Positioning mechanism and assembling equipment

Abstract

The utility model relates to the technical field of workpiece positioning, and particularly discloses a positioning mechanism and assembling equipment. The positioning mechanism is used for positioning a first workpiece and a second workpiece and comprises a bearing assembly, a micro-motion assembly and an inner supporting assembly, the bearing assembly is used for bearing the first workpiece, a micro-motion hole is formed in the bearing assembly, the micro-motion assembly is arranged below the bearing assembly, and the inner supporting assembly is connected with the micro-motion assembly and penetrates through the micro-motion hole. The inner supporting assembly is used for internally supporting the second workpiece so that the second workpiece can be located above the first workpiece in a spaced mode, and the inner supporting assembly is driven by the micro-motion assembly to move in the micro-motion hole so that the second workpiece and the first workpiece can be coaxially located. According to the positioning mechanism and the assembling equipment comprising the positioning mechanism, errors of the mechanical arm are eliminated, coaxial positioning of the first workpiece and the second workpiece is achieved, and the assembling yield of the first workpiece and the second workpiece can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of workpiece positioning, in particular to a positioning mechanism and an assembling device. BACKGROUND

[0002] In actual production and processing, it is often necessary to assemble a first workpiece and a second workpiece, for example, assembling a support to a mobile phone backboard. At present, the second workpiece is usually placed on the first workpiece by a mechanical hand. However, due to the error of the mechanical hand itself, the mechanical hand is prone to deviation when placing the second workpiece on the first workpiece, resulting in a low assembly yield of the first workpiece and the second workpiece. CONTENT OF THE UTILITY MODEL

[0003] In view of the above, it is necessary to provide a positioning mechanism and an assembling device to improve the assembly yield of the first workpiece and the second workpiece.

[0004] The embodiment of the present application provides a positioning mechanism for positioning a first workpiece and a second workpiece, comprising:

[0005] A bearing assembly for bearing the first workpiece, the bearing assembly being provided with a micro-motion hole;

[0006] A micro-motion assembly arranged below the bearing assembly; and

[0007] An inner support assembly connected with the micro-motion assembly and penetrating the micro-motion hole, the inner support assembly being used for internally supporting the second workpiece so that the second workpiece is spaced above the first workpiece, and the inner support assembly is driven by the micro-motion assembly to move in the micro-motion hole so that the second workpiece is coaxially positioned with the first workpiece.

[0008] In some embodiments, the inner support assembly comprises a base, a plurality of inner support pieces and a driving piece, the base is arranged on the micro-motion assembly, the base penetrates the micro-motion hole, the plurality of inner support pieces are uniformly arranged around the base, each inner support piece is slidingly arranged on the base, each inner support piece penetrates the micro-motion hole, the driving piece is arranged on the micro-motion assembly, the driving piece is connected with the plurality of inner support pieces, and the driving piece is used for driving the plurality of inner support pieces to expand or contract.

[0009] In some embodiments, the base comprises a body and a guide body, the body is arranged on the micro-motion assembly, the body is arranged below the bearing assembly, a plurality of sliding grooves are formed on the periphery of the body, the guide body is connected with the body, the guide body penetrates the micro-motion hole, a plurality of avoiding grooves are formed on the periphery of the guide body, the plurality of avoiding grooves and the plurality of sliding grooves are arranged in one-to-one correspondence and in communication, the number of the avoiding grooves, the sliding grooves and the inner supporting pieces is equal, each of the inner supporting pieces comprises a sliding body and an inner supporting body, the sliding body is arranged in sliding mode in the corresponding sliding groove, the sliding body is connected with the driving piece, the inner supporting body is connected with the sliding body, the inner supporting body is arranged in sliding mode in the corresponding avoiding groove, and the inner supporting body is used for internally supporting the second workpiece.

[0010] In some embodiments, each of the inner supporting bodies is formed with an inner supporting groove; and / or, the guide body is in a stepped shaft structure; and / or, each of the inner supporting bodies is in a stepped structure.

[0011] In some embodiments, the bearing assembly comprises a bearing seat and a plurality of limiting pieces, the bearing seat is used for bearing the first workpiece, the bearing seat is arranged above the micro-motion assembly, the bearing seat is formed with the micro-motion hole, and the plurality of limiting pieces are arranged around the bearing seat and are used for limiting the first workpiece.

[0012] In some embodiments, the bearing assembly further comprises a plurality of suction accessories, the plurality of suction accessories are arranged at intervals on the bearing seat, and the plurality of suction accessories are used for adsorbing the first workpiece.

[0013] In some embodiments, the bearing assembly further comprises an inductor, the inductor is arranged on the bearing seat, and the inductor is used for inducting the first workpiece.

[0014] In some embodiments, the micro-motion assembly comprises a base, a first sliding seat, a second sliding seat, a first driving piece and a second driving piece, the base is arranged below the bearing assembly, the first sliding seat is arranged in sliding mode on the base along a first direction, the second sliding seat is arranged in sliding mode on the first sliding seat along a second direction perpendicular to the first direction, the first driving piece is arranged on the base, the first driving piece is connected with the first sliding seat to drive the first sliding seat to slide along the first direction, the second driving piece is arranged on the first sliding seat, the second driving piece is connected with the second sliding seat to drive the second sliding seat to slide along the second direction, and the inner supporting assembly is arranged on the second sliding seat.

[0015] In some embodiments, the positioning mechanism further includes a vision component disposed above the support component and coupled to the micro-motion component. The vision component is used to acquire images of the second workpiece and the inner support component so that the micro-motion component can adjust the position of the second workpiece and the inner support component.

[0016] This application also provides an assembly device, including the positioning mechanism as described in any of the preceding embodiments.

[0017] In use, the aforementioned positioning mechanism and the assembly equipment including the positioning mechanism involve placing the first workpiece on the bearing component, which then fixes and positions the first workpiece. A robotic arm suspends the second workpiece on the inner support component, which supports the second workpiece so that it is positioned above the first workpiece. If the second workpiece and the first workpiece are coaxially positioned after the inner support component supports the second workpiece, no adjustment of the positions of the second workpiece and the inner support component is required. If the second workpiece and the first workpiece are not coaxially positioned, a micro-motion component drives the inner support component and the second workpiece to move within a micro-motion hole to achieve coaxial positioning between the second and first workpieces. Once the first and second workpieces are coaxially positioned, they are assembled.

[0018] The positioning mechanism and assembly equipment including the positioning mechanism provided in this application embodiment, through the coordinated cooperation of the bearing component, the micro-motion component and the inner support component, the micro-motion component can adjust the position of the inner support component and the second workpiece, eliminate the error of the robot itself, realize the coaxial positioning of the first workpiece and the second workpiece, so that the second workpiece can be accurately assembled on the first workpiece, which is beneficial to improving the assembly yield of the first workpiece and the second workpiece. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the positioning mechanism provided in the embodiments of this application.

[0020] Figure 2 yes Figure 1 An exploded view of the positioning mechanism shown.

[0021] Figure 3 yes Figure 2 The diagram shows the structure of the base and inner support of the positioning mechanism.

[0022] Key component symbols: Positioning mechanism 100, bearing assembly 10, bearing seat 11, micro-motion hole 111, limiting component 12, adsorption component 13, sensor 14, micro-motion assembly 20, base 21, limiting groove 211, first slide 22, second slide 23, first power component 24, second power component 25, support column 26, inner support assembly 30, base 31, body 311, sliding groove 3111, guide body 312, clearance groove 3121, first guide part 3122, second guide part 3123, inner support component 32, sliding body 321, inner support body 322, inner support groove 3221, first inner support part 3222, second inner support part 3223, driving component 33, vision assembly 40. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the terms indicating 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 application 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 application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, it should be noted that "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows communication between the two components; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0026] The following will describe some embodiments of this application in detail with reference to the accompanying drawings.

[0027] Please see Figure 1This application provides a positioning mechanism 100. The positioning mechanism 100 is used to position a first workpiece (not shown) and a second workpiece (not shown), ensuring that the first workpiece and the second workpiece are coaxially positioned. The first workpiece can be a mobile phone back panel, and the second workpiece can be a bracket. The coaxial positioning of the first and second workpieces can be understood as the hole structure on the mobile phone back panel being coaxially positioned with the hole structure on the bracket. In actual assembly of the first and second workpieces, glue is typically applied to the first workpiece beforehand. After the second workpiece is coaxially positioned with the first workpiece, an external pressing mechanism (not shown) is used to press and hold the second workpiece against the first workpiece, thereby achieving the assembly of the first and second workpieces.

[0028] For ease of understanding and explanation, the embodiments of this application are defined as follows: Figure 1 The XYZ coordinate system shown can be a first direction (X-axis) and a second direction (Y-axis). It should be understood that this is not a limitation of the embodiments of this application.

[0029] Please refer to the above. Figure 1 and Figure 2 The positioning mechanism 100 includes a load-bearing component 10, a micro-motion component 20, and an internal support component 30.

[0030] The support assembly 10 supports the first workpiece and has a micro-motion hole 111. A micro-motion assembly 20 is located below the support assembly 10. An inner support assembly 30 is connected to the micro-motion assembly 20 and passes through the micro-motion hole 111, allowing the inner support assembly 30 to move within the micro-motion hole 111. The inner support assembly 30 supports the second workpiece, positioning it spaced above the first workpiece. Driven by the micro-motion assembly 20, the inner support assembly 30 moves within the micro-motion hole 111 to position the second workpiece coaxially with the first workpiece.

[0031] Thus, in use, the positioning mechanism 100 of this embodiment uses an external robotic arm (not shown) to place the first workpiece on the bearing assembly 10, which fixes and positions the first workpiece. The external robotic arm then suspends the second workpiece on the inner support assembly 30, which supports the second workpiece, allowing it to be positioned above the first workpiece at intervals. If the second workpiece and the first workpiece are coaxially positioned after the inner support assembly 30 supports the second workpiece, no adjustment of the positions of the second workpiece and the inner support assembly 30 is required. If the second workpiece and the first workpiece are not coaxially positioned, the micro-motion assembly 20 drives the inner support assembly 30 and the second workpiece... Two workpieces move within the micro-movement hole 111 to enable the second workpiece and the first workpiece to be coaxially positioned, thereby achieving coaxial positioning of the first and second workpieces. After the first and second workpieces are coaxially positioned, the second workpiece is pressed by an external pressing mechanism, causing the second workpiece to move towards the first workpiece along the inner support assembly 30. At the same time, the external pressing mechanism holds the second workpiece against the first workpiece for a preset time, so that the second workpiece is assembled onto the first workpiece, thereby achieving the assembly of the first and second workpieces. After the first and second workpieces are assembled, the inner support assembly 30 releases the second workpiece, and the assembled first and second workpieces are removed by an external robotic arm.

[0032] In this embodiment, the support assembly 10 includes a support base 11 and multiple limiting members 12. The support base 11 is used to support the first workpiece and is disposed above the micro-motion assembly 20. The support base 11 has micro-motion holes 111. The multiple limiting members 12 are arranged around the support base 11 and are used to limit the first workpiece. In this embodiment, the number of limiting members 12 can be seven, and the seven limiting members 12 are arranged around the edge of the support base 11. Thus, by setting the support base 11 and multiple limiting members 12, the support base 11 supports the first workpiece, and the multiple limiting members 12 cooperate to limit the first workpiece on the support base 11, thereby achieving the fixation and positioning of the first workpiece.

[0033] Understandably, in other embodiments, the number of limiting members 12 may be more or less, depending on the shape of the first workpiece.

[0034] In this embodiment, the supporting component 10 further includes multiple adsorption elements 13. Each adsorption element 13 can be a suction cup, and the multiple adsorption elements 13 are spaced apart on the supporting base 11, used to adsorb the first workpiece. In this embodiment, the number of adsorption elements 13 can be four, with four adsorption elements 13 spaced apart on the supporting base 11. All four adsorption elements 13 are connected to an external negative pressure device (not shown) to generate negative pressure under the action of the external negative pressure device, thereby adsorbing the first workpiece. Thus, by setting the aforementioned adsorption elements 13, the first workpiece is fixed to the supporting base 11 through the adsorption action of the adsorption elements 13, further achieving the fixation and positioning of the first workpiece.

[0035] Understandably, in other embodiments, the number of adsorption elements 13 may be more or less, depending on the shape of the first workpiece.

[0036] In this embodiment, the support assembly 10 further includes a sensor 14, which is disposed on the support base 11 and is used to sense the first workpiece. In this embodiment, the sensor 14 can be a distance sensor, and there can be two sensors 14, which are respectively disposed on two sides of the support base 11. Thus, by setting the aforementioned sensor 14, the sensing of the first workpiece is realized, improving the automation of the positioning mechanism 100.

[0037] Understandably, in other embodiments, the number of sensors 14 may be more or fewer, depending on the shape of the first workpiece.

[0038] Please refer to the above. Figure 2 and Figure 3 In this embodiment, the inner support assembly 30 includes a base 31, multiple inner support members 32, and a drive member 33. The base 31 is disposed on the micro-motion assembly 20 and passes through the micro-motion hole 111 of the support seat 11. The multiple inner support members 32 are evenly arranged around the base 31, and each inner support member 32 is slidably disposed on the base 31 and passes through the micro-motion hole 111 of the support seat 11. The drive member 33 is disposed on the micro-motion assembly 20 and is connected to the multiple inner support members 32. The drive member 33 is used to drive the multiple inner support members 32 to open or close. In this embodiment, the number of inner support members 32 can be three. The drive member 33 is used to drive the three inner support members 32 to open or close. The drive member 33, the base 31, and the three inner support members 32 generally constitute a three-jaw cylinder. The principle of the three-jaw cylinder will not be described in detail in this embodiment. Thus, by setting the aforementioned inner support assembly 30, the inner support assembly 30 opens to support the second workpiece through the three inner support members 32, and contracts to release the second workpiece.

[0039] Understandably, in other embodiments, the number of inner support members 32 may be more or fewer, depending on the actual situation.

[0040] In this embodiment, the base 31 includes a body 311 and a guide 312, with the diameter of the body 311 being larger than the diameter of the guide 312. The body 311 is disposed on the micro-motion component 20 and below the support seat 11 of the support component 10. Three sliding grooves 3111 are formed on the periphery of the body 311. The guide 312 is connected to the body 311 and passes through the micro-motion hole 111. Three clearance grooves 3121 are formed on the periphery of the guide 312. The three clearance grooves 3121 correspond one-to-one with the three sliding grooves 3111 and are connected. The number of clearance grooves 3121, sliding grooves 3111, and inner support members 32 are all three. Each inner support member 32 includes a sliding body 321 and an inner support body 322. The sliding body 321 is slidably disposed in a corresponding sliding groove 3111 along the radial direction of the body 311. The sliding body 321 is connected to the driving member 33. The inner support body 322 is connected to the sliding body 321 and is slidably disposed in a corresponding clearance groove 3121 along the radial direction of the guide body 312. The inner support body 322 is used to internally support the second workpiece. In this way, by setting the specific structure of the base 31 and the inner support member 32, the inner support member 32 is slidably disposed on the base 31, and the clearance groove 3121 can avoid the inner support body 322 of the inner support member 32, so that the second workpiece can be sleeved on the periphery of the inner support body 322 and the guide body 312. The three inner support members 32 slide to make the three inner support bodies 322 internally support the second workpiece, thereby achieving internal support for the second workpiece.

[0041] In this embodiment, each inner support body 322 is provided with an inner support groove 3221. When the inner support body 322 supports the second workpiece, a portion of the second workpiece can be located within the inner support groove 3221. Thus, by providing inner support grooves 3221 on the inner support body 322, the horizontality of the second workpiece is ensured through three inner support grooves 3221, allowing the inner support assembly 30 to horizontally support the second workpiece. It can be understood that the second workpiece portion is a flexible structure. After the inner support assembly 30 supports the second workpiece, the external pressing mechanism can press the second workpiece, causing the second workpiece to deform and detach from the inner support groove 3221, moving along the three inner support bodies 322 towards the first workpiece, so that the second workpiece is assembled onto the first workpiece.

[0042] In this embodiment, the guide body 312 can be a stepped shaft structure, and each inner support 322 is a stepped structure. Specifically, the guide body 312 includes a first guide portion 3122 and a second guide portion 3123. The diameter of the first guide portion 3122 is larger than the diameter of the second guide portion 3123. The first guide portion 3122 is connected to the base 31, and the second guide portion 3123 is connected to the first guide portion 3122. The inner support 322 includes a first inner support portion 3222 and a second inner support portion 3223. The cross-sectional area of ​​the first inner support portion 3222 is larger than the cross-sectional area of ​​the second inner support portion 3223. The first inner support portion 3222 is connected to the sliding body 321, and the second inner support portion 3223 is connected to the first inner support portion 3222. Thus, by setting the first guide part 3122, the second guide part 3123, the first inner support part 3222 and the second inner support part 3223, the second workpiece is supported by the first inner support part 3222, and the second guide part 3123 and the second inner support part 3223 limit and block the movement of the second workpiece, thereby limiting the movement of the second workpiece and preventing the second workpiece from being over-pressed by the external pressing mechanism, thus ensuring the assembly yield of the first workpiece and the second workpiece.

[0043] Understandably, in other embodiments, the guide body 312 can be a cylindrical structure, or the inner support body 322 can be a columnar structure with an equal cross-sectional area, which can be set according to the actual situation.

[0044] Please refer to the above. Figure 2 In this embodiment, the micro-motion component 20 includes a base 21, a first slide 22, a second slide 23, a first power component 24, and a second power component 25. The base 21 is disposed below the supporting component 10. The first slide 22 is slidably disposed on the base 21 along a first direction. The second slide 23 is slidably disposed on the first slide 22 along a second direction perpendicular to the first direction. The first power component 24 is disposed on the base 21 and connected to the first slide 22 to drive the first slide 22 to slide along the first direction. The second power component 25 is disposed on the first slide 22 and connected to the second slide 23 to drive the second slide 23 to slide along the second direction. The inner support component 30 is disposed on the second slide 23. The first power component 24 and the second power component 25 can be micro-motors, and the first power component 24 and the second power component 25 have high driving precision. Thus, if the second workpiece is not coaxially positioned with the first workpiece, the first power member 24 drives the first slide block 22 to move along the first direction, and the second power member 25 drives the second slide block 23 to move along the second direction, thereby adjusting the inner support assembly 30 and the second workpiece along the first and second directions so that the second workpiece is coaxially positioned with the first workpiece.

[0045] In this embodiment, a limiting groove 211 is formed on the base 21, the first slide block 22 is slidably disposed within the limiting groove 211, and the first power component 24 is disposed within the limiting groove 211. Thus, by forming the aforementioned limiting groove 211, firstly, the sliding direction of the first slide block 22 is limited, ensuring the sliding accuracy of the first slide block 22; secondly, the height of the micro-motion component 20 along the Z-axis is reduced, enabling the positioning mechanism 100 to be miniaturized.

[0046] In this embodiment, the micro-motion component 20 further includes four support columns 26. These four support columns 26 are spaced apart and are all connected between the base 21 and the support seat 11. Thus, by providing the support columns 26, a space is formed between the support seat 11 and the base 21 for arranging the first slide 22, the second slide 23, the first power component 24, and the second power component 25.

[0047] In this embodiment, the positioning mechanism 100 further includes a vision component 40. The vision component 40 is disposed above the support component 10 and is coupled to the micro-motion component 20. The vision component 40 is used to acquire images of the second workpiece and the inner support component 30, so that the micro-motion component 20 can adjust the positions of the second workpiece and the inner support component 30. The vision component 40 can be a high-precision CCD camera. Thus, by setting the aforementioned vision component 40, the vision component 40 can determine whether the second workpiece and the first workpiece are coaxially positioned based on the acquired images of the second workpiece and the inner support component 30. If so, there is no need to adjust the positions of the second workpiece and the inner support component 30; if not, the micro-motion component 20 is activated to adjust the positions of the second workpiece and the inner support component 30. Through the vision component 40, the coaxiality of the second workpiece and the first workpiece is corrected in real time, ensuring that the concentricity of the second workpiece and the first workpiece is within a preset range, such as 0.1 mm, thereby improving the automation of the positioning mechanism 100. Understandably, the principle of how the vision component 40 determines whether the second workpiece and the first workpiece are coaxially positioned based on the images of the second workpiece and the inner support component 30 will not be elaborated in the embodiments of this application.

[0048] Furthermore, by setting the aforementioned vision component 40, the vision component 40 can also cooperate with an external robotic arm to pick up and place the first workpiece and the second workpiece, further improving the automation of the positioning mechanism 100.

[0049] The positioning mechanism 100 provided in this embodiment, through the coordinated operation of the bearing component 10, the micro-motion component 20, and the inner support component 30, allows the micro-motion component 20 to adjust the position of the inner support component 30 and the second workpiece, eliminating the robot's own errors and achieving coaxial positioning of the first and second workpieces. This enables the second workpiece to be accurately assembled onto the first workpiece, improving the assembly yield of the first and second workpieces. Furthermore, the positioning mechanism 100 provided in this embodiment further enhances its automation through the coordinated operation of the vision component 40.

[0050] This application also provides an assembly device (not shown). The assembly device is used to assemble a first workpiece and a second workpiece. The assembly device includes the positioning mechanism 100 as described in the above embodiment. Understandably, the assembly device may also include a pressing mechanism, a robotic arm, or other mechanisms.

[0051] Thus, in this embodiment, when the assembly equipment is in use, the robotic arm places the first workpiece on the support component 10, which fixes and positions the first workpiece. The robotic arm suspends the second workpiece on the inner support component 30, which supports the second workpiece so that it is positioned above the first workpiece at a distance. After the inner support component 30 supports the second workpiece, the vision component 40 determines whether the second workpiece and the first workpiece are coaxially positioned. If the second workpiece and the first workpiece are coaxially positioned, there is no need to adjust the position of the second workpiece and the inner support component 30. If the second workpiece and the first workpiece are not coaxially positioned, the micro-motion component 20 is activated. The moving inner support assembly 30 and the second workpiece move within the micro-movement hole 111 to enable the second workpiece and the first workpiece to be coaxially positioned, thereby achieving coaxial positioning of the first workpiece and the second workpiece; after the first workpiece and the second workpiece are coaxially positioned, the pressing mechanism presses the second workpiece, causing the second workpiece to move along the inner support assembly 30 toward the first workpiece, while the pressing mechanism holds the second workpiece against the first workpiece for a preset time, so that the second workpiece is assembled onto the first workpiece, thereby achieving the assembly of the first workpiece and the second workpiece; after the first workpiece and the second workpiece are assembled, the inner support assembly 30 releases the second workpiece, and the robot arm removes the assembled first workpiece and the second workpiece.

[0052] The assembly equipment provided in this embodiment, through the coordinated operation of the bearing component 10, the micro-motion component 20, and the inner support component 30 of the positioning mechanism 100, allows the micro-motion component 20 to adjust the position of the inner support component 30 and the second workpiece, eliminating the robot's own errors and achieving coaxial positioning of the first and second workpieces. This enables the second workpiece to be accurately assembled onto the first workpiece, which is beneficial for improving the assembly yield of the first and second workpieces. Furthermore, the coordinated operation of the vision component 40 enhances the automation of the assembly equipment.

[0053] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A positioning mechanism for positioning a first workpiece and a second workpiece, characterized in that, include: A support assembly for supporting the first workpiece, the support assembly having micro-movement holes; A micro-motion component is disposed below the supporting component; and An inner support assembly is connected to the micro-motion assembly and passes through the micro-motion hole. The inner support assembly is used to support the second workpiece so that the second workpiece is spaced above the first workpiece. The inner support assembly moves in the micro-motion hole under the drive of the micro-motion assembly so that the second workpiece and the first workpiece are coaxially positioned.

2. The positioning mechanism as described in claim 1, characterized in that, The inner support assembly includes a base, multiple inner support members, and a driving member. The base is disposed on the micro-motion assembly and passes through the micro-motion hole. The multiple inner support members are evenly arranged around the base, and each inner support member is slidably disposed on the base and passes through the micro-motion hole. The driving member is disposed on the micro-motion assembly and is connected to the multiple inner support members. The driving member is used to drive the multiple inner support members to open or retract.

3. The positioning mechanism as described in claim 2, characterized in that, The base includes a body and a guide body. The body is disposed on the micro-motion component and below the bearing component. Multiple sliding grooves are formed on the periphery of the body. The guide body is connected to the body and passes through the micro-motion hole. Multiple clearance grooves are formed on the periphery of the guide body. The multiple clearance grooves correspond one-to-one with the multiple sliding grooves and are connected. The number of clearance grooves, sliding grooves and inner support members are equal. Each inner support member includes a sliding body and an inner support body. The sliding body is slidably disposed in the corresponding sliding groove and is connected to the driving component. The inner support body is connected to the sliding body and is slidably disposed in the corresponding clearance groove. The inner support body is used to internally support the second workpiece.

4. The positioning mechanism as described in claim 3, characterized in that, Each of the inner supports is provided with an inner support groove; and / or, the guide body is a stepped shaft structure; and / or, each of the inner supports is a stepped structure.

5. The positioning mechanism as described in claim 1, characterized in that, The support assembly includes a support base and multiple limiting members. The support base is used to support the first workpiece and is disposed above the micro-motion assembly. The support base has the micro-motion hole. The multiple limiting members are arranged around the support base and are used to limit the first workpiece.

6. The positioning mechanism as described in claim 5, characterized in that, The support assembly further includes multiple adsorption elements, which are spaced apart on the support base and are used to adsorb the first workpiece.

7. The positioning mechanism as described in claim 5, characterized in that, The support assembly further includes a sensor disposed on the support base, the sensor being used to sense the first workpiece.

8. The positioning mechanism as described in claim 1, characterized in that, The micro-motion component includes a base, a first slide, a second slide, a first power component, and a second power component. The base is disposed below the bearing component. The first slide is slidably disposed on the base along a first direction. The second slide is slidably disposed on the first slide along a second direction perpendicular to the first direction. The first power component is disposed on the base and connected to the first slide to drive the first slide to slide along the first direction. The second power component is disposed on the first slide and connected to the second slide to drive the second slide to slide along the second direction. The inner support component is disposed on the second slide.

9. The positioning mechanism as described in claim 1, characterized in that, The positioning mechanism further includes a vision component, which is disposed above the support component and coupled to the micro-motion component. The vision component is used to acquire images of the second workpiece and the inner support component so that the micro-motion component can adjust the position of the second workpiece and the inner support component.

10. An assembly device, characterized in that, Includes the positioning mechanism as described in any one of claims 1 to 9.

Images