Assembly equipment

Abstract

The utility model provides assembling equipment, and relates to the technical field of product processing. The assembling equipment comprises a rack, a material conveying device, a first recognition device, an assembling conveying device, a second recognition device and a picking device, the material conveying device, the first recognition device, the assembling conveying device, the second recognition device and the picking device are arranged on the rack, the picking device is used for picking materials, and the material conveying device is provided with a feeding position and is configured to convey full trays to the feeding position and send out empty trays located at the feeding position; the recognition area of the first recognition device corresponds to the feeding position and is configured to recognize and position materials in the material tray located at the feeding position; the assembling and conveying device is provided with an assembling position and is configured to convey a to-be-assembled part to the assembling position and send out an assembled product; and the identification area of the second identification device corresponds to the assembly position and is configured to identify and position the assembly area of the to-be-assembled part located at the assembly position. The assembling equipment can accurately and efficiently assemble the materials to the to-be-assembled part, so that the assembling efficiency and the yield of assembled products are improved.

Description

Technical Field

[0001] This utility model relates to the field of product processing technology, and in particular to an assembly device. Background Technology

[0002] Currently, in some industries, such as 3C (computers, communications, and consumer electronics), the assembly of various components is generally involved. Existing technologies typically employ assembly line production, with repetitive manual operations to assemble materials and parts. However, manual assembly suffers from low precision and efficiency, resulting in low assembly efficiency and a low yield of assembled products. Utility Model Content

[0003] The purpose of this invention is to provide an assembly device to solve the technical problem that the existing technology uses manual assembly, which has low accuracy and efficiency, resulting in low assembly efficiency and low yield of assembled products.

[0004] To address the aforementioned problems, this utility model provides an assembly device, including a frame and a component disposed on the frame:

[0005] A material conveying device has a loading position and is configured to: deliver a full material tray to the loading position and deliver an empty material tray located at the loading position.

[0006] The first identification device, with an identification area corresponding to the feeding position, is configured to: identify and locate the material in the tray located at the feeding position;

[0007] An assembly conveying device having an assembly station is configured to: convey parts to be assembled to the assembly station and deliver assembled products.

[0008] The second identification device, with an identification area corresponding to the assembly position, is configured to: identify and locate the assembly area of ​​the component to be assembled located at the assembly position; and,

[0009] The picking device is configured to: pick up the material that has been identified and positioned in the tray, and assemble the picked material into the assembly area located at the assembly position after identification and positioning.

[0010] Optionally, the frame is provided with a third identification device, the identification area of ​​which is located above the assembly position, and is configured to identify the appearance and position of the material picked up by the picking device before assembly.

[0011] Optionally, the frame is provided with a positioning device, the positioning device and the second identification device are located on opposite sides of the assembly position, the positioning device includes a push drive member disposed on the frame and a push rod connected to the push drive member, the push drive member is configured to: drive the push rod to abut against the component to be assembled located at the assembly position, and drive the push rod to disengage from the component to be assembled located at the assembly position.

[0012] Optionally, the material conveying device further has a discharge position adjacent to the loading position, and the material conveying device includes components disposed on the frame:

[0013] A feeding conveyor assembly, located below the feeding position and having a feeding position corresponding to the feeding position, is configured to: feed a full tray to the feeding position;

[0014] The feeding lifting component, located below the feeding position, is configured to lift the full material tray located at the feeding position to the feeding position;

[0015] The transfer component is configured to transfer an empty material tray located at the loading position to the unloading position;

[0016] A feeding conveyor assembly, located below the feeding position and having a corresponding discharge position, is configured to: feed an empty tray out from the discharge position; and,

[0017] The material feeding lifting component is located below the material feeding position and is configured to lower the empty material tray located at the material feeding position to the material discharge position.

[0018] Optionally, the first identification device includes:

[0019] The first mounting base has a first connection position, a second connection position and a third connection position;

[0020] A first camera component is connected to the first connection position, and the optical axis of the first camera component extends along the Z-axis;

[0021] A first laser ranging component, connected to the second connection position, is configured such that the emitted ranging laser beam extends obliquely and intersects the straight line containing the optical axis, with the intersection point located on the side of the first and second connection positions away from the third connection position; and,

[0022] A drive assembly is disposed on the frame and connected to the third connection position, the drive assembly being configured to drive the first mounting base to move in the XY direction.

[0023] Optionally, the first mounting base includes a vertical plate and a horizontal plate. The vertical plate has a first plate surface and a second plate surface, and the first plate surface serves as the first connection position. The horizontal plate is fixed to the second plate surface of the vertical plate, and the bottom surface of the horizontal plate and the area of ​​the second plate surface located below the horizontal plate form the second connection position, and the top surface of the horizontal plate and the area of ​​the second plate surface located above the horizontal plate form the third connection position.

[0024] Optionally, the first identification device further includes a first adjusting seat and a first adjusting bolt extending along the Z direction. The top of the first adjusting seat is provided with a first threaded hole, and the first adjusting seat is slidably connected to the first plate surface along the Z direction through a first guide structure. The first camera assembly is disposed on the first adjusting seat. The first adjusting bolt is pivotally connected to the first mounting seat, and the screw of the first adjusting bolt is screwed into the first threaded hole.

[0025] Optionally, the first plate surface is fixedly provided with a connecting ear, and the connecting ear is provided with an opening groove on the side opposite to the first plate surface, the opening groove extending along the Z direction and penetrating the connecting ear;

[0026] The screw head and the screw rod of the first adjusting bolt are coaxially connected by a connecting rod. The connecting rod includes a first rod segment fixed to the screw rod, a second rod segment fixed to the screw head, and an intermediate rod segment connecting the two. The outer diameter of the intermediate rod segment is smaller than that of the first rod segment and the second rod segment, and the intermediate rod segment fits into the opening groove. The connecting lug is clamped between the first rod segment and the second rod segment.

[0027] Alternatively, the connecting rod includes a first rod segment fixed to the screw and an intermediate rod segment connecting the first rod segment and the screw head. The outer diameter of the intermediate rod segment is smaller than that of the first rod segment and the screw head, and the intermediate rod segment fits into the opening groove. The connecting lug is clamped between the first rod segment and the screw head.

[0028] Optionally, the first identification device further includes a connecting seat, a second adjusting seat, and a second adjusting bolt. The connecting seat is fixed to the bottom surface of the horizontal plate and the area where the second plate surface is lower than the horizontal plate. The top of the second adjusting seat is provided with a second threaded hole, and the second adjusting seat is slidably engaged with the connecting seat along the Z direction through a second guide structure. The first laser ranging component is disposed on the second adjusting seat. The second adjusting bolt is pivotally connected to the connecting seat, and the screw of the second adjusting bolt is screwed into the second threaded hole.

[0029] Optionally, the second identification device includes:

[0030] Second mounting base;

[0031] The second camera assembly is disposed on the second mounting base, and its optical axis extends vertically from bottom to top;

[0032] A prism assembly, disposed on the second mounting base and located above the second camera assembly, is configured to: reflect the vertically extended light path of the second camera assembly into a horizontally extended path, and direct it toward the assembly area of ​​the component to be assembled located at the assembly position.

[0033] In the assembly equipment provided by this utility model, the first identification device can identify and locate the position coordinates of the material on the full material tray, and the control device can calculate the coordinate position of the material based on the received material position information; the second identification device can identify and locate the position coordinates of the assembly area of ​​the part to be assembled located at the assembly position, and the control device can calculate the coordinate position of the assembly area of ​​the part to be assembled based on the received position information of the part to be assembled. Furthermore, the control device controls the picking trajectory of the picking device based on the coordinate position of the material and the coordinate position of the assembly area, so that the picking end of the picking device can reach the material tray and accurately pick up the positioned material, carry the material to the part to be assembled, and precisely assemble the material in the assembly area, thereby improving the accuracy of material picking and the precision of material assembly to the part to be assembled. Simultaneously, it can effectively improve the assembly efficiency of the material and the part to be assembled, and reduce the labor load of manual assembly. Attached Figure Description

[0034] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 An isometric view of the assembly equipment provided in an embodiment of this utility model;

[0036] Figure 2 A first-view schematic diagram of the relative positions of various devices in the assembly equipment provided in this embodiment of the utility model;

[0037] Figure 3 A second-view schematic diagram illustrating the relative positions of various devices in the assembly equipment provided in this embodiment of the utility model;

[0038] Figure 4 An isometric view of the material conveying device in the assembly equipment provided in this embodiment of the utility model;

[0039] Figure 5 for Figure 4 Isometric view of the transfer and delivery component;

[0040] Figure 6 An isometric view of the first identification device in the assembly equipment provided in this embodiment of the utility model;

[0041] Figure 7 A first-view schematic diagram of the first identification device in the assembly equipment provided in this embodiment of the utility model after the drive component has been removed;

[0042] Figure 8 A second-view schematic diagram of the first identification device in the assembly equipment provided in this embodiment of the utility model after the drive component has been removed;

[0043] Figure 9 A schematic diagram showing the connection of the first mounting base, the first adjusting base, the connecting base, and the second adjusting base in the assembly equipment provided in this embodiment of the utility model;

[0044] Figure 10 An isometric view of the assembly conveying device in the assembly equipment provided in this embodiment of the utility model;

[0045] Figure 11 An isometric view of the carrier return device in the assembly equipment provided in this embodiment of the utility model;

[0046] Figure 12 A schematic diagram showing the relative positions of the second identification device and the waste box in the assembly equipment provided in this embodiment of the utility model;

[0047] Figure 13 An isometric view of the pickup device in the assembly equipment provided in this embodiment of the utility model;

[0048] Figure 14 A schematic diagram showing the connection between the third identification device and the positioning device in the assembly equipment provided in this embodiment of the utility model.

[0049] Explanation of reference numerals in the attached figures:

[0050] 100 - First identification device; 110 - First mounting base; 111 - First connection position; 112 - Second connection position; 113 - Third connection position; 114 - Vertical plate; 114a - First plate surface; 114b - Second plate surface; 114c - Scale; 115 - Horizontal plate; 120 - First camera assembly; 121 - Optical axis; 130 - First laser ranging assembly; 131 - Ranging laser; 140 - Drive assembly; 141 - X-axis drive component; 142 - Y-axis drive component; 15A - First guide structure; 151 - First adjustment seat; 151a - First threaded hole; 151b - Pointer ; 152-First adjusting bolt; 152a-Screw head; 152b-Connecting rod; 152c-Second rod segment; 152d-Intermediate rod segment; 152e-First rod segment; 152f-Screw; 153-Connecting lug; 153a-Opening slot; 160-Locking component; 17A-Second guide structure; 171-Connecting seat; 171a-First vertical connecting plate; 171b-Horizontal connecting plate; 171c-Second vertical connecting plate; 171d-Reinforcing plate; 172-Second adjusting seat; 172a-Second threaded hole; 173-Second adjusting bolt; 180-Wall; 181-Cable tube;

[0051] 10A - Camera; 10B - Lens; 10C - Light source;

[0052] 200 - Frame; 210 - Waste bin; 220 - Barcode scanner; 230 - Housing;

[0053] 300 - Material conveying device; 310 - Loading position; 320 - Unloading position; 330 - Loading conveying assembly; 331 - Feeding position; 340 - Loading lifting assembly; 350 - Transfer assembly; 351 - Transfer drive component; 352 - Gripper component; 360 - Unloading conveying assembly; 361 - Discharge position;

[0054] 400 - Assembly conveyor; 410 - Assembly position; 420 - First loading position; 430 - Second loading position; 440 - Third loading position; 450 - Fourth loading position; 460 - Fifth loading position;

[0055] 500 - Second identification device; 510 - Second mounting base; 520 - Second camera assembly; 530 - Prism assembly; 540 - Lifting drive component;

[0056] 600 - Pickup device; 610 - Robotic arm; 620 - Vacuum nozzle;

[0057] 700 - Third identification device; 710 - Third mounting base; 720 - Third camera assembly; 730 - Second laser rangefinder assembly;

[0058] 800 - Positioning device; 810 - Push drive component; 820 - Push rod;

[0059] 900 - Vehicle return device;

[0060] 90A - Materials; 90B - Trays; 90C - Components to be assembled; 91C - Assembly area; 90D - Carrier. Detailed Implementation

[0061] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0062] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0063] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0064] This embodiment provides an assembly device, such as... Figures 1-3As shown, the assembly includes a frame 200 and a material conveying device 300, a first identification device 100, an assembly conveying device 400, a second identification device 500, and a pickup device 600 disposed on the frame 200. The material conveying device 300 has a loading position 310, configured to: deliver a full material tray 90B to the loading position 310 and deliver an empty material tray 90B located at the loading position 310. The identification area of ​​the first identification device 100 corresponds to the loading position 310 and is configured to: identify and locate the material 90A within the material tray 90B located at the loading position 310. The conveying device 400 has an assembly position 410, configured to convey the part to be assembled 90C to the assembly position 410 and to deliver the assembled product; the identification area of ​​the second identification device 500 corresponds to the assembly position 410, configured to identify and position the assembly area 91C of the part to be assembled 90C located at the assembly position 410; the picking device 600 is configured to pick up the material 90A after identification and positioning in the tray 90B, and to assemble the picked material 90A into the assembly area 91C of the part to be assembled 90C located at the assembly position 410 after identification and positioning.

[0065] In the assembly equipment provided in this embodiment, the material conveying device 300, the first identification device 100, the assembly conveying device 400, the second identification device 500, and the picking device 600 are all communicatively connected to the control device of the assembly equipment. During operation, a tray 90B containing multiple materials 90A is loaded onto the material conveying device 300 as a full tray 90B. The material conveying device 300 then conveys the full tray 90B to the loading position 310 and feeds back a signal indicating that the material 90A loading is complete to the control device. The control device then controls the first identification device 100 to identify and locate the position coordinates of one of the materials 90A in the full tray 90B and feeds back the identified material 90A position information to the control device. The control device then receives the information and... The coordinate position of material 90A is calculated from the position information of material 90A. Simultaneously, the carrier 90D loaded with the component to be assembled 90C is fed to the assembly conveyor 400. The assembly conveyor 400 then conveys the carrier 90D loaded with the component to be assembled 90C to the assembly position 410 and feeds back the signal that the component to be assembled 90C has been loaded to the control device. The control device then controls the second identification device 500 to identify and locate the position coordinates of the assembly area 91C of the component to be assembled 90C located at the assembly position 410, and feeds back the identified position information of the component to be assembled 90C to the control device. The control device calculates the coordinate position of the assembly area 91C of the component to be assembled 90C based on the received position information of the component to be assembled 90C.

[0066] Subsequently, the control device controls the picking trajectory of the picking device 600 based on the coordinate positions of material 90A and assembly area 91C, enabling the picking end of the picking device 600 to reach the material tray 90B and accurately pick up the positioned material 90A. It then carries material 90A to the part to be assembled 90C and precisely assembles material 90A into the assembly area 91C. This improves the accuracy of picking up material 90A and the precision of assembling material 90A into the part to be assembled 90C. Simultaneously, it effectively improves the assembly efficiency of material 90A and the part to be assembled 90C, reducing the labor cost of manual assembly. Dynamic load; material 90A is assembled onto the part to be assembled 90C to obtain the assembled product. The picking device 600 feeds back the assembly completion signal to the control device, and the control device controls the assembly conveying device 400 to send out the assembled product, completing the assembly of one product; this is repeated to achieve continuous, accurate and efficient assembly of material 90A and part to be assembled 90C until all material 90A in the material tray 90B is taken away by the picking component, the material tray 90B becomes an empty material tray 90B, the material conveying device 300 sends out the empty material tray 90B and conveys the next full material tray 90B to the loading position 310.

[0067] The control programs that need to be set between the control device and the material conveying device 300, the first identification device 100, the assembly conveying device 400, the second identification device 500 and the picking device 600 are all prior art and are not improvements of this application.

[0068] Specifically, material 90A can be a mobile phone button, and the part to be assembled 90C can be a mobile phone case.

[0069] In this embodiment, as Figure 2 and Figure 3As shown, the frame 200 is equipped with a third identification device 700. The identification area of ​​the third identification device 700 is located above the assembly position 410. It is configured to identify the appearance and position of the material 90A picked up by the pickup device 600 before assembly. After the pickup device 600 picks up the material 90A from the tray 90B, it first carries the material 90A to the identification area of ​​the third identification device 700 and feeds back the arrival signal to the control device. The control device then controls the third identification device 700 to identify the material 90A carried by the pickup device 600. During the identification process, the pickup device 600 rotates the material 90A in multiple directions so that the third identification device 700 can identify the appearance of the material 90A from various angles and feeds back the identified appearance signal to the control device. The control device determines whether the material 90A has defects based on the received appearance signal. If a defect is found, the control device 600 places the material 90A into the waste box 210 of the assembly equipment and picks up another material from the box. The material 90A is then picked up again and its appearance is identified by the third identification device 700. If it is determined that the material 90A is free of defects, the picking device 600 is kept stationary. The third identification device 700 identifies the position information of the material 90A carried by the picking device 600 and feeds the identified position information of the material 90A back to the control device. The control device calculates the coordinate position of the material 90A based on the position information of the material 90A fed back by the third identification device 700, and then controls the picking trajectory of the picking device 600 based on the coordinate position of the material 90A and the coordinate position of the assembly area 91C. This allows the picking end of the picking device 600 to carry the material 90A to the part to be assembled 90C and accurately assemble the material 90A into the assembly area 91C.

[0070] The third identification device 700 is positioned above the assembly part 90C to identify the appearance and position of the material 90A carried by the pickup device 600. This effectively identifies any defects in the material 90A, ensuring the validity of the product formed after assembly of the material 90A onto the assembly part 90C, thus improving product yield. Furthermore, with the third identification device 700 positioned close to the assembly area 91C, the pickup device 600 can re-identify the position of the material 90A in the area above the assembly area 91C before assembly. Based on the identified coordinates of the material 90A, the pickup device 600 assembles the material 90A with a shorter travel distance, further improving the assembly accuracy of the material 90A. This reduces the occurrence of large positional errors caused by the larger travel distance of the pickup device 600, which could affect the assembly accuracy of the material 90A, thereby further improving product yield.

[0071] In this embodiment, as Figure 14As shown, the frame 200 is provided with a positioning device 800. The positioning device 800 and the second identification device 500 are located on opposite sides of the assembly position 410. The positioning device 800 includes a push drive member 810 provided on the frame 200 and a push rod 820 connected to the push drive member 810. The push drive member 810 is configured to drive the push rod 820 to abut against the component 90C to be assembled in the assembly position 410, and to drive the push rod 820 to disengage from the component 90C to be assembled in the assembly position 410. During the process of conveying the assembly part 90C by the assembly conveyor 400, the push drive 810 of the positioning device 800 drives the push rod 820 to retract and avoid the assembly part 90C and the carrier 90D, so as to reduce the interference to the carrier 90D and the assembly part 90C. When the carrier 90D and the assembly part 90C reach the assembly position 410, the assembly area 91C is located on the side of the assembly part 90C, and the second identification device 500 is located on the side of the assembly part 90C facing the assembly area 91C, and the positioning device 800 is located on the side of the assembly part 90C away from the assembly area 91C. Before the picking device 600 assembles the material 90A into the assembly area 91C, the control device first controls the push drive. The push rod 820 extends toward the part to be assembled 90C and abuts against it. Then, the pick-up device 600 carries the material 90A to the assembly area 91C and assembles the material 90A into the assembly area 91C. During the assembly process, the push rod 820 can press against the part to be assembled 90C on the opposite side of the assembly area 91C, thereby ensuring the stability of the part to be assembled 90C during the assembly process, ensuring the accuracy of the material 90A in the assembly area 90C, and reducing the force of the material 90A's snapping or other forces that push the part to be assembled 90C to deviate, thereby affecting the assembly accuracy of the material 90A and the assembly area 91C, or even causing the two to fail to complete the assembly.

[0072] In this implementation, such as Figure 4 and Figure 5As shown, the material conveying device 300 also has a discharge position 320 adjacent to the loading position 310, and the material conveying device 300 includes a loading conveying assembly 330, a loading lifting assembly 340, a transfer assembly 350, a discharge conveying assembly 360, and a discharge lifting assembly disposed on the frame 200. The loading conveying assembly 330 is located below the loading position 310 and has a corresponding feeding position 331, configured to: deliver the full material tray 90B to the feeding position 331; the loading lifting assembly 340 is located below the loading position 310. The following components are configured as follows: 1) The full material tray 90B located at the feeding position 331 is lifted to the loading position 310; 2) The transfer component 350 is configured to transfer the empty material tray 90B located at the loading position 310 to the unloading position 320; 3) The unloading conveying component 360 is located below the unloading position 320 and has a corresponding discharge position 361 for the unloading position 320, and is configured to send the empty material tray 90B out from the discharge position 361; 4) The unloading lifting component is located below the unloading position 320 and is configured to lower the empty material tray 90B located at the unloading position 320 to the discharge position 361.

[0073] When the material conveying device 300 is in use, the full material tray 90B is fed into the feeding conveying assembly 330, which then conveys the full material tray 90B to its feeding position 331 and feeds back the arrival signal to the control device. The control device then controls the feeding lifting assembly 340 to lift the full material tray 90B to the feeding position 310 directly above, thereby realizing the feeding of material 90A. When all the material 90A in the tray 90B at the feeding position 310 is removed, the control device can infer that the tray 90B is empty based on the number of times the picking assembly picks up the material, and accordingly controls the transfer assembly 350 to transfer the empty tray 90B at the feeding position 310 to the unloading position 310. 20, and then control the unloading lifting component to lower the empty material tray 90B to the discharge position 361 of the unloading conveying component 360. The unloading conveying component 360 then sends out the empty material tray 90B, thereby completing the continuous feeding of the full material tray 90B and the continuous sending out of the empty material tray 90B. Furthermore, the unloading conveying component 330 and the unloading conveying component 360 are arranged below the unloading position 310 and the unloading position 320, which not only improves the full utilization of the vertical space of the frame 200, but also makes the height of the full material tray 90B being sent to the unloading conveying component 330 and the empty material tray 90B being sent out to the unloading conveying component 360 relatively low, which also facilitates the convenient loading and unloading operation of the full material tray 90B and the empty material tray 90B.

[0074] Specifically, such as Figure 4 As shown, the feeding conveyor assembly 330 and the feeding lifting assembly 340 can be two sets, while the unloading conveyor assembly 360 and the unloading lifting assembly are one set. Correspondingly, there are two feeding positions 310 and one unloading position 320, with the two feeding positions 310 located on either side of the unloading position 320 along the X-direction. Figure 5As shown, the transfer assembly 350 includes a transfer drive 351 and a gripper component 352 connected to the transfer drive 351. The transfer drive 351 drives the gripper component 352 to move along the X-axis and move vertically along the Z-axis, so that the gripper component 352 can send the empty material trays 90B from the two loading positions 310 to the unloading position 320, thereby realizing the loading of two sets of full material trays 90B. Correspondingly, there are two of each of the first identification device 100, the second identification device 500, and the pickup device 600, and the assembly conveying device 400 also has two assembly positions 410, each corresponding to one of the loading positions 310, thereby realizing the synchronous assembly of two sets of materials 90A, and further improving the assembly efficiency of the assembly equipment.

[0075] Among them, the assembly conveyor 400 can transport the carrier 90D along the X direction, and as... Figure 10 As shown, the assembly conveyor 400 has five loading positions along the X direction, and each loading position has a liftable stop downstream to limit the carrier 90D to its corresponding position. The five loading positions are, in sequence along the conveying direction, the first loading position 420, the second loading position 430, the third loading position 440, the fourth loading position 450, and the fifth loading position 460. The second loading position 430 serves as an assembly position 410, corresponding to one of the loading positions 310 along the Y direction; the fourth loading position 450 serves as another assembly position 410, corresponding to another loading position 310 along the Y direction; and the third loading position 440 serves as a buffer position. During operation, the carrier 90D loaded with the parts to be assembled 90C is stopped by the corresponding stops. When the assembly of part 90C at the second loading station 430 is completed, the downstream stop descends and no longer obstructs the carrier 90D. The carrier 90D, which is loaded with the product at the second loading station 430, is conveyed downward to the third loading station 440 and buffered by the downstream stop at the third loading station 440. When the assembly of part 90C at the fourth loading station 450 is completed, the carriers 90D at both the third loading station 440 and the fourth loading station 450 are sent out. At the same time, part 90C is conveyed to the second loading station 430 and the fourth loading station 450 again. In this way, the continuous feeding of part 90C and the continuous unloading of the product are realized.

[0076] In this embodiment, as Figure 2 and Figure 3 As shown, the assembly equipment also includes a barcode scanner 220, which is located above the assembly conveyor 400. When the carrier 90D enters, the barcode scanner 220 can scan the code of the carrier 90D.

[0077] In this embodiment, as Figure 2 , Figure 3 and Figure 11As shown, the assembly equipment also includes a carrier return device 900, which transports the carrier 90D along the X direction in the opposite direction to the transport direction of the assembly conveyor 400. The empty carrier 90D with the product taken away is sent to the carrier return device 900 and returned for loading the part 90C to be assembled.

[0078] In this embodiment, as Figures 6-8 As shown, the first identification device 100 includes a first mounting base 110, a first camera assembly 120, a first laser ranging assembly 130, and a drive assembly 140. The first mounting base 110 has a first connection position 111, a second connection position 112, and a third connection position 113. The first camera assembly 120 is connected to the first connection position 111, and the optical axis 121 of the first camera assembly 120 extends along the Z-axis. The first laser ranging assembly 130 is connected to the second connection position 112 and is configured such that the optical path of the emitted ranging laser 131 extends obliquely and intersects the straight line containing the optical axis 121, and the intersection point is located on the side of the first connection position 111 and the second connection position 112 away from the third connection position 113. The drive assembly 140 is disposed on the frame 200 and connected to the third connection position 113. The drive assembly 140 is configured to drive the first mounting base 110 to move in the XY direction.

[0079] The first identification device 100 provided in this embodiment includes a first laser ranging component 130 for emitting a ranging laser 131 to determine whether the material 90A has reached the photographing range by means of distance information, a first camera component 120 for taking pictures of the material 90A to obtain its position information and achieve positioning, a first mounting base 110 for mounting the first laser ranging component 130 and the first camera component 120 to fix their relative positions, and a driving component 140 for driving the first mounting base 110 to move the first laser ranging component 130 and the first camera component 120 synchronously so that the material 90A reaches the ranging range of the first laser ranging component 130 and the photographing range of the first camera component 120.

[0080] In use, the pickup device 600 and the drive assembly 140 are both mounted on the frame 200. The control device stores the coordinate information of the frame 200, the pickup device 600 and the drive assembly 140. The coordinate information of the pickup end can be determined by the drive stroke of the pickup device 600 on its pickup end. The coordinate information of the first camera assembly 120 and the ranging laser 131 assembly can be determined by the drive stroke of the drive assembly 140 on the first mounting base 110.

[0081] The intersection point of the straight line containing the optical axis 121 of the first camera assembly 120 and the optical path of the ranging laser 131 emitted by the first laser ranging assembly 130 is defined as the target intersection point. When the material tray 90B is located at the loading position 310, the height position of the material tray 90B in the Z direction is determined. The shooting end of the first camera assembly 120 and the emitting end of the first laser ranging assembly 130 are both pointing downwards towards the material tray 90B. The Z-direction height of the drive assembly 140 is adjusted so that the Z-direction height of the target intersection point is consistent with the height of the top surface of the material 90A placed on the material tray 90B, and the distance measured by the ranging laser 131 when the target intersection point is located on the top surface of the material 90A is s. The first camera assembly 120 is focused to ensure the clarity of the image of the material 90A by the first camera assembly 120. The focusing operation has no effect on the optical axis 121 and the target intersection point.

[0082] In use, the assembly equipment is started, and the drive component 140 drives the first mounting base 110 to move the first camera component 120 and the first laser ranging component 130 in the XY direction. When the target intersection point is located in the empty area on one side of the material 90A, the ranging laser 131 illuminates the top surface of the tray 90B or the side wall of the material 90A, and the distance measured by the ranging laser 131 is greater than s; when the target intersection point is located on the top surface of the material 90A, the ranging laser 131 illuminates the top surface of the material 90A, and the distance measured by the ranging laser 131 is equal to s; the first laser ranging component 130 feeds back the measured distance signal to the control device in real time. The control device determines whether the material 90A is within the imaging range of the first camera component 120 based on the received distance signal. Specifically, when the distance represented by the distance signal is greater than s, it is determined that no material 90A is within the imaging range of the first camera component 120; when the distance represented by the distance signal is equal to s, it is determined that there is material 90A within the imaging range of the first camera component 120.

[0083] The material 90A at the target intersection point is defined as target material 90A. When the control device determines that material 90A has entered the imaging range, it activates the first camera assembly 120. The first camera assembly 120 takes a picture of the target material 90A below it and sends the captured image back to the control device. The control device calculates the coordinate information of the target material 90A based on the coordinate information of the drive assembly 140, the first camera assembly 120, and the contour information of the image, thereby achieving the positioning of the target material 90A. After the positioning of a single material 90A is completed, the drive assembly 140 continues to drive the first mounting base 11. The device moves in the XY direction to continue ranging and positioning the next material 90A. Simultaneously, the control device determines the driving stroke of the picking device 600's picking end based on the coordinate information of the target material 90A, and accordingly controls the picking end of the picking device 600 to reach the target material 90A and pick it up. Then, the device continues to control the picking device 600 to carry the target material 90A for subsequent assembly operations. In this way, the first identification device 100 can continuously range, photograph and position multiple materials 90A, and the picking device 600 can continuously pick up and assemble the already positioned target material 90A.

[0084] The first identification device 100 provided in this embodiment is applied in an assembly device. A first laser ranging component 130 is set up to cooperate with a first camera component 120. First, the first laser ranging component 130 measures the distance of the material 90A to determine that the material 90A is located in the imaging area of ​​the first camera component 120. This ensures that the first camera component 120 can capture an image of the material 90A with a small imaging range. Correspondingly, the first camera component 120 and the material 90A can achieve positioning of the material 90A with a small distance in the Z direction. This ensures the effective positioning operation of the material 90A by the first camera component 120, while reducing the functional requirements of the first camera component 120. Furthermore, the first camera component 120 has a low installation height and a small imaging range, and has low requirements for occupancy of surrounding objects. This improves the structural compactness and small size of the assembly device and reduces the space occupied by the assembly device.

[0085] Secondly, the optical path of the ranging laser 131 of the first laser ranging component 130 is set to intersect the straight line of the optical axis 121 of the first camera component 120. The intersection point is located in both the ranging range of the first laser ranging component 130 and the imaging range of the first camera component 120. When the ranging information of the intersection point determines that the target material 90A is within the imaging range, it can be ensured that the target material 90A is within the imaging range of the first camera component 120. This ensures that the first camera component 120 captures an effective image of the target material 90A, and then obtains the position information of the target material 90A through the effective image, thereby achieving precise positioning of the target material 90A and ensuring the effective picking up of the target material 90A by the picking device 600 and subsequent precise assembly.

[0086] Specifically, such as Figure 6 As shown, the drive assembly 140 can use an XY-axis lead screw module as its power source. The XY-axis lead screw module includes an X-axis drive member 141 and a Y-axis drive member 142, which are connected in a transmission manner, and their drive ends are connected to the third connection position 113; Figure 13 As shown, the picking device 600 may include a robotic arm 610 and a vacuum nozzle 620 located at the end of the robotic arm 610. The robotic arm 610 drives the vacuum nozzle 620 to move. The vacuum nozzle 620 is used to adsorb and pick up material 90A. The robotic arm 610 may specifically be a six-axis robot. The first camera assembly 120 specifically includes a camera 10A, a lens 10B and a light source 10C, and the three are arranged coaxially from top to bottom.

[0087] In this embodiment, as Figures 7-9 As shown, the first mounting base 110 includes a vertical plate 114 and a horizontal plate 115. The vertical plate 114 has a first plate surface 114a and a second plate surface 114b, and the first plate surface 114a serves as a first connecting position 111. The horizontal plate 115 is fixed to the second plate surface 114b of the vertical plate 114, and the bottom surface of the horizontal plate 115 and the area of ​​the second plate surface 114b located below the horizontal plate 115 form a second connecting position 112, and the top surface of the horizontal plate 115 and the area of ​​the second plate surface 114b located above the horizontal plate 115 form a third connecting position 113. The vertical plate 114 extends approximately to the YZ plane, with its two extended surfaces being the first plate surface 114a and the second plate surface 114b, respectively. The horizontal plate 115 is installed on the second plate surface 114b, dividing it into upper and lower regions. Thus, the vertical plate 114 and the horizontal plate 115 divide the circumferential space into three spaces, which are respectively used to install the first camera assembly 120, the first laser ranging assembly 130, and the driving assembly 140. This improves the compactness of the arrangement structure of each component in the first identification device 100, reduces the space occupied by the first identification device 100, and improves its ease of arrangement.

[0088] Specifically, the first camera assembly 120 is connected to the first plate surface 114a, the drive assembly 140 is connected to the top surface of the horizontal plate 115 and the second plate surface 114b is located in the plate surface area above the horizontal plate 115, and the first laser ranging assembly 130 is connected to the bottom surface of the horizontal plate 115 and the second plate surface 114b is located in the plate surface area below the horizontal plate 115.

[0089] In this embodiment, as Figure 9As shown, the first identification device 100 further includes a first adjusting seat 151 and a first adjusting bolt 152 extending along the Z direction. The top of the first adjusting seat 151 is provided with a first threaded hole 151a, and the first adjusting seat 151 is slidably connected to the first plate surface 114a along the Z direction through a first guide structure 15A. The first camera assembly 120 is disposed on the first adjusting seat 151. The first adjusting bolt 152 is pivotally connected to the first mounting seat 110, and the screw 152f of the first adjusting bolt 152 is screwed into the first threaded hole 151a. The first adjusting bolt 152 is rotatably connected to the first mounting seat 110 and is located on one side of the first plate surface 114a. The first adjusting bolt 152 can only rotate circumferentially relative to the first mounting seat 110 and cannot move axially. The first adjusting seat 151 is screwed into the screw 152f at the bottom of the first adjusting bolt 152 through the first threaded hole 151a at its top. The first camera assembly 120 is mounted on the first adjusting seat 151.

[0090] In use, the first adjusting bolt 152 can be rotated. Under the screwing action of the first threaded hole 151a and the first adjusting bolt 152, and the guiding action of the first guide structure 15A along the Z direction, the first adjusting seat 151 moves along the Z direction as the first adjusting bolt 152 rotates. The first camera assembly 120 moves up and down synchronously with the first adjusting seat 151. During the adjustment process, the image on the display screen is checked for clarity. When the image is clear, the first adjusting bolt 152 is stopped, and the focusing operation of the first camera assembly 120 is completed. It is not necessary to adjust the height of the drive assembly 140 to achieve the focusing operation of the first camera assembly 120, thereby reducing the adjustment operation of the height of the drive assembly 140 and improving the ease of use of the first recognition device 100.

[0091] Specifically, the first guide structure 15A may include a guide groove extending along the Z direction and a guide boss extending along the Z direction. The guide groove may be provided on one of the vertical plate 114 and the first adjusting seat 151, and the guide boss may be provided on the other of the vertical plate 114 and the first adjusting seat 151. The guide boss is slidably engaged with the guide groove along the Z direction.

[0092] In this embodiment, as Figure 9As shown, the first adjusting bolt 152 can be pivotally connected to the first mounting base 110 in the following manner: a connecting lug 153 is fixedly provided on the first plate surface 114a, and an opening groove 153a is provided on the side of the connecting lug 153 away from the first plate surface 114a. The opening groove 153a extends along the Z direction and passes through the connecting lug 153. The screw head 152a and the screw rod 152f of the first adjusting bolt 152 are coaxially connected by a connecting rod 152b. The connecting rod 152b includes a first rod segment 152e fixedly connected to the screw rod 152f, a second rod segment 152c fixedly connected to the screw head 152a, and an intermediate rod segment 152d connected between the two. The outer diameter of the intermediate rod segment 152d is smaller than that of the first rod segment 152e and the second rod segment 152c, and the intermediate rod segment 152d fits into the opening groove 153a. The connecting lug 153 is clamped between the first rod segment 152e and the second rod segment 152c. During assembly, the intermediate rod segment 152d of the first adjusting bolt 152 can be aligned with the opening of the slot 153a. Then, the intermediate rod segment 152d moves toward the opening slot 153a and engages with it. The first rod segment 152e, the intermediate rod segment 152d, and the second rod segment 152c are coaxial. The outer diameters of the first rod segment 152e and the second rod segment 152c are both larger than the outer diameter of the intermediate rod segment 152d, and the outer diameters of the first rod segment 152e and the second rod segment 152c are larger than the width of the slot 153a. When 152d is inserted into the opening slot 153a, the top surface of the first rod segment 152e abuts against the bottom surface of the opening slot 153a, and the bottom surface of the second rod segment 152c abuts against the top surface of the opening slot 153a, thereby achieving axial positioning of the intermediate rod segment 152d. At the same time, by rotating the screw head 152a, the connecting rod 152b and the screw 152f can be driven to rotate circumferentially. Furthermore, the first adjusting bolt 152 and the connecting lug 153 are easy to disassemble and assemble, thereby improving the ease of disassembly, assembly, and maintenance of the first identification device 100.

[0093] Continuing, the first adjusting seat 151 is slid along the Z direction, so that the screw 152f of the first adjusting bolt 152 is screwed into the first threaded hole 151a, thereby completing the assembly. By rotating the screwing depth between the first adjusting bolt 152 and the first threaded hole 151a, the Z-direction height of the first adjusting seat 151 and the first camera assembly 120 it is mounted on can be adjusted, thereby realizing the focusing operation of the first camera assembly 120.

[0094] The first adjusting bolt 152 can also be pivotally connected to the first mounting base 110 in the following manner: the connecting rod 152b includes a first rod segment 152e fixed to the screw 152f and an intermediate rod segment 152d connected between the first rod segment 152e and the screw head 152a. The outer diameter of the intermediate rod segment 152d is smaller than that of the first rod segment 152e and the screw head 152a, and the intermediate rod segment 152d fits into the opening groove 153a. The connecting lug 153 is clamped between the first rod segment 152e and the screw head 152a. In this form, the connecting rod 152b is simpler because the second rod segment 152c is removed compared to the connecting rod 152b described above. Specifically, the outer diameter of the screw head 152a is larger than that of the intermediate rod segment 152d, and the screw head 152a also serves as the axial limiting function of the second rod segment 152c. During assembly, the intermediate rod segment 152d is inserted into the opening groove 153a, the screw head 152a abuts against the top surface of the opening groove 153a, and the top surface of the first rod segment 152e abuts against the bottom surface of the opening groove 153a, thereby achieving axial limiting of the intermediate rod segment 152d and the entire first adjusting bolt 152.

[0095] In this embodiment, as Figures 6-8 As shown, the vertical plate 114 is connected to a locking member 160. The locking member 160 has a locking position that locks the first adjusting seat 151 to the vertical plate 114 and an unlocking position that allows the first adjusting seat 151 to slide relative to the vertical plate 114. When there is no need to adjust the height of the first adjusting seat 151, the locking member 160 is adjusted to the locking position, and the locking member 160 locks the first adjusting seat 151 to the vertical plate 114, thereby improving the positional stability of the first camera assembly 120 during the operation of the first identification device 100, and correspondingly ensuring the clarity and positioning accuracy of the first camera assembly 120 in photographing the material 90A. When it is necessary to adjust the height of the first adjusting seat 151, the locking member 160 is adjusted to the unlocking position, and the first adjusting seat 151 can slide up and down relative to the vertical plate 114. The height of the first adjusting seat 151 is adjusted by rotating the first adjusting bolt 152. After the adjustment is completed, the locking member 160 is adjusted back to the locking position.

[0096] Specifically, the locking element 160 can be a sliding locking device with a waist hole, or a bolt and nut combination, etc.

[0097] Where the locking element 160 is not provided or the locking element 160 in the unlocked position does not limit the XY degree of freedom of the first adjusting seat 151, the first guide structure 15A is preferably a sliding snap-fit ​​form, such as the guide groove is a wedge groove and the guide boss is a wedge strip. The guide boss in the guide groove only has the Z degree of freedom and does not have the XY degree of freedom, so as to ensure that the first adjusting seat 151 is connected to the vertical plate 114 and reduce the occurrence of the first adjusting seat 151 disengaging from the vertical plate 114 and the first adjusting bolt 152 disengaging from the opening groove 153a.

[0098] In this embodiment, as Figures 7-9 As shown, the vertical plate 114 is provided with a scale 114c, and the first adjustment seat 151 is provided with a pointer 151b, which points to the scale 114c. The scale 114c and the pointer 151b work together to indicate the Z-axis height of the first adjustment seat 151 and the first camera assembly 120, thereby facilitating the focusing operation of the first camera assembly 120 and improving the ease of use of the first recognition device 100.

[0099] In this embodiment, as Figure 7 and Figure 9 As shown, the Z-axis height of the first laser ranging component 130 can also be adjusted. Specifically, the first identification device 100 also includes a connecting seat 171, a second adjusting seat 172, and a second adjusting bolt 173. The connecting seat 171 is fixed to the bottom surface of the horizontal plate 115 and the area of ​​the second plate surface 114b that is lower than the horizontal plate 115. The top of the second adjusting seat 172 is provided with a second threaded hole 172a, and the second adjusting seat 172 is slidably engaged with the connecting seat 171 in the Z-axis direction through the second guide structure 17A. The first laser ranging component 130 is disposed on the second adjusting seat 172. The second adjusting bolt 173 is pivotally connected to the connecting seat 171, and the screw 152f of the second adjusting bolt 173 is screwed into the second threaded hole 172a. The optical path of the ranging laser 131 emitted by the first laser ranging component 130 is coplanar with and intersects the optical axis 121 of the first camera component 120. In use, the depth of the second adjusting bolt 173 screwed into the second threaded hole 172a can be rotated, thereby driving the second adjusting seat 172 and the first laser ranging component 130 mounted thereon to move up and down relative to the connecting seat 171 along the second guide structure 17A to adjust the Z-direction height of the second adjusting seat 172 and the first laser ranging component 130, and correspondingly adjust the Z-direction height of the intersection point of the ranging laser 131 and the optical axis 121 so that the Z-direction height of the intersection point is consistent with the height of the top surface of the material 90A. The first laser ranging component 130 is adjustable along the Z-direction through the second adjusting seat 172 and the second adjusting bolt 173, which can reduce the positional accuracy requirements of the first laser ranging component 130 on the mounting plate and improve the assembly, use boundary points and accuracy of the first laser ranging component 130 and the first identification device 100.

[0100] Specifically, the second adjusting bolt 173 can be pivotally connected to the connecting seat 171 in the form that the first adjusting bolt 152 is pivotally connected to the first mounting seat 110, and the connecting seat 171 can be provided with a locking member 160 that can lock the second adjusting seat 172 to the connecting seat 171 or allow the second adjusting seat 172 to slide relative to the connecting seat 171 in the Z direction.

[0101] In this embodiment, as Figure 9As shown, the connecting seat 171 includes a first vertical connecting plate 171a, a horizontal connecting plate 171b folded over the top of the first vertical connecting plate 171a, and a second vertical connecting plate 171c folded downward at the end of the horizontal connecting plate 171b away from the first vertical connecting plate 171a. A reinforcing plate 171d is connected between the first vertical connecting plate 171a, the horizontal connecting plate 171b, and the second vertical connecting plate 171c. The extension length of the second vertical connecting plate 171c along the Z direction is greater than that of the first vertical connecting plate 171a. The first vertical connecting plate 171a is fixed to the area of ​​the second plate surface 114b that is lower than the horizontal plate 115. The horizontal connecting plate 171b is fixed to the bottom of the horizontal plate 115. The second adjusting seat 172 is slidably connected to the second vertical connecting plate 171c. The first vertical connecting plate 171a, the horizontal connecting plate 171b, and the second vertical connecting plate 171c are respectively adapted to the structure of the vertical plate 114, the horizontal plate 115, and the second adjusting seat 172 to realize the connection between the first laser ranging component 130 and the first mounting seat 110. The extension length of the horizontal connecting plate 171b can determine the horizontal distance between the first laser ranging component 130 and the first camera component 120. The vertical length of the second vertical connecting plate 171c can determine the Z-axis adjustment range of the second adjusting seat 172 and the first laser ranging component 130. The Z-axis extension length of the second vertical connecting plate 171c is greater than that of the first vertical connecting plate 171a, so that the second adjusting seat 172 and the first laser ranging component 130 have a larger Z-axis adjustment range.

[0102] In this embodiment, as Figure 7 and Figure 8 As shown, the first mounting base 110 is fixedly connected to an arm 180 surrounding the first camera assembly 120. The arm 180 is equipped with a cable management tube 181, which is configured to allow the wires of the first camera assembly 120 and the first laser ranging assembly 130 to pass through. By positioning the cable management tube 181 outside the first camera assembly 120 through the arm 180, the wires of the first camera assembly 120 and the first laser ranging assembly 130 can pass through the cable management tube 181 for routing, thereby improving the neatness of the wiring of the first identification device 100, reducing the occurrence of wire tangling and snagging, and correspondingly improving the operational stability of the first identification device 100.

[0103] In this embodiment, as Figure 3 and Figure 12As shown, the second identification device 500 includes a second mounting base 510, a second camera assembly 520, and a prism assembly 530. The second camera assembly 520 is mounted on the second mounting base 510, and its optical axis 121 extends vertically from bottom to top. The prism assembly 530 is mounted on the second mounting base and located above the second camera assembly 520. It is configured to reflect the vertically extended light path of the second camera assembly 520 to a horizontal extension, and direct it towards the assembly area 91C of the component 90C to be assembled at the assembly position 410. The camera 10A and lens 10B of the second camera assembly 520 are arranged vertically from bottom to top to reduce the horizontal space occupied by the second camera assembly 520, thereby improving the compactness of the arrangement structure of each component in the assembly equipment and reducing the space occupied by the assembly equipment. By setting the 45° prism assembly 530 above the second camera assembly 520, the second camera assembly 520 can take pictures of the assembly area 91C located on the side of the component 90C to be assembled, thereby realizing the position identification of the assembly area 91C.

[0104] In this embodiment, as Figure 12 As shown, the second identification device 500 may further include a lifting drive 540 disposed on the second mounting base 510. The top of the lifting drive 540 is provided with an auxiliary light source 10C. When the component to be assembled 90C reaches the assembly position 410, the lifting drive 540 drives the auxiliary light source 10C to rise and illuminate the assembly area 91C of the component to be assembled 90C, so as to ensure the clarity of the image captured by the second camera assembly 520.

[0105] In this embodiment, as Figure 14 As shown, the structure of the third identification device 700 can be similar to that of the first identification device 100. Specifically, it includes a third mounting base 710 disposed on the frame 200 and a third camera 10A assembly and a second laser ranging assembly 730 disposed on the third mounting base 710. The optical axis 121 of the third camera 10A assembly extends along the Y direction toward the assembly position 410. The ranging laser 131 of the second laser ranging assembly 730 intersects the straight line containing the optical axis 121 of the third camera 10A assembly, and the intersection point is located above the assembly position 410. In use, the picking device 600 picks up the material 90A and moves it above the assembly position 410, continuously adjusting its position. When the material 90A is located at the intersection of the straight line of the ranging laser 131 and the optical axis 121, the distance signal measured by the second laser ranging component 730 represents the target distance. Based on this, the control device determines the imaging range of the material 90A within the third camera 10A component, and accordingly controls the third camera 10A component to take pictures of the material 90A and feeds back the captured images to the control device. In this way, the third camera 10A component can accurately obtain images of the material 90A from various angles at a relatively small distance, and accordingly identify the appearance and position of the material 90A.

[0106] In this embodiment, as Figure 1As shown, the assembly equipment may also include a housing 230, which is connected to the frame 200 and houses the various devices therein, and the housing 230 is provided with material inlets corresponding to the inlet and outlet sections of the material conveying device 300 and the assembly conveying device 400.

[0107] Specifically, the assembly conveyor 400, the loading conveyor assembly 330, and the unloading conveyor assembly 360 can all be equipped with conveying mechanisms.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An assembly apparatus, characterized by The rack (200) is provided with a first identification device (100) and a second identification device (500). The material conveying device (300) has a feeding position (310) configured to send a full tray to the feeding position (310) and send an empty tray located at the feeding position (310) out. The first identification device (100) identifies an area corresponding to the feeding position (310) and is configured to identify and position the material (90A) in the tray (90B) located at the feeding position (310). The assembly conveying device (400) has an assembly position (410) configured to convey a component (90C) to be assembled to the assembly position (410) and send a completed product out. The second identification device (500) identifies an area corresponding to the assembly position (410) and is configured to identify and position the assembly area (91C) of the component (90C) to be assembled located at the assembly position (410). The picking device (600) is configured to pick the material (90A) in the tray (90B) after identification and positioning and assemble the picked material (90A) in the assembly area (91C) after identification and positioning located at the assembly position (410).

2. The assembly apparatus of claim 1, wherein, The rack (200) is provided with a third identification device (700) whose identification area is located above the assembly position (410) and is configured to identify the appearance and position of the material (90A) picked by the picking device (600) before assembly.

3. The assembly apparatus of claim 1, wherein, The rack (200) is provided with a positioning device (800) located on opposite sides of the assembly position (410) with the second identification device (500). The positioning device (800) includes a pushing driving member (810) provided on the rack (200) and a push rod (820) drivingly connected to the pushing driving member (810). The pushing driving member (810) is configured to drive the push rod (820) to abut against the component (90C) to be assembled located at the assembly position (410) and drive the push rod (820) to separate from the component (90C) to be assembled located at the assembly position (410).

4. The assembly apparatus according to any one of claims 1 to 3, characterized in that The material conveying device (300) further has a discharging position (320) adjacent to the feeding position (310), and the material conveying device (300) includes an upper feeding conveying assembly (330) provided on the rack (200). The upper feeding conveying assembly (330) is located below the feeding position (310) and has a feeding position (331) corresponding to the feeding position (310) and is configured to send a full tray (90B) to the feeding position (331). The upper feeding lifting assembly (340) is located below the feeding position (310) and is configured to lift the full tray (90B) located at the feeding position (331) to the feeding position (310). The transfer assembly (350) is configured to transfer the empty tray located at the feeding position (310) to the discharging position (320). A blank conveying assembly (360) is located below the blanking station (320) and has a discharge station (361) corresponding to the blanking station (320), configured to send the empty tray from the discharge station (361); and A blank lifting assembly is located below the blanking station (320) and is configured to lower the empty tray located in the blanking station (320) to the discharge station (361).

5. The assembly apparatus according to any one of claims 1-3, wherein, The first identification device (100) comprises: A first mounting seat (110) having a first connection site (111), a second connection site (112) and a third connection site (113); A first camera assembly (120) connected to the first connection site (111), and the optical axis (121) of the first camera assembly (120) extends along the Z-axis; A first laser ranging assembly (130) connected to the second connection site (112), configured such that the light path of the emitted ranging laser (131) extends obliquely and intersects with the straight line where the optical axis (121) is located, and the intersection point is located on the side of the first connection site (111) and the second connection site (112) away from the third connection site (113); and A driving assembly (140) provided on the rack (200) and connected to the third connection site (113), the driving assembly (140) is configured to drive the first mounting seat (110) to move in the X-Y direction.

6. The assembly apparatus of claim 5, wherein, The first mounting seat (110) comprises a vertical plate (114) and a horizontal plate (115), the vertical plate (114) has a first plate surface (114a) and a second plate surface (114b), and the first plate surface (114a) serves as the first connection site (111); the horizontal plate (115) is fixedly arranged on the second plate surface (114b) of the vertical plate (114), and the bottom surface of the horizontal plate (115) and the area below the second plate surface (114b) of the horizontal plate (115) form the second connection site (112), and the top surface of the horizontal plate (115) and the area above the second plate surface (114b) of the horizontal plate (115) form the third connection site (113).

7. The assembly apparatus of claim 6, wherein, The first identification device (100) further comprises a first adjusting seat (151) and a first adjusting bolt (152) extending along the Z-axis, the top of the first adjusting seat (151) is provided with a first threaded hole (151a), and the first adjusting seat (151) is slidingly connected to the first plate surface (114a) along the Z-axis through a first guide structure (15A), and the first camera assembly (120) is arranged on the first adjusting seat (151); the first adjusting bolt (152) is pivotally connected to the first mounting seat (110), and the threaded rod (152f) of the first adjusting bolt (152) is screwed into the first threaded hole (151a).

8. The assembly apparatus of claim 7, wherein, The first plate surface (114a) is fixed with a connecting lug (153), an open slot (153a) is arranged on the side of the connecting lug (153) away from the first plate surface (114a), the open slot (153a) extends along the Z direction and penetrates through the connecting lug (153); The screw head (152a) and the screw rod (152f) of the first adjusting bolt (152) are coaxially connected through a connecting rod (152b), the connecting rod (152b) includes a first rod segment (152e) fixed to the screw rod (152f), a second rod segment (152c) fixed to the screw head (152a), and an intermediate rod segment (152d) connected between the first rod segment (152e) and the second rod segment (152c), the outer diameter of the intermediate rod segment (152d) is smaller than that of the first rod segment (152e) and the second rod segment (152c), and the intermediate rod segment (152d) is fitted and clamped into the open slot (153a), and the connecting lug (153) is clamped between the first rod segment (152e) and the second rod segment (152c); Or, the connecting rod (152b) includes a first rod segment (152e) fixed to the screw rod (152f) and an intermediate rod segment (152d) connected between the first rod segment (152e) and the screw head (152a), the outer diameter of the intermediate rod segment (152d) is smaller than that of the first rod segment (152e) and the screw head (152a), and the intermediate rod segment (152d) is fitted and clamped into the open slot (153a), and the connecting lug (153) is clamped between the first rod segment (152e) and the screw head (152a).

9. The assembly apparatus of claim 6, wherein, The first identification device (100) further includes a connecting seat (171), a second adjusting seat (172), and a second adjusting bolt (173), the connecting seat (171) is fixed to the bottom surface of the horizontal plate (115) and the area of the second plate surface (114b) lower than the horizontal plate (115), the top of the second adjusting seat (172) is provided with a second threaded hole (172a), the second adjusting seat (172) is slidably connected to the connecting seat (171) through a second guide structure (17A) along the Z direction, and the first laser ranging assembly (130) is arranged on the second adjusting seat (172); the second adjusting bolt (173) is pivotally connected to the connecting seat (171), and the screw rod (152f) of the second adjusting bolt (173) is screwed into the second threaded hole (172a).

10. The assembly apparatus of any one of claims 1-3, wherein, The second identification device (500) includes: a second mounting seat (510); a second camera assembly (520) arranged on the second mounting seat (510) and having an optical axis vertically extending from bottom to top; a prism assembly (530) arranged on the second mounting seat (510) and located above the second camera assembly (520), configured to reflect the light path of the second camera assembly (520) from vertical extension to horizontal extension and towards the assembly area (91C) of the to-be-assembled part (90C) located at the assembly position (410).

Images