Assembly equipment

Abstract

The utility model discloses assembling equipment used for assembling small parts and products, the assembling equipment comprises a feeding device, a bearing device, a material taking device and a positioning device, the feeding device is used for supplying the small parts, the bearing device comprises a bearing mechanism and a heating mechanism, the bearing mechanism bears the products, the heating mechanism is arranged on the bearing mechanism, the heating mechanism heats the products, and the positioning device is used for positioning the small parts. The material taking device comprises a material taking mechanism, the material taking mechanism can move among the material supply device, the bearing device and the positioning device, the material taking mechanism takes out the small pieces from the material supply device, the positioning device bears and positions the small pieces taken out from the material supply device by the material taking mechanism, and the material taking mechanism further takes out the positioned small pieces from the positioning device. And the positioning device is used for positioning the small part and driving the positioned small part to move above the bearing device so as to assemble the positioned small part on the product. According to the assembling equipment, small parts and products are automatically assembled, the assembling consistency of the small parts and the products is guaranteed, the assembling yield and the assembling efficiency are improved, the labor intensity is relieved, and the labor cost is saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of small parts and product assembly, and particularly relates to an assembly equipment. BACKGROUND

[0002] In actual production and processing, small parts are usually assembled on products. At present, small parts are usually assembled on products by manual work. After manual work points glue on the product, the small part is assembled and pressed on the product. However, manual assembly of small parts and products has low assembly yield, low assembly efficiency, high labor intensity and high labor cost. CONTENT OF THE UTILITY MODEL

[0003] In view of the above, it is necessary to provide an assembly equipment to realize automatic assembly of small parts and products, ensure assembly consistency of small parts and products, improve assembly yield and assembly efficiency, reduce labor intensity and save labor cost.

[0004] The embodiment of the present application provides an assembly equipment for assembling small parts and products. The assembly equipment comprises a feeding device, a bearing device, a taking device and a positioning device. The feeding device, the bearing device and the positioning device are arranged at intervals.

[0005] The feeding device is used for supplying the small parts.

[0006] The bearing device comprises a bearing mechanism and a heating mechanism. The bearing mechanism is used for bearing the product. The heating mechanism is arranged on the bearing mechanism and is used for heating the product.

[0007] The taking device comprises a taking mechanism. The taking mechanism is arranged above the feeding device, the bearing device and the positioning device. The taking mechanism can move between the feeding device, the bearing device and the positioning device. The taking mechanism is used for taking the small parts from the feeding device.

[0008] The positioning device is used for receiving and positioning the small parts taken from the feeding device by the taking mechanism. Wherein,

[0009] The taking mechanism is also used for taking the positioned small parts from the positioning device and moving the positioned small parts to above the bearing device, so as to assemble the positioned small parts on the product.

[0010] In some embodiments, the taking mechanism comprises a connecting plate, a first driving member, a mounting plate, a sliding seat, a stopper, an elastic member and a taking assembly, the first driving member is arranged on the connecting plate, the mounting plate is slidingly arranged on the connecting plate and connected with the first driving member, the mounting plate slides on the connecting plate under the driving of the first driving member, the sliding seat is slidingly arranged on the mounting plate, the stopper is connected with the mounting plate and is arranged in a spaced manner with the sliding seat, the elastic member is connected between the sliding seat and the stopper, and the taking assembly is connected to a side of the sliding seat away from the elastic member, and the taking assembly is used for adaptively clamping the small piece.

[0011] In some embodiments, the taking assembly comprises a fixing member, a reference member, a second driving member, a moving member, a first clamping finger, a third driving member and a second clamping finger, the fixing member is connected to a side of the sliding seat away from the elastic member, the reference member is connected to an end of the fixing member away from the sliding seat, the reference member is used for abutting against the small piece, the second driving member is arranged on the fixing member, the moving member is slidingly arranged on the fixing member and connected with the second driving member, the first clamping finger is connected to a side of the moving member away from the second driving member, and the first clamping finger is arranged adjacent to the reference member, the third driving member is arranged on a side of the moving member away from the second driving member, and the third driving member is arranged on opposite sides of the moving member respectively with the first clamping finger, a middle part of the second clamping finger is rotatably arranged on a side of the moving member away from the second driving member, one end of the second clamping finger is connected with the third driving member, and the other end of the second clamping finger extends to the reference member and is arranged opposite to the first clamping finger, and the third driving member is used for driving the second clamping finger to rotate, so as to make the second clamping finger close to the first clamping finger to clamp the small piece, or make the second clamping finger away from the first clamping finger to release the small piece.

[0012] In some embodiments, the taking mechanism further comprises a taking visual assembly, the taking visual assembly is arranged on the connecting plate and is arranged in a spaced manner with the first driving member, and the taking visual assembly is used for acquiring an image of the small piece, so that the taking assembly adaptively clamps the small piece.

[0013] In some embodiments, the bearing mechanism comprises a bottom plate, a top plate, a carrier plate, a first positioning assembly, a second positioning assembly, a third positioning assembly and an adsorption assembly, the top plate is arranged opposite to the bottom plate, and the top plate is arranged above the bottom plate, the carrier plate is connected above the top plate, the carrier plate is used for bearing the product, the first positioning assembly comprises first positioning members, the first positioning members are arranged on both sides of the top plate and the carrier plate along a first direction respectively, the first positioning members on both sides of the top plate and the carrier plate can approach or move away from each other along the first direction, the second positioning assembly comprises positioning blocks and second positioning members, the positioning blocks are arranged on the carrier plate, the second positioning members are arranged on one side of the carrier plate and arranged opposite to the positioning blocks, the second positioning members can approach or move away from the positioning blocks along a second direction, the third positioning assembly comprises third positioning members, the third positioning members are arranged above the carrier plate along a third direction, the third positioning members can approach or move away from the carrier plate along the third direction, the adsorption assembly is arranged on the top plate and the carrier plate, and the adsorption assembly is used for adsorbing the product, wherein the first direction, the second direction and the third direction are perpendicular to each other, the heating mechanism comprises a heating driving member, a heat insulation member and a heating member, the heating driving member is arranged on the bottom plate, the heat insulation member is connected with the heating driving member, and the heating member is connected with the heat insulation member, the heating driving member is used for driving the heat insulation member and the heating member to be arranged through the top plate and the carrier plate along the third direction, so that the heating member heats the product.

[0014] In some embodiments, the first positioning assembly further comprises a first power member and a sliding block, the first power member is arranged on the bottom plate, the sliding block is connected to both sides of the first power member along the first direction respectively, and one end of the sliding block is slidingly arranged on the bottom plate, the other end of the sliding block extends to one side of the top plate and the carrier plate and is connected with the corresponding first positioning member on the same side, and the first power member is used for driving the sliding block and the first positioning member to move along the first direction; the second positioning assembly further comprises a second power member, the second power member is arranged on the top plate and connected with the second positioning member, and the second power member is used for driving the second positioning member to move along the second direction; the third positioning assembly further comprises a third power member, the third power member is arranged on the top plate and connected with the third positioning member, and the third power member is used for driving the third positioning member to rotate around the third direction and move along the third direction.

[0015] In some embodiments, the carrying device further comprises a carrying driving module, which is arranged apart from the feeding device and the positioning device, the carrying mechanism is connected with the carrying driving module, the carrying driving module is used to drive the carrying mechanism and the heating mechanism to move between an upper feeding position and an assembly position, the carrying mechanism carries the product at the upper feeding position and carries the product after the small piece is assembled to the product, and the carrying mechanism makes the product assemble the small piece at the assembly position.

[0016] In some embodiments, the positioning device comprises a positioning mechanism, the positioning mechanism comprises a mounting frame, a positioning seat, a first driving member, a first clamping member, a second driving member, a second clamping member, a third driving member and a third clamping member, the positioning seat is arranged on the mounting frame and is used to carry the small piece, the first driving member is arranged on the mounting frame, the first clamping member is slidingly arranged on the mounting frame and is connected with the first driving member, the first clamping member is arranged on one side of the positioning seat, the first driving member is used to drive the first clamping member to move close to or away from the small piece carried by the positioning seat, the second driving member is arranged on the mounting frame and is arranged on one side of the positioning seat, the second clamping member is slidingly arranged on the positioning seat and is connected with the second driving member, the second driving member is used to drive the second clamping member to move close to or away from the small piece carried by the positioning seat, the third driving member is arranged on the mounting frame and is arranged on the other side of the positioning seat, the second clamping member is slidingly arranged on the positioning seat and is connected with the third driving member, and the third driving member is used to drive the third clamping member to move close to or away from the small piece carried by the positioning seat.

[0017] In some embodiments, the positioning device further comprises a film tearing mechanism and a film collecting mechanism, the film tearing mechanism is arranged on the mounting frame, the film collecting mechanism is arranged on one side of the mounting frame and is correspondingly arranged with the film tearing mechanism, the film tearing mechanism comprises a film tearing driving module and a film tearing clamping jaw, the film tearing driving module is arranged on the mounting frame and extends towards the film collecting mechanism, the film tearing clamping jaw is arranged on the film tearing driving module and is used to clamp the film on the small piece carried by the positioning seat, the film tearing driving module is used to drive the film tearing clamping jaw and the film clamped by the film tearing clamping jaw to move towards the film collecting mechanism, and the film collecting mechanism comprises a film collecting frame, a film collecting box, a brush and a protective cover, the film collecting frame is arranged on one side of the mounting frame, the film collecting box is arranged on the film collecting frame, the brush is rotatably arranged on the film collecting frame and is arranged above the film collecting box, the protective cover is arranged on the film collecting frame and covers the brush, the protective cover is communicated with the film collecting box, and the brush is used to rotatably rub off the film torn off from the small piece by the film tearing clamping jaw, so that the small piece falls into the film collecting box through the protective cover.

[0018] In some embodiments, the positioning device further comprises a positioning vision assembly disposed in spaced relation to the positioning mechanism, the positioning vision assembly configured to acquire an image of the positioned small piece taken out of the positioning mechanism by the taking mechanism, so that the taking mechanism assembles the small piece to the product carried by the carrying mechanism.

[0019] In actual use, the assembly equipment places the product after dispensing on the carrying mechanism of the carrying device, the feeding device supplies the small piece, the taking mechanism of the taking device moves above the feeding device, the taking mechanism takes out the small piece from the feeding device, after the taking mechanism takes out the small piece from the feeding device, the taking mechanism moves the small piece above the positioning mechanism, the taking mechanism places the small piece on the positioning device, the positioning device receives and positions the small piece taken out of the feeding device by the taking mechanism, after the positioning device positions the small piece, the taking mechanism takes out the positioned small piece from the positioning device, the taking mechanism moves the positioned small piece above the carrying device, the taking mechanism precisely assembles the positioned small piece to the product carried by the carrying mechanism, after the small piece is assembled to the product, the heating mechanism of the carrying device heats the product, so that the small piece is glued to the product, thereby realizing the assembly of the small piece and the product.

[0020] The assembly equipment provided by the embodiments of the present application realizes the automatic assembly of the small piece and the product through the cooperation of the feeding device, the carrying device, the taking device and the positioning device, which is conducive to improving the assembly efficiency, reducing the labor intensity of workers, saving labor costs, and forming a unified assembly standard when the assembly equipment assembles the small piece and the product, thereby ensuring the assembly consistency of the small piece and the product, and heating the product and the small piece by the heating mechanism, which is conducive to improving the assembly yield. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the assembly equipment provided by the embodiments of the present application.

[0022] Figure 2 is Figure 1 is a structural schematic diagram of the carrying mechanism and the heating mechanism of the assembly equipment shown in

[0023] Figure 3 is Figure 2 is an exploded schematic diagram of the carrying mechanism and the heating mechanism shown in

[0024] Figure 4 is Figure 1 is a structural schematic diagram of the taking mechanism of the assembly equipment shown in

[0025] Figure 5 is Figure 4 is a structural schematic diagram of the taking assembly and the small piece of the taking mechanism shown in

[0026] Figure 6 is Figure 1 the structure diagram of the positioning device of the assembling equipment.

[0027] Figure 7 is Figure 6 the structure diagram of the positioning mechanism, the film tearing mechanism and the small piece of the positioning device.

[0028] Main element symbol explanation: assembling equipment 100, feeding device 10, bearing device 20, bearing mechanism 21, bottom plate 211, top plate 212, carrier plate 213, first positioning assembly 214, first positioning piece 2141, first power piece 2142, sliding block 2143, second positioning assembly 215, positioning block 2151, second positioning piece 2152, second power piece 2153, third positioning assembly 216, third positioning piece 2161, third power piece 2162, adsorption assembly 217, support rod 218, heating mechanism 22, heating driving piece 221, heat insulation piece 222, heating piece 223, bearing driving module 23, feeding position 231, assembling position 232, taking device 30, taking mechanism 31, connecting plate 311, first driving piece 312, mounting plate 313, sliding seat 314, stop piece 315, elastic piece 316, taking assembly 317, fixing piece 3171, reference piece 3172, second driving piece 3173, moving piece 3174, first clamping finger 3175, third driving piece 3176, second clamping finger 3177, taking visual assembly 318, gantry 32, taking linear module 33, positioning device 40, positioning mechanism 41, mounting frame 411, positioning seat 412, first driving piece 413, first clamping piece 414, second driving piece 415, second clamping piece 416, third driving piece 417, third clamping piece 418, driving connecting piece 419, film tearing mechanism 42, film tearing driving module 421, film tearing clamping jaw 422, film collecting mechanism 43, film collecting frame 431, film collecting box 432, brush 433, protective cover 434, motor 435, positioning visual assembly 44, assembling platform 50, small piece 200. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are examples for explaining the present application and should not be construed as limiting the present application.

[0030] In the description of the present application, it is to be understood by the terms indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, it should be noted that the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0031] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be broadly understood, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection or can communicate with each other, it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above-mentioned term in the present application can be understood according to the specific circumstances.

[0032] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0033] Please refer to Figure 1 The embodiment of the present application provides an assembly device 100. The assembly device 100 is used for assembling small parts 200 (please refer to Figure 5 and Figure 7 ) and products (not shown in the figure). The assembly device 100 is used to realize automatic assembly of small parts 200 and products, ensure the assembly consistency of small parts 200 and products, improve the assembly yield and assembly efficiency of small parts 200 and products, reduce labor intensity, and save labor cost.

[0034] The assembly device 100 comprises a feeding device 10, a bearing device 20, a taking device 30 and a positioning device 40, and the feeding device 10, the bearing device 20 and the positioning device 40 are arranged at intervals. In order to realize the modularization of the assembly device 100, in the embodiment, the assembly device 100 further comprises an assembly platform 50, and the feeding device 10, the bearing device 20, the taking device 30 and the positioning device 40 are arranged on the assembly platform 50. In this way, by arranging the above-mentioned assembly platform 50, the modularization of the assembly device 100 is realized. It can be understood that in other embodiments, the assembly device 100 can also comprise a cabinet and the like structure, and the embodiment of the present application will not be described in detail.

[0035] The feeding device 10 is used for supplying the small piece 200. The feeding device 10 can be a flying feeder, and the embodiment of the present application does not describe the flying feeder in detail. The carrying device 20 comprises a carrying mechanism 21 and a heating mechanism 22. The carrying mechanism 21 is used for carrying the product, and the heating mechanism 22 is arranged on the carrying mechanism 21 and is used for heating the product. The carrying mechanism 21 carries the product after glue dispensing, and the heating mechanism 22 heats the glue on the product, so that the small piece 200 can be stably assembled on the product. The taking device 30 comprises a taking mechanism 31. The taking mechanism 31 is arranged above the feeding device 10, the carrying device 20 and the positioning device 40, and can move between the feeding device 10, the carrying device 20 and the positioning device 40. The taking mechanism 31 is used for taking the small piece 200 from the feeding device 10. The positioning device 40 is used for receiving and positioning the small piece 200 taken from the feeding device 10 by the taking mechanism 31. When the positioning device 40 positions the small piece 200, the taking mechanism 31 is also used for taking the positioned small piece 200 from the positioning device 40 and moving the positioned small piece 200 to above the carrying device 20, so as to assemble the positioned small piece 200 on the product.

[0036] In actual use, the assembly equipment 100 provided by the embodiment of the present application places the product after glue dispensing on the carrying mechanism 21 of the carrying device 20 by using an external robot (not shown in the figure), and the feeding device 10 supplies the small piece 200. The taking mechanism 31 of the taking device 30 moves to above the feeding device 10, and the taking mechanism 31 takes the small piece 200 from the feeding device 10. When the taking mechanism 31 takes the small piece 200 from the feeding device 10, the taking mechanism 31 moves the small piece 200 to above the positioning mechanism 41, and the taking mechanism 31 places the small piece 200 on the positioning device 40. The positioning device 40 receives and positions the small piece 200 taken from the feeding device 10 by the taking mechanism 31. When the positioning device 40 positions the small piece 200, the taking mechanism 31 takes the positioned small piece 200 from the positioning device 40, and the taking mechanism 31 moves the positioned small piece 200 to above the carrying device 20. The taking mechanism 31 precisely assembles the positioned small piece 200 on the product carried by the carrying mechanism 21. When the small piece 200 is assembled on the product, the heating mechanism 22 of the carrying device 20 heats the product, so that the small piece 200 is stably glued on the product, thereby realizing the assembly of the small piece 200 and the product.

[0037] In order to improve the assembly efficiency of the assembly device 100, in the embodiment, the number of the carrying devices 20 is two groups, the number of the taking mechanisms 31 is two groups, the two groups of carrying mechanisms 21 and the two groups of taking mechanisms 31 are one-to-one correspondingly arranged, and the two groups of carrying mechanisms 21 and the two groups of taking mechanisms 31 correspond to one group of the feeding devices 10 and one group of the positioning devices 40 respectively. In this way, by limiting the number of the carrying devices 20 and the taking mechanisms 31 to two groups, the assembly device 100 can simultaneously assemble two groups of small parts 200 and products, thereby improving the assembly efficiency of the assembly device 100.

[0038] It can be understood that, in other embodiments, the number of the carrying devices 20 and the taking mechanisms 31 can also be more or less groups, and the number of the feeding devices 10 and the positioning devices 40 can be adaptively increased or reduced, which will not be described in detail in the embodiment of the application.

[0039] Please refer to Figure 2 and Figure 3 In the embodiment, the carrying device 20 further comprises a carrying driving module 23. The carrying driving module 23 can be a linear module, the carrying driving module 23 is arranged on the assembly platform 50, and the carrying driving module 23 is arranged at intervals from the feeding device 10 and the positioning device 40. The carrying mechanism 21 is connected with the carrying driving module 23, and the carrying driving module 23 is used to drive the carrying mechanism 21 and the heating mechanism 22 to move between an upper feeding position 231 and an assembly position 232. The carrying mechanism 21 carries the product at the upper feeding position 231 and the product after the small part 200 is unloaded and assembled, and the carrying mechanism 21 makes the product assemble the small part 200 at the assembly position 232. In this way, by arranging the above-mentioned carrying driving module 23, the carrying mechanism 21 can separately carry out the feeding and unloading work and the assembly work, so as to avoid interference between the feeding and unloading work and the assembly work.

[0040] In the embodiment, the bearing mechanism 21 comprises a bottom plate 211, a top plate 212, a carrier plate 213, a first positioning assembly 214, a second positioning assembly 215, a third positioning assembly 216 and a suction assembly 217. The top plate 212 is oppositely arranged with the bottom plate 211, and the top plate 212 is arranged above the bottom plate 211. In the embodiment, the top plate 212 is connected with the bottom plate 211 by four supporting rods 218 and oppositely arranged with the bottom plate 211. The carrier plate 213 is connected above the top plate 212, and the carrier plate 213 is used for bearing products. The size of the carrier plate 213 is smaller than the size of the top plate 212. The first positioning assembly 214 comprises first positioning members 2141. The first positioning members 2141 are arranged on both sides of the top plate 212 and the carrier plate 213 along a first direction respectively. The first positioning members 2141 on both sides of the top plate 212 and the carrier plate 213 can approach or move away from each other along the first direction. In the embodiment, the number of the first positioning members 2141 can be four. Two of the four first positioning members 2141 form a group and are arranged on both sides of the top plate 212 and the carrier plate 213 respectively. The second positioning assembly 215 comprises positioning blocks 2151 and second positioning members 2152. The positioning blocks 2151 are arranged on the carrier plate 213. The second positioning members 2152 are arranged on one side of the carrier plate 213 and oppositely arranged with the positioning blocks 2151. The second positioning members 2152 can approach or move away from the positioning blocks 2151 along a second direction. In the embodiment, the number of the positioning blocks 2151 and the second positioning members 2152 is two. The third positioning assembly 216 comprises third positioning members 2161. The third positioning members 2161 are arranged above the carrier plate 213 along a third direction. The third positioning members 2161 can approach or move away from the carrier plate 213 along the third direction. In the embodiment, the number of the third positioning members 2161 is two. The two third positioning members 2161 are arranged on the same side. The suction assembly 217 is arranged on the top plate 212 and the carrier plate 213. The suction assembly 217 is used for suctioning products. In the embodiment, the suction assembly 217 can be composed of four suction nozzles. It can be understood that in other embodiments, the suction assembly 217 can comprise more or less suction nozzles. The first direction, the second direction and the third direction are perpendicular to each other. The first direction can be understood as the width direction of the top plate 212. The second direction can be understood as the length direction of the top plate 212. The third direction can be understood as the thickness direction of the top plate 212.Therefore, by limiting the specific structure of the bearing mechanism 21, when the product is placed on the loading plate 213, the first positioning members 2141 of the first positioning assembly 214 are close to each other to position the product, when the first positioning assembly 214 positions the product, the second positioning members 2152 of the second positioning assembly 215 are close to the corresponding positioning blocks 2151 to move, so that the product is abutted between the positioning blocks 2151 and the second positioning members 2152; when the second positioning assembly 215 positions the product, the third positioning members 2161 of the third positioning assembly 216 are close to the product to move to press the product on the loading plate 213, and the positioning of the product is realized by the cooperation of the first positioning assembly 214, the second positioning assembly 215 and the third positioning assembly 216. In addition, by setting the above-mentioned adsorption assembly 217, the adsorption and fixation of the product are realized, the bearing precision of the bearing mechanism 21 to the product is further ensured, and the assembly precision of the small part 200 and the product is improved.

[0041] In the embodiment, the heating mechanism 22 includes a heating driving member 221, a heat insulation member 222 and a heating member 223. The heating driving member 221 can be a linear cylinder, the heating driving member 221 is arranged on the bottom plate 211, the heat insulation member 222 is connected with the heating driving member 221, the heating member 223 is connected with the heat insulation member 222, and the heating driving member 221 is used to drive the heat insulation member 222 and the heating member 223 to be arranged in the third direction through the top plate 212 and the loading plate 213, so that the heating member 223 is abutted and heats the product. Therefore, by setting the specific structure of the above-mentioned heating mechanism 22, when the small part 200 is assembled on the product, the heating driving member 221 drives the heat insulation member 222 and the heating member 223 to move towards the product to abut and heat the product; when the heating mechanism 22 heats the product, the heating driving member 221 drives the heat insulation member 222 and the heating member 223 to move away from the product to avoid interference with the product or other structures. In addition, by setting the above-mentioned heat insulation member 222, the heating member 223 is prevented from heating the heating driving member 221, and the stable use of the heating driving member 221 is ensured.

[0042] In the embodiment, the first positioning assembly 214 further comprises a first power member 2142 and sliding blocks 2143. The first power member 2142 is arranged on the bottom plate 211, and the first power member 2142 can be a double-end linear cylinder. The sliding blocks 2143 are respectively connected to two sides of the first power member 2142 along a first direction, and one end of each sliding block 2143 is slidingly arranged on the bottom plate 211, and the other end of each sliding block 2143 extends to one side of the top plate 212 and the carrier plate 213 and is connected to a corresponding first positioning member 2141 on the same side. In the embodiment, the number of the sliding blocks 2143 is equal to the number of the first positioning members 2141 and each sliding block 2143 corresponds to one first positioning member 2141. Each sliding block 2143 is slidingly arranged on the bottom plate 211 through a sliding rail and sliding block structure. The first power member 2142 is used to drive the sliding blocks 2143 and the first positioning members 2141 to move along the first direction, that is, the first power member 2142 drives the four sliding blocks 2143 and the four first positioning members 2141 to move close to each other along the first direction to clamp the product, or to move away from each other to release the product. In this way, the first positioning members 2141 can move close to or away from each other along the first direction by arranging the specific structure of the first positioning assembly 214. It can be understood that in other embodiments, the first power member 2142 can also be composed of two linear cylinders, and the embodiments of the application do not make specific limitations on this.

[0043] In the embodiment, the second positioning assembly 215 further comprises a second power member 2153. The second power member 2153 can be a micro-cylinder, and the second power member 2153 is arranged on the top plate 212 and connected to the second positioning members 2152. The second power member 2153 is used to drive the second positioning members 2152 to move along a second direction. In the embodiment, the number of the second power members 2153 is two and each second power member 2153 is connected to one second positioning member 2152. In this way, the second power member 2153 is arranged to drive the second positioning members 2152 to move close to or away from the corresponding positioning blocks 2151. It can be understood that in other embodiments, the number of the second power members 2153 can also be one. One second power member 2153 can be connected to two second positioning members 2152 through a plate structure to drive the two second positioning members 2152 to move synchronously, and the embodiments of the application do not make specific limitations on this.

[0044] In the embodiment, the third positioning assembly 216 further comprises a third power member 2162. The third power member 2162 can be a rotary lifting cylinder, the third power member 2162 is arranged on the top plate 212 and connected with the third positioning member 2161, and the third power member 2162 is used to drive the third positioning member 2161 to rotate around the third direction and move along the third direction. In the embodiment, the number of the third power member 2162 is two and connected with the two third positioning members 2161 one by one. In this way, by arranging the third power member 2162, the third positioning member 2161 is driven to move close to or away from the product. In addition, by arranging the third power member 2162 as a rotary lifting cylinder, the third positioning member 2161 can be rotated to avoid the product, so as to avoid the interference between the product and the third positioning member 2161 when the product is taken or placed, thereby ensuring the smooth taking and placing of the product.

[0045] Please see Figure 4 and Figure 5 In the embodiment, the taking device 30 further comprises a gantry 32 and a taking linear module 33. The gantry 32 is arranged on the assembly platform 50 and crosses the feeding device 10, the carrying device 20 and the positioning device 40. The taking linear module 33 is arranged on the gantry 32, the taking linear module 33 can be a double-head linear module, the taking linear module 33 is connected with the two groups of taking mechanisms 31, and the taking linear module 33 is used to drive the two groups of taking mechanisms 31 to move independently so that the movement between the two groups of taking mechanisms 31 does not affect each other. In this way, by arranging the gantry 32 and the taking linear module 33, the taking mechanisms 31 are driven to move independently, and it is ensured that the two groups of taking mechanisms 31 can be used respectively. It can be understood that in other embodiments, the taking linear module 33 can also be composed of two groups of linear modules, and the embodiments of the application will not be described in detail.

[0046] In the embodiment, the taking mechanism 31 comprises a connecting plate 311, a first driving part 312, a mounting plate 313, a sliding seat 314, a stopper 315, an elastic part 316 and a taking assembly 317. The connecting plate 311 is connected with the taking linear module 33. The first driving part 312 can be a ball screw module, and the first driving part 312 is arranged on the connecting plate 311. The mounting plate 313 is arranged on the connecting plate 311 in a sliding mode and is connected with the first driving part 312. The mounting plate 313 slides on the connecting plate 311 under the drive of the first driving part 312. In the embodiment, the mounting plate 313 is arranged on the connecting plate 311 in a sliding mode through a sliding rail and block structure. The sliding seat 314 is arranged on the mounting plate 313 in a sliding mode. In the embodiment, the sliding seat 314 is arranged on the mounting plate 313 in a sliding mode through two groups of sliding rail and block structures. The stopper 315 is connected with the mounting plate 313 and is arranged in a spaced mode with the sliding seat 314. The stopper 315 is arranged above the sliding seat 314. The elastic part 316 is connected between the sliding seat 314 and the stopper 315. In the embodiment, the number of the elastic part 316 is two. The elastic part 316 can be a spring, or the elastic part 316 can be a combined structure of a spring and a rod-shaped object. The embodiment does not make a specific limitation in this aspect. The taking assembly 317 is connected with a side of the sliding seat 314 away from the elastic part 316. The taking assembly 317 is used for adapting to clamp and take the small piece 200. In this way, through the specific structure of the taking mechanism 31, when the taking linear module 33 drives the taking mechanism 31 to move above the feeding device 10, the carrying mechanism 21 or the positioning device 40, the first driving part 312 of the taking mechanism 31 drives the mounting plate 313 to move downward. The mounting plate 313 elastically pushes the sliding seat 314 and the taking assembly 317 to move downward through the stopper 315 and the elastic part 316, so that the taking assembly 317 flexibly abuts against the small piece 200 on the feeding device 10, the product on the carrying mechanism 21, the positioning device 40 or the small piece 200 on the positioning device 40, so that the taking mechanism 31 realizes the flexible taking and placing of the small piece 200.

[0047] The taking-out assembly 317 comprises a fixing member 3171, a reference member 3172, a second driving member 3173, a moving member 3174, a first clamping finger 3175, a third driving member 3176 and a second clamping finger 3177. The fixing member 3171 is connected to the side of the sliding seat 314 away from the elastic member 316, and the fixing member 3171 is substantially L-shaped. The reference member 3172 is connected to the end of the fixing member 3171 away from the sliding seat 314, and the reference member 3172 is used for adapting to abut against the small piece 200. The second driving member 3173 is arranged on the fixing member 3171, and the second driving member 3173 can be a pneumatic cylinder. The moving member 3174 is slidingly arranged on the fixing member 3171 and connected with the second driving member 3173. The first clamping finger 3175 is connected to the side of the moving member 3174 away from the second driving member 3173, and the first clamping finger 3175 is arranged adjacent to the reference member 3172. The third driving member 3176 is arranged on the side of the moving member 3174 away from the second driving member 3173, and the third driving member 3176 and the first clamping finger 3175 are respectively arranged on the opposite sides of the moving member 3174, and the third driving member 3176 can be a pneumatic cylinder. The middle part of the second clamping finger 3177 is rotatably arranged on the side of the moving member 3174 away from the second driving member 3173, one end of the second clamping finger 3177 is connected with the third driving member 3176, and the other end of the second clamping finger 3177 extends to the reference member 3172 and is arranged opposite to the first clamping finger 3175. The third driving member 3176 is used for driving the second clamping finger 3177 to rotate, so as to make the second clamping finger 3177 close to the first clamping finger 3175 to clamp the small piece 200, or make the second clamping finger 3177 away from the first clamping finger 3175 to release the small piece 200, wherein the first clamping finger 3175 and the second clamping finger 3177 adapt to clamp the small piece 200. In this way, by arranging the specific structure of the taking-out assembly 317, when the taking-out assembly 317 takes the small piece 200, the reference member 3172 first abuts against the small piece 200; after the reference member 3172 abuts against the small piece 200, the second driving member 3173 drives the moving member 3174 to move towards the small piece 200, so that the first clamping finger 3175 is located on one side of the small piece 200; after the first clamping finger 3175 is located on one side of the small piece 200, the third driving member 3176 drives the second clamping finger 3177 to rotate, so that the second clamping finger 3177 rotates towards the other side of the small piece 200, and then the second clamping finger 3177 cooperates with the first clamping finger 3175 to clamp the small piece 200, so that the taking-out assembly 317 adapts to clamp the small piece 200; in addition, by arranging the reference member 3172 to adapt to abut against the small piece 200, the taking-out assembly 317 can adapt to clamp the small piece 200. It can be understood that the embodiments of the present application will not describe the process of releasing the small piece 200 by the taking-out assembly 317 in detail.

[0048] In the embodiment, the taking mechanism 31 further comprises a taking vision assembly 318. The taking vision assembly 318 is arranged on the connecting plate 311 and is spaced apart from the first driving member 312. The taking vision assembly 318 is used to obtain an image of the small piece 200, so that the taking assembly 317 can adapt to clamp the small piece 200. In the embodiment, the taking vision assembly 318 can be roughly composed of a lens, a light source, a photosensitive chip and the like. The specific structure and the specific imaging principle of the taking vision assembly 318 will not be described in detail in the embodiment. In this way, by arranging the taking vision assembly 318, the taking assembly 317 can accurately take and place the small piece 200, and the taking and placing precision of the taking assembly 317 is improved.

[0049] Please see Figure 6 and Figure 7In the embodiment, the positioning device 40 comprises a positioning mechanism 41. The positioning mechanism 41 is used for positioning the small piece 200 taken out from the feeding device 10 by the taking mechanism 31. The positioning mechanism 41 comprises a mounting frame 411, a positioning seat 412, a first driving member 413, a first clamping member 414, a second driving member 415, a second clamping member 416, a third driving member 417 and a third clamping member 418. The mounting frame 411 is arranged on the assembling platform 50. The positioning seat 412 is arranged on the mounting frame 411 and is used for adapting to carry the small piece 200. The first driving member 413 is arranged on the mounting frame 411 and can be a pneumatic cylinder. The first clamping member 414 is slidingly arranged on the mounting frame 411 and is connected with the first driving member 413. The first clamping member 414 is arranged on one side of the positioning seat 412. The first driving member 413 is used for driving the first clamping member 414 to move close to or away from the small piece 200 carried by the positioning seat 412. In the embodiment, the first clamping member 414 is arranged on the mounting frame 411 through a sliding rail and sliding block structure. The first clamping member 414 is connected with the first driving member 413 through a driving connecting member 419 which is movably arranged on the mounting frame 411. The second driving member 415 is arranged on the mounting frame 411 and is arranged on one side of the positioning seat 412. The second driving member 415 can be a pneumatic cylinder. The second clamping member 416 is slidingly arranged in the positioning seat 412 and is connected with the second driving member 415. The second driving member 415 is used for driving the second clamping member 416 to move close to or away from the small piece 200 carried by the positioning seat 412. The third driving member 417 is arranged on the mounting frame 411 and is arranged on the other side of the positioning seat 412. The third driving member 417 can be a pneumatic cylinder. The second clamping member 416 is slidingly arranged in the positioning seat 412 and is connected with the third driving member 417. The third driving member 417 is used for driving the third clamping member 418 to move close to or away from the small piece 200 carried by the positioning seat 412. The first clamping member 414 and the third clamping member 418 are respectively arranged on the opposite sides of the positioning seat 412. In this way, through the specific structure of the above-mentioned positioning mechanism 41, the first clamping member 414, the second clamping member 416 and the third clamping member 418 are respectively clamped or released on the small piece 200 on the positioning seat 412 under the driving of the first driving member 413, the second driving member 415 and the third driving member 417, so as to realize the accurate positioning of the small piece 200.

[0050] The positioning device 40 further comprises a film tearing mechanism 42 and a film collecting mechanism 43 in the embodiment. The film tearing mechanism 42 is arranged on the mounting frame 411 and is used to tear the film on the small piece 200. The film collecting mechanism 43 is arranged on the assembly platform 50 and is used to collect the film torn by the film tearing mechanism 42 from the small piece 200. The film collecting mechanism 43 is arranged on one side of the mounting frame 411 and corresponds to the film tearing mechanism 42. In this way, the film tearing operation on the small piece 200 and the film collecting operation are realized by arranging the film tearing mechanism 42 and the film collecting mechanism 43.

[0051] The film tearing mechanism 42 comprises a film tearing driving module 421 and a film tearing gripper 422 in the embodiment. The film tearing driving module 421 can be a linear module and is arranged on the mounting frame 411 and extends towards the film collecting mechanism 43. The film tearing gripper 422 is arranged on the film tearing driving module 421 and is used to clamp the film on the small piece 200 carried by the positioning seat 412. The film tearing gripper 422 is generally composed of a double-head air cylinder and a gripper. It can be understood that the working process and working principle of the film tearing gripper 422 are not described in detail. The film tearing driving module 421 is used to drive the film tearing gripper 422 and the film clamped by the film tearing gripper 422 to move towards the film collecting mechanism 43, so that the film is separated from the small piece 200. In this way, by arranging the specific structure of the film tearing mechanism 42, when the positioning mechanism 41 precisely positions the small piece 200 on the positioning seat 412, the film is located between the film tearing gripper 422. The film tearing gripper 422 first clamps the film, and then the film tearing driving module 421 drives the film tearing gripper 422 and the film to move towards the film collecting mechanism 43, so that the film is separated from the small piece 200 under the pulling of the film tearing gripper 422, thereby realizing the film tearing.

[0052] In the embodiment, the film collecting mechanism 43 comprises a film collecting rack 431, a film collecting box 432, a brush 433 and a protective cover 434. The film collecting rack 431 is arranged on the assembly platform 50 and is arranged on one side of the mounting rack 411. The film collecting box 432 is arranged on the film collecting rack 431 and is used to collect the film pieces. The brush 433 is rotatably arranged on the film collecting rack 431 and is arranged above the film collecting box 432. The protective cover 434 is arranged on the film collecting rack 431 and covers the brush 433, and the protective cover 434 is in communication with the film collecting box 432. The brush 433 is used to rotatably rub off the film pieces torn off from the small piece 200 by the film tearing clamp jaw 422, so that the small piece 200 falls into the film collecting box 432 through the protective cover 434. In the embodiment, the film collecting mechanism 43 further comprises a motor 435, which is arranged outside the protective cover 434 and penetrates the protective cover 434 to be connected with the brush 433, and the motor 435 is used to drive the brush 433 to rotate. In this way, by arranging the specific structure of the above-mentioned film collecting mechanism 43, when the film tearing driving module 421 drives the film tearing clamp jaw 422 and the film piece to move towards the film collecting mechanism 43 and the film tearing clamp jaw 422 penetrates the protective cover 434 and moves to the brush 433, the motor 435 drives the brush 433 to rotate, so that the brush 433 rotatably rubs off the small piece 200 on the film tearing clamp jaw 422, and the small piece 200 falls into the film collecting box 432 through the protective cover 434 after falling off the film tearing clamp jaw 422, thereby realizing the recycling of the film piece and avoiding the pollution of the environment by the film piece.

[0053] In the embodiment, the positioning device 40 further comprises a positioning vision assembly 44. The positioning vision assembly 44 is arranged in a spaced manner with the positioning mechanism 41 and is used to acquire the image of the positioned small piece 200 taken out from the positioning mechanism 41 by the material taking mechanism 31, so that the material taking mechanism 31 assembles the small piece 200 on the product carried by the carrying mechanism 21. In the embodiment, the positioning vision assembly 44 can be roughly composed of a lens, a light source, a photosensitive chip and the like, and the specific structure and specific imaging principle of the positioning vision assembly 44 will not be described in detail in the embodiment. In this way, by arranging the above-mentioned positioning vision assembly 44, it is beneficial to take a photo of the positioned small piece 200 taken away by the material taking assembly 317 for analysis, so as to accurately assemble the small piece 200 on the product on the carrying mechanism 21, thereby improving the assembly precision of the small piece 200 and the product.

[0054] The assembly equipment 100 provided in the embodiment of the application realizes the automatic assembly of the small piece 200 and the product through the cooperation of the feeding device 10, the carrying device 20, the material taking device 30 and the positioning device 40, which is beneficial to improve the assembly efficiency, reduce the labor intensity of workers, save the labor cost, and form a unified assembly standard when the assembly equipment 100 assembles the small piece 200 and the product, thereby ensuring the assembly consistency of the small piece 200 and the product. The heating mechanism 22 is used to heat the product and the small piece 200, which is beneficial to improve the yield of the assembly of the small piece 200 and the product.

[0055] It is apparent that the application is not limited to the details of the foregoing exemplary embodiments, and that the application can be implemented in other specific forms without departing from the spirit or essential characteristics of the application. The presently disclosed embodiments are therefore considered in all respects to be illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

[0056] Finally, it should be noted that the above embodiments are merely used to describe, but not limit the technical solutions of the present application, and although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced, without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An assembly apparatus for assembling small parts and products, characterized in that, The assembling device comprises a feeding device, a carrying device, a taking device and a positioning device, the feeding device, the carrying device and the positioning device are arranged at intervals; The feeding device is used for feeding the small pieces; The carrying device comprises a carrying mechanism and a heating mechanism, the carrying mechanism is used for carrying the product, and the heating mechanism is arranged on the carrying mechanism and used for heating the product; The taking device comprises a taking mechanism, the taking mechanism is arranged above the feeding device, the carrying device and the positioning device, and the taking mechanism is movable between the feeding device, the carrying device and the positioning device, and the taking mechanism is used for taking the small pieces from the feeding device; The positioning device is used for receiving and positioning the small pieces taken from the feeding device by the taking mechanism; and The taking mechanism is further used for taking the positioned small pieces from the positioning device and moving the positioned small pieces to above the carrying device, so as to assemble the positioned small pieces on the product.

2. The assembly apparatus of claim 1, wherein, The taking mechanism comprises a connecting plate, a first driving member, a mounting plate, a sliding seat, a stop member, an elastic member and a taking assembly, the first driving member is arranged on the connecting plate, the mounting plate is slidingly arranged on the connecting plate and connected with the first driving member, the mounting plate slides on the connecting plate under the driving of the first driving member, the sliding seat is slidingly arranged on the mounting plate, the stop member is connected with the mounting plate and arranged at an interval from the sliding seat, the elastic member is connected between the sliding seat and the stop member, and the taking assembly is connected to a side of the sliding seat away from the elastic member, and the taking assembly is used for adaptively clamping the small pieces.

3. The assembly apparatus of claim 2, wherein, The taking assembly comprises a fixing member, a reference member, a second driving member, a moving member, a first clamping finger, a third driving member and a second clamping finger, the fixing member is connected to a side of the sliding seat away from the elastic member, the reference member is connected to an end of the fixing member away from the sliding seat, the reference member is used for abutting against the small pieces, the second driving member is arranged on the fixing member, the moving member is slidingly arranged on the fixing member and connected with the second driving member, the first clamping finger is connected to a side of the moving member away from the second driving member, and the first clamping finger is arranged adjacent to the reference member, the third driving member is arranged on a side of the moving member away from the second driving member, and the third driving member and the first clamping finger are arranged on opposite sides of the moving member, respectively, and a middle part of the second clamping finger is rotationally arranged on a side of the moving member away from the second driving member, one end of the second clamping finger is connected with the third driving member, and the other end of the second clamping finger extends to the reference member and is arranged opposite to the first clamping finger, and the third driving member is used for driving the second clamping finger to rotate, so as to make the second clamping finger close to the first clamping finger to clamp the small pieces, or make the second clamping finger away from the first clamping finger to release the small pieces.

4. The assembly apparatus of claim 2, wherein, The taking mechanism further comprises a taking visual assembly arranged on the connecting plate and spaced apart from the first driving member, the taking visual assembly being configured to acquire an image of the small item so that the taking assembly is adapted to clamp the small item.

5. The assembly apparatus of claim 1, wherein, The bearing mechanism comprises a bottom plate, a top plate, a carrier plate, a first positioning assembly, a second positioning assembly, a third positioning assembly and a suction assembly. The top plate is arranged opposite to the bottom plate, and the top plate is arranged above the bottom plate. The carrier plate is connected above the top plate, and the carrier plate is configured to bear the product. The first positioning assembly comprises first positioning members arranged on both sides of the top plate and the carrier plate in a first direction. The first positioning members on both sides of the top plate and the carrier plate can move towards or away from each other in the first direction. The second positioning assembly comprises positioning blocks and second positioning members. The positioning blocks are arranged on the carrier plate, and the second positioning members are arranged on one side of the carrier plate and opposite to the positioning blocks. The second positioning members can move towards or away from the positioning blocks in a second direction. The third positioning assembly comprises third positioning members arranged above the carrier plate in a third direction. The third positioning members can move towards or away from the carrier plate in the third direction. The suction assembly is arranged on the top plate and the carrier plate, and the suction assembly is configured to suction the product. The first direction, the second direction and the third direction are perpendicular to each other. The heating mechanism comprises a heating driving member, a heat insulation member and a heating member. The heating driving member is arranged on the bottom plate. The heat insulation member is connected with the heating driving member. The heating member is connected with the heat insulation member. The heating driving member is configured to drive the heat insulation member and the heating member to pass through the top plate and the carrier plate in the third direction, so that the heating member heats the product.

6. The assembly apparatus of claim 5, wherein, The first positioning assembly further comprises a first power member and sliding blocks. The first power member is arranged on the bottom plate. The sliding blocks are connected to both sides of the first power member in the first direction, and one end of the sliding blocks is slidingly arranged on the bottom plate. The other end of the sliding blocks extends to one side of the top plate and the carrier plate and is connected with the corresponding first positioning member on the same side. The first power member is configured to drive the sliding blocks and the first positioning members to move in the first direction. The second positioning assembly further comprises a second power member. The second power member is arranged on the top plate and connected with the second positioning members. The second power member is configured to drive the second positioning members to move in the second direction. The third positioning assembly further comprises a third power member. The third power member is arranged on the top plate and connected with the third positioning members. The third power member is configured to drive the third positioning members to rotate around the third direction and move in the third direction.

7. The assembly apparatus of claim 1, wherein, The carrying device further comprises a carrying driving module, which is arranged at intervals from the feeding device and the positioning device, the carrying mechanism is connected with the carrying driving module, the carrying driving module is used for driving the carrying mechanism and the heating mechanism to move between an upper feeding position and an assembly position, the carrying mechanism carries the product at the upper feeding position and feeds the product after the small piece is assembled, and the carrying mechanism makes the product assemble the small piece at the assembly position.

8. The assembly apparatus of claim 1, wherein, The positioning device comprises a positioning mechanism, the positioning mechanism comprises a mounting frame, a positioning seat, a first driving member, a first clamping member, a second driving member, a second clamping member, a third driving member and a third clamping member, the positioning seat is arranged on the mounting frame, the positioning seat is used for carrying the small piece, the first driving member is arranged on the mounting frame, the first clamping member is slidingly arranged on the mounting frame and connected with the first driving member, the first clamping member is arranged on one side of the positioning seat, the first driving member is used for driving the first clamping member to move close to or away from the small piece carried by the positioning seat, the second driving member is arranged on the mounting frame and arranged on one side of the positioning seat, the second clamping member is slidingly arranged on the positioning seat and connected with the second driving member, the second driving member is used for driving the second clamping member to move close to or away from the small piece carried by the positioning seat, the third driving member is arranged on the mounting frame and arranged on the other side of the positioning seat, the second clamping member is slidingly arranged on the positioning seat and connected with the third driving member, and the third driving member is used for driving the third clamping member to move close to or away from the small piece carried by the positioning seat.

9. The assembly apparatus of claim 8, wherein, The positioning device further comprises a film tearing mechanism and a film collecting mechanism, the film tearing mechanism is arranged on the mounting frame, the film collecting mechanism is arranged on one side of the mounting frame and arranged correspondingly with the film tearing mechanism, the film tearing mechanism comprises a film tearing driving module and a film tearing clamp jaw, the film tearing driving module is arranged on the mounting frame and extends towards the film collecting mechanism, the film tearing clamp jaw is arranged on the film tearing driving module, the film tearing clamp jaw is used for clamping the film member on the small piece carried by the positioning seat, the film tearing driving module is used for driving the film tearing clamp jaw and the film member clamped by the film tearing clamp jaw to move towards the film collecting mechanism, the film collecting mechanism comprises a film collecting frame, a film collecting box, a brush and a protective cover, the film collecting frame is arranged on one side of the mounting frame, the film collecting box is arranged on the film collecting frame, the brush is rotatably arranged on the film collecting frame and arranged above the film collecting box, the protective cover is arranged on the film collecting frame and covers the brush, the protective cover is communicated with the film collecting box, and the brush is used for rotatingly rubbing off the film member torn from the small piece by the film tearing clamp jaw, so that the small piece falls into the film collecting box through the protective cover.

10. The assembly apparatus of claim 8, wherein, The positioning device further comprises a positioning vision assembly which is arranged in a spaced manner with the positioning mechanism, and is used to acquire an image of the positioned small piece taken out from the positioning mechanism by the taking mechanism, so that the taking mechanism assembles the small piece to the product carried by the carrying mechanism.

Images