-direction bracket 1340

[0059] Z-direction slide rail 1341

[0060] Z-direction screw rod 13411

[0061] Z-direction slide block 13412

[0062] Z-direction driving component 1342

[0063] Z-direction servo motor 13421

[0064] Z-direction speed reducer 13422

[0065] Gantry frame 135

[0066] Jig platform 14

[0067] Jig fixing seat 141

[0068] Material box 142

[0069] Clamp 143

[0070] Object table 15

[0071] Carrying surface 150

[0072] Bottom plate 16

[0073] Bottom surface 160

[0074] Connecting column 17

[0075] Synchronous fixing plate 18

[0076] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0077] The following description will refer to the accompanying drawings, which illustrate example embodiments of the application. However, the application should not be limited to the embodiments set forth in the figures, but can be practiced with modifications and alterations limited only by the scope of the claims. The following description of example embodiments is intended to be read in connection with the accompanying drawings, which are not drawn to scale, and in which the same or similar reference numerals designate similar structure throughout the several views. The drawings provided are intended to explain the principles of the present application and the practical application thereof. The same or similar reference numerals in different drawings represent an identical or similar element.

[0078] The following description will refer to the accompanying drawings, which illustrate example embodiments of the application. However, the application should not be limited to the embodiments set forth in the figures, but can be practiced with modifications and alterations limited only by the scope of the claims. The following description of example embodiments is intended to be read in connection with the accompanying drawings, which are not drawn to scale, and in which the same or similar reference numerals designate similar structure throughout the several views. The drawings provided are intended to explain the principles of the present application and the practical application thereof. The same or similar reference numerals in different drawings represent an identical or similar element.

[0079] The following description of specific embodiments will further describe the present application with reference to the drawings in which:

[0080] As Figure 1 and Figure 2As shown, the embodiment of the present application provides an integrated assembly and detection device 10 for assembling a to-be-mounted member (not shown, for example, a needle) to a loading body (not shown). The integrated assembly and detection device 10 provided by the embodiment of the present application comprises an assembly component 11, a visual camera 12, a multi-axis driving kit 13, a jig platform 14, a stage 15, a bottom plate 16, a connecting column 17, and a synchronous fixing plate 18. The stage 15 is used to carry the jig platform 14, and the jig platform 14 is used to load the to-be-mounted member and the loading body. The bottom plate 16 is arranged in a spaced manner with the stage 15 and is connected through the connecting column 17, and the bottom plate 16 is used to carry the multi-axis driving kit 13. The multi-axis driving kit 13 comprises a first X-direction driving component 131, a second X-direction driving component 132, a Y-direction driving component 133, a Z-direction driving component 134, and a gantry frame 135. The first X-direction driving component 131 and the second X-direction driving component 132 are arranged on the bottom plate 16. The Y-direction driving component 133 is drivingly connected with the first X-direction driving component 131 and the second X-direction driving component 132 through the gantry frame 135. The Z-direction driving component 134 is drivingly connected with the Y-direction driving component 133. The assembly component 11 and the visual camera 12 are drivingly connected with the Z-direction driving component 134 of the multi-axis driving kit 13 through the synchronous fixing plate 18, so as to drive the assembly component 11 and the visual camera 12 to be adjustable in position relative to the to-be-mounted member and the loading body. The assembly component 11 is used to assemble the to-be-mounted member to the loading body. The visual camera 12 is used to shoot optical images to assist in positioning and quality monitoring.

[0081] In an embodiment, the integrated assembly and detection device 10 comprises the stage 15 for carrying the to-be-mounted member and the loading body. The integrated assembly and detection device 10 further comprises: the assembly component 11 suspended relative to the stage 15, the assembly component 11 being configured to be adjustable in torque and capable of grabbing the to-be-mounted member in an adsorptive manner, and being used to assemble the to-be-mounted member to the loading body; the visual camera 12 connected with the assembly component 11 and arranged towards the stage 15, the visual camera 12 being configured to acquire position information and assembly posture of the to-be-mounted member and the loading body by shooting optical images; and the multi-axis driving kit 13 coupled with the assembly component 11 and the visual camera 12, the multi-axis driving kit 13 being movably arranged relative to the stage 15, the assembly component 11 and the visual camera 12 being configured to be adjustable in position relative to the to-be-mounted member and the loading body on the stage 15 at least in a direction parallel to a plane where the stage 15 is located and a direction perpendicular to the plane where the stage 15 is located via the multi-axis driving kit 13.

[0082] It needs to be explained that the "optical image" includes but is not limited to photos and videos; the "position information" at least includes the position coordinates of the to-be-mounted member and the loading body in a coordinate system; the "assembly posture" at least refers to the relative position and form between the to-be-mounted member and the loading body after assembly, including but not limited to distance, angle, deflection direction.

[0083] It can be understood that the assembly component 11 suspended relative to the loading table 15 is adjustable in position relative to the to-be-mounted member and the loading body on the loading table 15 via the multi-axis driving kit 13, so that the assembly component 11 can adaptively adjust its position to grasp the to-be-mounted member, while adaptively adjusting its position to transport the to-be-mounted member to the corresponding loading body, and further realize the assembly of the to-be-mounted member and the loading body with appropriate torque. The vision camera 12 arranged towards the loading table 15 is adjustable in position relative to the to-be-mounted member and the loading body on the loading table 15 via the multi-axis driving kit 13, so that the vision camera 12 can adaptively acquire the position information and assembly posture of the to-be-mounted member and the loading body at an appropriate position; the vision camera 12 returns the position information and assembly posture to the control center of the integrated assembly detection device 10, so that the integrated assembly detection device 10 can realize positioning according to the position information to adjust the position of the assembly component 11 to realize accurate grasping and mounting; at the same time, the integrated assembly detection device 10 can determine whether the to-be-mounted member and the loading body are assembled in place according to the assembly posture, and simultaneously complete quality detection.

[0084] Further, the integrated assembly detection device 10 provided by the embodiments of the present application can realize automatic assembly of products (reagent needles and film breaking needles), can meet various installation requirements by adjusting torque, and can realize high-precision positioning and automatic quality detection by using the vision camera 12. The integrated assembly detection device 10 is simple, fast and convenient to use.

[0085] Further, the embodiments of the present application also provide a sequencing instrument component assembly mechanism comprising the integrated assembly detection device 10 described in any of the embodiments of the present application, which can be used to assemble specific parts of a sequencing instrument, such as reagent needles, film breaking needles, etc. The sequencing instrument component assembly mechanism can comprise a main body and the integrated assembly detection device 10, wherein the main body can cooperate with the integrated assembly detection device 10 to assemble specific parts of a sequencing instrument, and details of its functions and structures are not described herein.

[0086] It should be explained that the control center referred to in this application embodiment includes, but is not limited to, necessary functional structures such as processor chips, circuits, storage modules, and display modules; their specific models and cooperation relationships are not elaborated. Operators can adjust the motion trajectory and torque specifications by issuing commands and / or inputting parameters to the control center, or the control center can adaptively adjust the working parameters (e.g., X-axis, Y-axis, and Z-axis motion distance parameters, rotational torque of the assembly component 11, etc.) of the multi-axis drive kit 13 and assembly component 11 based on the position information and assembly posture acquired by the vision camera 12, enabling the integrated assembly and inspection equipment 10 to have functions such as automatic material handling, automatic positioning, automatic torque specification setting, and automatic quality inspection.

[0087] In other embodiments, the integrated assembly and testing equipment 10 can also be used to assemble screws, pins, washers, and other assembly items other than needles, which will not be described in detail here.

[0088] For ease of understanding, the embodiments of this application introduce the Z-axis, Y-axis, and X-axis for description. The Z-axis, Y-axis, and X-axis are three non-parallel directions in a spatial coordinate system. In subsequent embodiments, the Z-axis, Y-axis, and X-axis are described as three mutually perpendicular reference directions in a three-dimensional Cartesian coordinate system. The directions shown in the embodiments of this application are used to help understand the relative positional relationships of the components, but do not limit their specific directions. The Z-axis is represented by the coordinate direction Z in the figure, the Y-axis by the coordinate direction Y in the figure, and the X-axis by the coordinate direction X in the figure.

[0089] like Figure 1 and Figure 2 As shown, in one embodiment, the jig platform 14 is detachably connected to the stage 15 and configured to load the component to be installed and the loading body. The assembly assembly 11 and the vision camera 12 are arranged toward the jig platform 14 along the Z-direction. The jig platform 14 includes a jig fixing base 141 detachably connected to the stage 15, a material box 142 detachably connected to the jig fixing base 141, and a clamp 143. The material box 142 is used to load the component to be installed, and the clamp 143 is used to load the loading body.

[0090] In this embodiment, the stage 15 is generally plate-shaped with its thickness along the Z direction. The stage 15 has a bearing surface 150 along the planes of the X and Y directions. The jig platform 14 is located on the side of the bearing surface 150 facing the assembly assembly 11 and / or the vision camera 12 along the Z direction, so that the part to be installed and the loading body located on the jig platform 14 can be picked up.

[0091] In the embodiment, the jig fixing seat 141 is arranged on the surface of the object table 15 along the Z direction, and the material box 142 and the clamp 143 are arranged on the surface of the jig fixing seat 141 along the Z direction and face the assembly component 11 and / or the visual camera 12.

[0092] In the embodiment, the material box 142 can be a box-shaped container with a plurality of accommodation holes arranged in a matrix, each of which can accommodate at least one of the to-be-mounted members, and the number of the material box 142 can also be changed to adapt to different needs. The clamp 143 can be a hollow ring structure with an opening, which can clamp and fix the loading body arranged in the opening. In other embodiments, the shape and structure of the material box 142 and the clamp 143 can also be changed according to the specific style of the to-be-mounted member and the loading body, which will not be described here.

[0093] It can be understood that the jig fixing seat 141 is detachably arranged on the object table 15 through fixing parts (not shown, such as bolts), and the material box 142 and the clamp 143 are detachably connected to the jig fixing seat 141 through the fixing parts. In actual production process, appropriate jig fixing seat 141, material box 142 and clamp 143 can be selected according to the actual product size and / or model, so that the integrated assembly and detection equipment 10 has higher adaptability.

[0094] Further combining Figure 3 and Figure 4 It is shown that in an embodiment, the assembly component 11 and the visual camera 12 are connected with the multi-axis driving kit 13 through the synchronous fixing plate 18 and are configured to move synchronously.

[0095] In the embodiment, the synchronous fixing plate 18 is connected with the Z-direction driving assembly 134, and the assembly component 11 and the visual camera 12 are arranged on the side of the synchronous fixing plate 18 away from the Z-direction driving assembly 134 along the X direction, and the assembly component 11 and the visual camera 12 are arranged at intervals along the Y direction. The assembly component 11 and the visual camera 12 are fixedly connected with the synchronous fixing plate 18, and drive the assembly component 11 and the visual camera 12 to move synchronously through the synchronous fixing plate 18.

[0096] It can be understood that the multi-axis driving kit 13 drives the assembly component 11 and the visual camera 12 to move, and the mutual positional relationship between the synchronously arranged assembly component 11 and the visual camera 12 can be kept substantially unchanged, which ensures that the position information obtained by the visual camera 12 can be used to determine the relative position between the assembly component 11 and the to-be-tested member and the loading body.

[0097] In an embodiment, the assembly component 11 is taken as an example of a negative pressure automatic screw machine, which includes an electric screwdriver 111, a screwdriver bit 112, a positioning seat 113, and a sliding sleeve 114. The electric screwdriver 111 and the positioning seat 113 are spaced apart along the Z direction and are respectively connected with the synchronous fixing plate 18. The screwdriver bit 112 is drivingly connected with the electric screwdriver 111 and is configured to be able to be driven to rotate by the electric screwdriver 111. The sliding sleeve 114 is connected with the positioning seat 113. The screwdriver bit 112 passes through the sliding sleeve 114 along the Z direction and is configured to be rotationally matched with the sliding sleeve 114. The screwdriver bit 112 is arranged along the Z direction away from the suction nozzle 1120 of the electric screwdriver 111 and faces the object table 15, for sucking the to-be-installed part to assemble it to the loading body.

[0098] In the embodiment, the electric screwdriver 111 is arranged on the upper side of the synchronous fixing plate 18 along the Z direction, and the positioning seat 113 is arranged on the lower side of the synchronous fixing plate 18 along the Z direction. The screwdriver bit 112 is in the shape of a rod arranged along the Z direction. One end of the screwdriver bit 112 along the Z direction is drivingly connected with the electric screwdriver 111. The middle section of the screwdriver bit 112 passes through the sliding sleeve 114 along the Z direction. The other end of the screwdriver bit 112 along the Z direction has the suction nozzle 1120. The sliding sleeve 114 is connected with the synchronous fixing plate 18 via the positioning seat 113, which can realize the vacuum adsorption function on the head of the screwdriver bit 112 through the air vent groove (not shown in the figure). The sliding sleeve 114 can be communicated with an external vacuum generating unit (not shown in the figure) through an air pipe joint (not shown in the figure), or the vacuum generating unit can be integrated in the structure of the sliding sleeve 114. Those skilled in the art can understand that this is certainly achievable, and thus will not be described here. The exhaust hole 1140 is arranged through the sliding sleeve 114 to assist in exhaust.

[0099] In the embodiment, the driving end of the electric screwdriver 111 is connected with the screwdriver bit 112 for driving the screwdriver bit 112 to rotate and / or stretch. The screwdriver bit 112 can directly act on the to-be-installed part, realize vacuum adsorption through the negative pressure generated at the suction nozzle 1120, and after grabbing the to-be-installed part, drive the to-be-installed part to move and complete the assembly with a suitable torque. The positioning seat 113 can be fixed to the synchronous fixing plate 18 through fixing parts (not shown, such as bolts) and is used for fixing the sliding sleeve 114. The sliding sleeve 114 is correspondingly sleeved on the outer surface of the screwdriver bit 112, which can be connected with the sliding sleeve 114 through a bushing (not shown). The sliding sleeve 114 is used for positioning the screwdriver bit 112 to avoid deviation of the position of the screwdriver bit 112 and ensure the stability of the screwdriver bit 112.

[0100] It can be understood that, on the one hand, the assembly component 11 grasps the to-be-mounted member in a suction manner through negative pressure at the suction nozzle 1120, has higher universality and work efficiency. On the other hand, the assembly component 11 drives the bit head 112 to rotate by the electric bit 111 to realize assembly, and can adjust the related parameters of the electric bit 111 according to actual needs during the assembly process, so that the electric bit 111 outputs appropriate torque, improves universality and installation accuracy.

[0101] In other embodiments, the assembly component 11 can also select a magnetic type automatic screw machine according to the material change of the to-be-mounted member, which is not described herein.

[0102] In an embodiment, the visual camera 12 includes a camera body 121 and a ring-shaped light source 123. The camera body 121 is connected with the synchronous fixing plate 18, and the ring-shaped light source 123 is arranged on the side of the camera body 121 facing the object table 15 along the Z direction. The ring-shaped light source 123 is arranged around the lens 122 of the camera body 121. The ring-shaped light source 123 can also be configured to be connected with the synchronous fixing plate 18.

[0103] It can be understood that the end of the camera body 121 away from the object table 15 along the Z direction is fixedly connected with the synchronous fixing plate 18, so that the camera body 121 is suspended along the Z direction, and the lens 122 is arranged to face the object table 15. The camera body 121 can be a CCD industrial camera, which is used to take photos and / or videos of the to-be-mounted member and the loading body, and to identify and transmit coordinate values of the to-be-mounted member and the loading body to the control center (not shown in the figure). The control center applies corresponding electrical signals to the multi-axis driving kit 13, so that the coordinate of the to-be-mounted member coincides with the coordinate point on the loading body, and then controls the assembly component 11 to complete assembly, so that the integrated assembly and detection equipment 10 has the characteristics of accurate positioning and high work efficiency.

[0104] It can be understood that the ring-shaped light source 123 arranged below the camera body 121 along the Z direction can increase brightness, so that the photos and / or videos of the to-be-mounted member and the loading body taken by the camera body 121 have higher definition, which facilitates identification by the control center and can make assembly more accurate. At the same time, the cross section of the ring-shaped light source 123 is circular, and the axis of the ring-shaped light source 123 corresponds to the axis of the camera body 121, which can prevent shadows and facilitate the camera body 121 to capture, thereby further improving work efficiency.

[0105] In other embodiments, the type and / or model of the visual camera 12 can be changed according to actual needs, and those skilled in the art can understand that this is certainly feasible, which is not described herein.

[0106] In an embodiment, the Z-direction driving assembly 134 is coupled with the assembly component 11 and the vision camera 12, and the Z-direction driving assembly 134 is configured to drive the assembly component 11 and the vision camera 12 to be adjustable along the Z-direction relative to the position of the to-be-mounted member and the loading main body on the objective table 15.

[0107] In the embodiment, the Z-direction driving assembly 134 includes a Z-direction support 1340, a Z-direction sliding rail 1341 connected to the Z-direction support 1340, and a Z-direction driving component 1342. The Z-direction sliding rail 1341 and the Z-direction driving component 1342 are drivingly connected, the assembly component 11 and the vision camera 12 are connected to the Z-direction sliding rail 1341, and the Z-direction driving component 1342 is located on the side of the assembly component 11 and the vision camera 12 away from the objective table 15 along the Z-direction.

[0108] In the embodiment, the Z-direction support 1340 is used to support the Z-direction sliding rail 1341 and the Z-direction driving component 1342, and enable the Z-direction driving assembly 134 to be connected with the Y-direction driving assembly 133. The Z-direction driving component 1342 can include a Z-direction servo motor 13421 and a Z-direction speed reducer 13422, and the Z-direction sliding rail 1341 can include a Z-direction screw rod 13411 extending along the Z-direction and a Z-direction sliding block 13412 configured to move along the Z-direction. The output end of the Z-direction servo motor 13421 is drivingly connected with the Z-direction screw rod 13411 via the Z-direction speed reducer 13422, and further drives the Z-direction sliding block 13412 to move along the Z-direction. The synchronization fixing plate 18 is connected with the Z-direction sliding block 13412, and is used to drive the assembly component 11 and the vision camera 12 to move along the Z-direction.

[0109] It can be understood that the Z-direction driving component 1342 is located on the side of the assembly component 11 and the vision camera 12 away from the objective table 15 along the Z-direction, which not only ensures that the Z-direction driving component 1342 has sufficient setting space, but also avoids the Z-direction driving component 1342 from interfering with the assembly component 11 and the vision camera 12.

[0110] Further combining Figure 5 and Figure 6 As shown in FIGS. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, and 14, in an embodiment, the Y-direction driving assembly 133 is spaced apart from the objective table 15 along the Z-direction, and the Z-direction driving assembly 134 is connected with the Y-direction driving assembly 133, and is used to drive the assembly component 11 and the vision camera 12 to be adjustable along the Y-direction relative to the position of the to-be-mounted member and the loading main body on the objective table 15.

[0111] In the embodiment, the Y-direction driving assembly 133 comprises a Y-direction support 1330, a Y-direction sliding rail 1331 and a Y-direction driving component 1332 connected to the Y-direction support 1330. The Y-direction sliding rail 1331 and the Y-direction driving component 1332 are drivingly connected, and the Z-direction support 1340 of the Z-direction driving assembly 134 is connected to the Y-direction sliding rail 1331. The Y-direction support 1330 is arranged along the Y-direction and used for bearing the Y-direction sliding rail 1331 and the Y-direction driving component 1332. The Y-direction driving component 1332 can comprise a Y-direction servo motor 13321 and a Y-direction speed reducer 13322. The Y-direction sliding rail 1331 can comprise a Y-direction screw rod 13311 arranged along the Y-direction and a Y-direction sliding block 13312 configured to move along the Y-direction. The output end of the Y-direction servo motor 13321 is drivingly connected to the Y-direction screw rod 13311 via the Y-direction speed reducer 13322 and further drives the Y-direction sliding block 13312 to move along the Y-direction. The Z-direction support 1340 of the Z-direction driving assembly 134 is connected to the Y-direction sliding block 13312 and used for driving the assembly component 11 and the visual camera 12 to move along the Y-direction via the Z-direction driving assembly 134.

[0112] It can be understood that, in the embodiment, the step driving structure of the Z-direction driving assembly 134 and the Y-direction driving assembly 133 are both driven by servo motors, which has better movement precision and stability. In other embodiments, the Z-direction driving assembly 134 and the Y-direction driving assembly 133 can also be driven by cylinders, linear motors or pistons, and the like. Those skilled in the art can understand that this is certainly achievable, and thus no further description is given herein.

[0113] Further combining Figure 6 and Figure 7 As shown in FIGS. 1, 2 and 3, in an embodiment, the bottom plate 16 and the object table 15 are spaced apart along the Z-direction and supported and connected via the connecting column 17. The assembly component 11 and the visual camera 12 are located on the side of the object table 15 away from the bottom plate 16 along the Z-direction, and the bottom plate 16 is configured to bear the multi-axis driving kit 13.

[0114] In the embodiment, the bottom plate 16 and the object table 15 are spaced apart, and the to-be-mounted member and the loading body borne on the object table 15 do not interfere with the multi-axis driving kit 13 borne on the bottom plate 16. At the same time, the bottom plate 16 and the object table 15 are supported and connected via the connecting column 17, so that the bottom plate 16 and the object table 15 are integrated, thereby ensuring the stability of the assembly process.

[0115] In an embodiment, the first X-direction driving assembly 131 and the second X-direction driving assembly 132 are arranged in parallel to each other along the X-direction, and are configured to drive the assembly component 11 and the vision camera 12 to move along the X-direction relative to the position of the to-be-mounted member and the loading body on the objective table 15.

[0116] In the embodiment, the bottom plate 16 is substantially a plate along the Z-direction, and the bottom plate 16 has a bottom surface 160 along the plane of the X-direction and the Y-direction, and the first X-direction driving assembly 131 and the second X-direction driving assembly 132 are arranged on the side of the bottom surface 160 facing the objective table 15 along the Z-direction, so as to make full use of the gap space formed after the connecting column 17 supports the bottom plate 16 and the objective table 15, and improve the space utilization efficiency of the integrated assembly detection device 10.

[0117] In an embodiment, the gantry frame 135 is arranged around the objective table 15 and is configured to move along the X-direction relative to the objective table 15. The first X-direction driving assembly 131 and the second X-direction driving assembly 132 are connected to one side of the gantry frame 135 along the Z-direction relative to the objective table 15, and the Y-direction driving assembly 133 is connected to the other side of the gantry frame 135 along the Z-direction relative to the objective table 15. The Z-direction driving assembly 134 is connected to the Y-direction driving assembly 133, and is located on the same side of the Z-direction of the objective table 15 as the Y-direction driving assembly 133. The assembly component 11 and the vision camera 12 are connected to the Z-direction driving assembly 134.

[0118] In the embodiment, the gantry frame 135 in the form of a frame can be arranged around the objective table 15, so as to avoid interference with the to-be-mounted member and the loading body arranged on the objective table 15, and ensure that the assembly component 11 and the vision camera 12 have sufficient movement space along the Z-direction and the Y-direction.

[0119] In the embodiment, the gantry frame 135 is substantially in the form of a rectangular frame, the first X-direction driving assembly 131 and the second X-direction driving assembly 132 are connected to one side of the gantry frame 135 between the objective table 15 and the bottom plate 16, the other side of the gantry frame 135 is connected to the Y-direction driving assembly 133, and the remaining two sides of the gantry frame 135 are arranged between the two sides along the Z-direction and are sequentially connected in head-to-tail manner, so that the gantry frame 135 can move as a whole.

[0120] In the embodiment, the first X-direction driving assembly 131 comprises a first X-direction sliding rail 1311 and a first X-direction driving component 1312. The first X-direction sliding rail 1311 is arranged along the X-direction, and the first X-direction sliding rail 1311 is drivingly connected with the first X-direction driving component 1312. The first X-direction driving component 1312 takes a servo motor as a driving source, and the first X-direction sliding rail 1311 is a linear motion structure driven by a screw rod and a sliding block. The first X-direction driving assembly 131 is configured to be driven by a motor, and can realize stop-while-walking during movement, and has high movement precision.

[0121] In the embodiment, the second X-direction driving assembly 132 comprises a second X-direction sliding rail 1321 and a second X-direction driving component 1322. The second X-direction sliding rail 1321 is arranged along the X-direction, and the second X-direction sliding rail 1321 is drivingly connected with the second X-direction driving component 1322. The second X-direction driving component 1322 takes a cylinder as a driving source, and the second X-direction sliding rail 1321 is a linear motion structure driven by a guide rail and a sliding table. The second X-direction driving assembly 132 is configured to be driven by a cylinder, and has high movement stability.

[0122] It can be understood that the first X-direction driving assembly 131 and the second X-direction driving assembly 132 drive the assembly component 11 and the visual camera 12 to move along the X-direction via the gantry frame 135, so that the multi-axis driving kit 13 has high movement precision and movement stability at the same time, and the precision stability of the integrated assembly detection device 10 is ensured.

[0123] In the above, the specific embodiments of the present application are described with reference to the drawings. However, it can be understood by those skilled in the art that various changes and replacements can be made to the specific embodiments of the present application without departing from the spirit and scope of the present application. These changes and replacements are within the scope defined by the present application.

Claims

1. An integrated assembly and testing device for assembling parts to be installed onto a loading body, characterized in that, The integrated assembly detection device comprises: a carrier table for carrying the to-be-mounted component and the loading body; an assembly component suspended relative to the carrier table, the assembly component being configured to be torque-adjustable and capable of grasping the to-be-mounted component in an adsorptive manner and assembling the to-be-mounted component to the loading body; a visual camera connected with the assembly component and arranged towards the carrier table, the visual camera being configured to acquire position information and assembly posture of the to-be-mounted component and the loading body by shooting optical images; and a multi-axis driving kit coupled with the assembly component and the visual camera, the multi-axis driving kit being movably arranged relative to the carrier table, the assembly component and the visual camera being configured to be adjustable relative to positions of the to-be-mounted component and the loading body on the carrier table at least in a direction parallel to a plane where the carrier table is located and a direction vertical to the plane where the carrier table is located via the multi-axis driving kit.

2. The integrated assembly inspection apparatus of claim 1, wherein, The integrated assembly detection device further comprises a jig platform, the jig platform being detachably connected to the carrier table and configured to load the to-be-mounted component and the loading body, the assembly component and the visual camera being configured to be arranged towards the jig platform in a Z direction; wherein the jig platform comprises a jig fixing seat detachably connected with the carrier table, a material box and a clamp respectively detachably connected with the jig fixing seat, the material box being used for loading the to-be-mounted component, and the clamp being used for loading the loading body.

3. The integrated assembly inspection apparatus of claim 1, wherein, The integrated assembly detection device further comprises a synchronous fixing plate, the assembly component and the visual camera being connected with the multi-axis driving kit through the synchronous fixing plate, and the assembly component and the visual camera being configured to move synchronously.

4. The integrated assembly inspection apparatus of claim 3, wherein, The assembly component comprises an electric screwdriver, a screw head, a positioning seat and a sliding sleeve, the electric screwdriver and the positioning seat being arranged in a Z direction and connected with the synchronous fixing plate respectively, the screw head being drivingly connected with the electric screwdriver and configured to be capable of rotating under the driving of the electric screwdriver, the sliding sleeve being connected with the positioning seat, the screw head penetrating through the sliding sleeve in the Z direction and being configured to be rotationally fitted with the sliding sleeve; the screw head is arranged towards the carrier table in the Z direction away from a suction nozzle of the electric screwdriver, for grasping the to-be-mounted component to assemble the to-be-mounted component to the loading body.

5. The integrated assembly inspection apparatus of claim 3, wherein, The visual camera comprises a camera body and a ring-shaped light source, the camera body being connected with the synchronous fixing plate, the ring-shaped light source being arranged on a side of the camera body towards the carrier table in the Z direction, the ring-shaped light source surrounding a lens of the camera body.

6. The integrated assembly inspection apparatus of claim 1, wherein, The multi-axis driving kit comprises a Z-direction driving component coupled with the assembly component and the visual camera, the Z-direction driving component being configured to drive the assembly component and the visual camera to be adjustable relative to positions of the to-be-mounted component and the loading body on the carrier table in the Z direction. The Z-direction driving assembly comprises a Z-direction support, a Z-direction sliding rail connected with the Z-direction support, and a Z-direction driving part. The Z-direction sliding rail and the Z-direction driving part are drivingly connected. The assembly component and the visual camera are connected with the Z-direction sliding rail. The Z-direction driving part is located on the side of the assembly component and the visual camera away from the object table along the Z-direction.

7. The integrated assembly inspection apparatus of claim 6, wherein, The multi-axis driving kit further comprises a Y-direction driving assembly. The Y-direction driving assembly is arranged at a position spaced apart from the object table along the Z-direction. The Z-direction driving assembly is connected with the Y-direction driving assembly. The Z-direction driving assembly drives the assembly component and the visual camera to be adjustable along the Y-direction relative to the position of the to-be-mounted member and the loading main body on the object table.

8. The integrated assembly inspection apparatus of claim 1, wherein, The integrated assembly detection device further comprises a bottom plate and a connecting column. The bottom plate is arranged at a position spaced apart from the object table along the Z-direction and is connected with the object table through the connecting column. The assembly component and the visual camera are arranged on the side of the object table away from the bottom plate along the Z-direction. The bottom plate is configured to carry the multi-axis driving kit.

9. The integrated assembly inspection apparatus of claim 8, wherein, The multi-axis driving kit comprises a first X-direction driving assembly and a second X-direction driving assembly arranged on the bottom plate. The first X-direction driving assembly and the second X-direction driving assembly are arranged in parallel along the X-direction and are configured to drive the assembly component and the visual camera to be adjustable along the X-direction relative to the position of the to-be-mounted member and the loading main body on the object table. The first X-direction driving assembly is configured to be driven by a motor. The second X-direction driving assembly is configured to be driven by a pneumatic cylinder.

10. The integrated assembly inspection apparatus of claim 9, wherein, The multi-axis driving kit further comprises a gantry frame, a Y-direction driving assembly, and a Z-direction driving assembly. The gantry frame is arranged around the object table and is configured to be movable along the X-direction relative to the object table. The first X-direction driving assembly and the second X-direction driving assembly are connected to one side of the gantry frame along the Z-direction. The Y-direction driving assembly is connected to the other side of the gantry frame along the Z-direction. The Z-direction driving assembly is connected with the Y-direction driving assembly and is located on the same side of the object table along the Z-direction as the Y-direction driving assembly. The assembly component and the visual camera are connected with the Z-direction driving assembly.

11. A sequencer component assembly mechanism, comprising: The integrated assembly detection device comprises any one of the integrated assembly detection devices according to claims 1 to 10.

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