Assembly device and assembly system
By using a compensating connection structure between the gripper and the robotic arm, and pressure sensor control, the assembly difficulties caused by component deviations in high-precision assembly such as LiDAR are solved, achieving accurate and stable assembly results and reducing costs and complexity.
Patent Information
- Application Number
- CN202520145382.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-21
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-01-21
AI Technical Summary
In the field of high-precision assembly, especially in the assembly of lidar, the dimensional accuracy deviation of parts and the difficulty of assembling lightweight parts by their own weight lead to assembly difficulties, increasing costs and complexity.
The system employs a compensating connection structure between the gripper and the robotic arm, allowing the gripper to make minute movements relative to the robotic arm in the first and second directions. This adapts to minute errors between the device to be assembled and the target assembly position, and the movement of the robotic arm is controlled by a pressure sensor.
It enables precise assembly to the target position even with minor deviations in the components, improving the flexibility and stability of the assembly process, avoiding component damage, and reducing the need for additional operation and control.
Smart Images
Figure CN223863229U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of industrial manufacturing technology, and in particular to an assembly device and assembly system. Background Technology
[0002] Assembly equipment plays a crucial role in modern manufacturing, responsible for precisely assembling various components to form complete products. The assembly precision of these components directly affects the performance and quality of the final product. Especially in fields with extremely high precision requirements, such as precision instruments, aerospace, and intelligent devices, the assembly precision of the assembly equipment is a key factor determining product quality.
[0003] However, high precision often comes with high costs and complex processes. To ensure assembly stability, the mating structure between the component to be assembled and the support must meet extremely high precision requirements. This necessitates that the assembly device used to assemble the component to be assembled and the support also possess high-precision operating capabilities.
[0004] LiDAR technology is gradually becoming a core component of high-end products in the robotics and automotive industries. With its excellent directivity and high focusing capabilities, LiDAR provides reliable technical support for functions such as autonomous driving and intelligent navigation. However, due to the numerous internal components and the extremely high precision requirements of assembly, manufacturers face high manufacturing costs and complex assembly processes. During the assembly process, dimensional deviations in some key components can lead to assembly difficulties and even affect the performance of the final product. Furthermore, the lightweight nature of some components makes assembly difficult through weight and guidance alone, further increasing the assembly complexity. Improving precision further will result in even higher costs. Utility Model Content
[0005] This disclosure provides an improved assembly apparatus and system that can adapt to minute assembly errors between the components to be assembled and the target assembly position, thereby achieving high-precision assembly.
[0006] To address the aforementioned technical problems, this disclosure provides an assembly device. The assembly device includes: a gripper for holding a component to be assembled; a robotic arm for moving the gripper to move the component; and a compensating connection structure, through which the robotic arm and the gripper are movably connected. The compensating connection structure allows the gripper to have a degree of freedom of movement relative to the robotic arm within a first plane, the first plane being perpendicular to the direction from the robotic arm to the gripper.
[0007] Optionally, during the process of the robotic arm driving the gripper to move the device to be assembled, through the compensation connection structure, when the gripper is subjected to the reaction force of the device to be assembled, the gripper moves relative to the robotic arm in a first direction and / or a second direction; wherein, the first direction and the second direction are in the first plane.
[0008] Optionally, in response to the assembly resistance of the device to be assembled being greater than a preset threshold, the compensation connection structure enables the gripper to move relative to the robotic arm along the first direction and / or the second direction.
[0009] Optionally, the compensation connection structure includes: a first connecting part fixedly connected to the robotic arm; a second connecting part fixedly connected to the gripper; and a third connecting part disposed between the first connecting part and the second connecting part. There is a relative displacement degree of freedom between the first connecting part and the third connecting part along a first direction, and there is a relative displacement degree of freedom between the second connecting part and the third connecting part along a second direction. The first direction and the second direction are perpendicular to the direction in which the robotic arm points towards the gripper.
[0010] Optionally, the first connecting portion and the third connecting portion are movably connected by a first mating structure, the first mating structure comprising: a first protrusion disposed in one of the first connecting portion and the third connecting portion and extending toward the other; and a first receiving portion disposed in the other of the first connecting portion and the third connecting portion, the first receiving portion having a first receiving space for receiving at least a portion of the first protrusion, and a first gap being formed between the wall of the first receiving portion forming the first receiving space and the first protrusion along the first direction.
[0011] Optionally, the first mating structure further includes: a first reset mechanism, at least partially disposed in the first gap, the first reset mechanism being used to reset the relative positions of the first protrusion and the first receiving portion.
[0012] Optionally, the first protrusion has a first assembly blind hole on at least one of a pair of sidewalls along the first direction, and the first mating structure further includes: a first fixing member, which passes through the wall of the first receiving part forming the first receiving space and is inserted into the first assembly blind hole along the first direction, and the first reset mechanism is sleeved on the first fixing member and at least partially accommodated in the first assembly blind hole.
[0013] Optionally, the first gap is formed on both sides of the first protrusion along the first direction.
[0014] Optionally, the first mating structure further includes: a first sliding portion disposed in one of the first connecting portion and the third connecting portion; and a first guiding portion disposed in the other of the first connecting portion and the third connecting portion, wherein the first sliding portion is configured to reciprocate in the first direction under the guidance of the first guiding portion.
[0015] Optionally, the first mating structure is disposed on both sides of the first connecting portion and the third connecting portion along the second direction.
[0016] Optionally, the second connecting portion and the third connecting portion are movably connected by a second mating structure, the second mating structure comprising: a second protrusion disposed in one of the second connecting portion and the third connecting portion and extending toward the other; and a second receiving portion disposed in the other of the second connecting portion and the third connecting portion, the second receiving portion having a second receiving space for receiving at least a portion of the second protrusion, and a second gap being formed between the wall of the second receiving portion forming the second receiving space and the second protrusion along the second direction.
[0017] Optionally, the second mating structure further includes a second reset mechanism, at least partially disposed in the second gap, the second reset mechanism being used to reset the relative positions of the second protrusion and the second receiving portion.
[0018] Optionally, the second protrusion has a second assembly blind hole on at least one of a pair of sidewalls along the second direction, and the second mating structure further includes: a second fixing member, which passes through the wall of the second receiving part forming the second receiving space and is inserted into the second assembly blind hole along the second direction, and the second reset mechanism is sleeved on the second fixing member and is at least partially accommodated in the second assembly blind hole.
[0019] Optionally, the second gap is formed on both sides of the second protrusion along the second direction.
[0020] Optionally, the second mating structure further includes: a second sliding portion disposed in one of the second connecting portion and the third connecting portion; and a second guiding portion disposed in the other of the second connecting portion and the third connecting portion, wherein the second sliding portion is configured to reciprocate in the second direction under the guidance of the second guiding portion.
[0021] Optionally, the second mating structure is disposed on both sides of the second connecting portion and the third connecting portion along the first direction.
[0022] Optionally, the assembly device further includes a pressure sensor for collecting the reaction force of the gripper on the device to be assembled, and the robotic arm stops moving in response to the collected reaction force value exceeding a preset threshold.
[0023] To address the aforementioned technical problems, this disclosure also provides an assembly system, comprising: the assembly device described above; and a fixing device for fixing a support base, wherein the assembly device moves the device to be assembled and assembles the device to be assembled onto the support base.
[0024] Optionally, one of the device to be assembled and the support base is provided with at least one mounting protrusion, and the other of the device to be assembled and the support base is provided with at least one mounting groove, wherein the at least one mounting protrusion and the at least one mounting groove correspond one-to-one.
[0025] Optionally, the assembly system further includes a control module that communicates with a pressure sensor disposed on the assembly device. The control module is used to control the movement state of the robotic arm based on the value of the force fed back by the pressure sensor.
[0026] Compared with the prior art, the technical solutions of the embodiments of this disclosure have the following beneficial effects:
[0027] By employing the technical solution of this disclosure, through a compensating connection structure between the gripper and the robotic arm, the assembly device can automatically adjust the position of the gripper when the part to be assembled encounters assembly resistance. This adapts to minor assembly errors between the part to be assembled and the target assembly position, allowing the part to be assembled into place without additional user operation control. The automatic adjustment capability of the gripper provided by this disclosure ensures that the part to be assembled can be accurately installed in the target assembly position, achieving stable assembly results even when there are minor deviations in the dimensions of the parts to be assembled due to manufacturing tolerances. The compensating connection structure allows the gripper to make minor movements relative to the robotic arm in a first direction and a second direction (these two directions are perpendicular to the direction from the robotic arm to the gripper) and then reset. This design increases the flexibility of the assembly process, enabling the assembly device to better adapt to parts to be assembled of different shapes and sizes.
[0028] Furthermore, the compensating connection structure activates when the assembly resistance experienced by the component to be assembled exceeds a preset threshold. This ensures the structural strength of the assembly device and prevents accidental wobbling during the movement of the grippers. Simultaneously, when the component experiences significant assembly resistance, the compensating connection structure provides a degree of freedom, allowing for slight adjustments to the component's position, thus facilitating successful assembly.
[0029] Furthermore, the assembly device also includes a pressure sensor, which stops the robotic arm when the reaction force from the gripper on the device to be assembled is too large. This prevents the assembly device from continuously applying pressure to the device when it cannot continue assembling (e.g., due to a large assembly error between the device and the target assembly position, causing the device to jam and unable to move towards the target assembly position), thus avoiding damage to the device. Attached Figure Description
[0030] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be introduced below. The drawings described below are merely embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. The drawings are used to provide a further understanding of this disclosure and constitute a part of the specification. They are used together with the embodiments of this disclosure to explain this disclosure and do not constitute a limitation of this disclosure. In the drawings:
[0031] Figure 1 A schematic diagram of an assembly apparatus consistent with some embodiments of this disclosure is shown.
[0032] Figure 2 A schematic diagram of a compensation connection structure consistent with some embodiments of this disclosure is shown.
[0033] Figure 3 It shows Figure 2 A cross-sectional view of the structure shown along the AA direction.
[0034] Figure 4 It shows Figure 2 Exploded view of the structure shown.
[0035] Figure 5 A schematic diagram of an assembly system consistent with some embodiments of this disclosure is shown. Detailed Implementation
[0036] In the following description, only certain exemplary embodiments are shown. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this disclosure. Therefore, the drawings and description are to be considered exemplary in nature and not restrictive.
[0037] The following disclosure provides numerous different embodiments or examples for implementing various structures of this disclosure. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this disclosure. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this disclosure, but those skilled in the art will recognize the application of other processes and / or the use of other materials.
[0038] This disclosure provides an assembly device, including: a gripper for gripping a device to be assembled; a robotic arm for driving the gripper to move the device to be assembled; and a compensating connection structure, wherein the robotic arm and the gripper are movably connected through the compensating connection structure, the compensating connection structure being used to allow the gripper to have a degree of freedom of movement relative to the robotic arm in a first plane, the first plane being perpendicular to the direction of the robotic arm pointing towards the gripper.
[0039] Figure 1 A schematic diagram of an assembly apparatus 10 consistent with some embodiments of this disclosure is shown. Figure 2 A schematic diagram of a compensation connection structure 3 consistent with some embodiments of this disclosure is shown. In some embodiments, Figure 3 The compensation connection structure 3 shown can be used for Figure 1 The assembly device 10 shown.
[0040] Combination Figure 1 and Figure 2 In some embodiments, the assembly device 10 may include grippers 1. Grippers 1 can be used to hold the device to be assembled. For example, the device to be assembled may be... Figure 5 The device to be assembled is shown as 200.
[0041] In some embodiments, the device to be assembled may be, for example, a lidar or a component of a lidar. The assembly apparatus 10 can assemble the lidar or a component of a lidar to a target assembly location. For example, the assembly apparatus 10 can mount the lidar onto a vehicle. As another example, the assembly apparatus 10 can assemble a first component of a lidar onto a second component of a lidar.
[0042] The assembly device 10 may further include a robotic arm 2. The robotic arm 2 drives the gripper 1 to move the device to be assembled 200. Driven by the robotic arm 2, the device to be assembled can move towards a target assembly position. For example, the target assembly position could be... Figure 5 The support 20 is shown in the figure.
[0043] The assembly device 10 may also include a compensating connection structure 3. The compensating connection structure 3 is disposed between the gripper 1 and the robotic arm 2.
[0044] The robotic arm 2 and the gripper 1 are movably connected via a compensating connection structure 3. The compensating connection structure 3 allows the gripper 1 to have a degree of freedom of movement relative to the robotic arm 2 within a first plane. This first plane is perpendicular to the direction from the robotic arm 2 towards the gripper 1. Through the compensating connection structure 3 between the gripper 1 and the robotic arm 2, the assembly device 10 can automatically adjust the position of the gripper 1 when the component 200 encounters assembly resistance. The assembly device 10 can have the adjustment capability to accommodate minor assembly errors. This adjustment capability ensures that the component 200 can be accurately installed into the target assembly position, achieving a stable assembly effect even with minor deviations in component dimensions.
[0045] In some embodiments, during the process of the robotic arm 2 driving the gripper 1 to move the device to be assembled 200, through the compensation connection structure 3, when the gripper 1 is subjected to the reaction force of the device to be assembled, the gripper 1 can move relative to the robotic arm 2 in the first direction D1 and / or the second direction D2. The first direction D1 and the second direction D2 are within a first plane.
[0046] For ease of description, the direction in which the robotic arm 2 points towards the gripper 1 will be denoted as the third direction D3. The third direction D3 is perpendicular to the first plane.
[0047] In some embodiments, the first plane may be a horizontal plane. Alternatively, the first plane may be a plane that has a certain angle of inclination to the horizontal plane.
[0048] In some embodiments, the first direction D1, the second direction D2, and the third direction D3 are perpendicular to each other.
[0049] In some embodiments, during the assembly of a device, the device may experience assembly resistance due to errors in coarse alignment between the device and the target assembly position. In this scenario, the gripper 1 will also experience a reaction force from the device. This reaction force can be transmitted to the compensation connection structure 3. In response to this force, the compensation connection structure 3 can cause the gripper 1 to move relative to the robotic arm 2 along a first direction D1 and / or a second direction D2. This adjusts the relative position of the gripper 1 and the robotic arm 2. Therefore, errors in coarse alignment between the device and the target assembly position can be compensated, thereby ensuring that the device is accurately assembled.
[0050] In some embodiments, the actual movement direction of the gripper 1 can be a first direction D1, a second direction D2, or other directions in the horizontal plane that can be decomposed and synthesized from the first direction D1 and the second direction D2.
[0051] In some embodiments, in response to the assembly resistance of the device to be assembled exceeding a preset threshold, the compensation connection structure 3 can enable the gripper 1 to move relative to the robotic arm 2 in the first direction D1 and / or the second direction D2. The compensation connection structure 3 can autonomously decide whether to move the gripper based on the magnitude of the assembly resistance, without human intervention. By only driving the gripper to move when the assembly resistance exceeds the preset threshold, the compensation connection structure 3 can avoid accidental movement caused by slight contact.
[0052] In some embodiments, the preset threshold may be, for example, a value between 2 and 5 N (Newtons). For example, the preset threshold may be 3 N, 4 N, etc.
[0053] In some embodiments, combined with Figure 1 and Figure 2 The compensation connection structure 3 may include a first connection part 31, a second connection part 32, and a third connection part 33. The first connection part 31 is fixedly connected to the robotic arm 2, the second connection part 32 is fixedly connected to the gripper 1, and the third connection part 33 is disposed between the first connection part 31 and the second connection part 32.
[0054] In some embodiments, one end face of the first connecting portion 31 may be flat.
[0055] In some embodiments, the first connecting portion 31 can be connected to one end of the robotic arm 1 by a fastener. For example, the fastener can be a bolt, screw, etc.
[0056] In some embodiments, the third connecting portion 33 may be movably connected to the side of the first connecting portion 31 opposite to the robotic arm 2. Optionally, there may be a relative displacement degree of freedom between the first connecting portion 31 and the third connecting portion 33 along a first direction D1. Alternatively, there may be a relative displacement degree of freedom between the first connecting portion 31 and the third connecting portion 33 along a second direction D2.
[0057] In some embodiments, the second connecting portion 32 may be movably connected to the side of the third connecting portion 33 opposite to the first connecting portion 31. Optionally, there is a relative displacement degree of freedom between the second connecting portion 32 and the third connecting portion 33 along the second direction D2. Alternatively, there is a relative displacement degree of freedom between the second connecting portion 32 and the third connecting portion 33 along the first direction D1.
[0058] In some embodiments, the second connecting portion 32 may include a first arm 321. The first arm 321 is used for movably connecting with the third connecting portion 33. Further, the second connecting portion 32 may also include a pair of second arms 322. The second arms 322 extend from two sides of the first arm 321 along a first direction D1 toward a third direction D3. The second arms 322 can be used for fixed connection with the gripper 1.
[0059] In some embodiments, the second arm 322 can be connected to the gripper 1 by fasteners such as bolts and screws.
[0060] Figure 3 It shows Figure 2 A cross-sectional view of the structure shown along the AA direction. Figure 4 It shows Figure 2 Exploded view of the structure shown.
[0061] Combination Figures 2 to 4 The first connecting part 31 and the third connecting part 33 can be movably connected through the first mating structure 34.
[0062] In some embodiments, the number of first mating structures 34 can be multiple. These multiple first mating structures 34 can be distributed around the first connecting portion 31 (and the third connecting portion 33). For example, the number of first mating structures 34 can be two, and the two first mating structures 34 can be disposed on opposite sides of the first connecting portion 31 and the third connecting portion 33 along the first direction D1. This ensures the relative displacement freedom between the first connecting portion 31 and the third connecting portion 33 while also ensuring that the first connecting portion 31 and the third connecting portion 33 will not accidentally separate during use, thus improving the stability of the assembly device 10.
[0063] In some embodiments, the first mating structure 34 may include a first protrusion 341 and a first receiving portion 342 that cooperate with each other. The first protrusion 341 may be disposed in one of the first connecting portion 31 and the third connecting portion 33 and extend toward the other. The first receiving portion 342 may be disposed in the other of the first connecting portion 31 and the third connecting portion 33, and the first receiving portion 342 has a first receiving space 3421 for receiving at least a portion of the first protrusion 341.
[0064] In some embodiments, such as Figure 2 and Figure 4 As shown, the first protrusion 341 can be disposed on the first connecting portion 31 and extend toward the third connecting portion 33.
[0065] In some embodiments, along the second direction D2, the first protrusion 341 may be connected to at least one of a pair of opposite sides of the first connecting portion 31.
[0066] In some embodiments, combined with Figures 2 to 4 The first receiving part 342 may have a first receiving space 3421. The first receiving space 3421 may be used to receive at least a portion of the first protrusion 341.
[0067] In some embodiments, the surface of the first receiving portion 342 facing away from the third direction D3 may be recessed in the opposite direction to the third direction D3 to form a groove. A first receiving space 3421 is formed in the groove.
[0068] In some embodiments, the first receiving portion 342 may also have a blind hole. The blind hole opens in the opposite direction to the third direction D3, and at least a portion of the first protrusion 341 can be inserted into the blind hole. The first receiving space 3421 may be formed in the blind hole.
[0069] In some embodiments, reference Figure 3 The first receiving part 342 is formed with a first gap G1 between the wall of the first receiving space 3421 and the first protrusion 341. As a result, the first protrusion 341 can move in the first receiving space 3421 along the first direction D1 and the opposite direction.
[0070] In some embodiments, the relative displacement degree of freedom between the first connecting portion 31 and the third connecting portion 33 along the first direction D1 is generated based on the first gap G1. The maximum relative displacement that can occur between the first connecting portion 31 and the third connecting portion 33 is defined by the first gap G1. Along the first direction D1, the maximum displacement of the first connecting portion 31 relative to the third connecting portion 33 is consistent with the width of the first gap G1 along the first direction D1.
[0071] In some embodiments, the width of the first gap G1 along the first direction D1 may be, for example, 1-10 mm.
[0072] In some embodiments, combined with Figures 2 to 4 The first mating structure 34 also includes a first reset mechanism 343. The first reset mechanism 343 is at least partially disposed in the first gap G1. The first reset mechanism 343 is used to reset the relative positions of the first protrusion 341 and the first receiving part 342.
[0073] In some embodiments, the first reset mechanism 343 may be an elastic component. For example, the first reset mechanism 343 may be a spring. The first reset mechanism 343 may be compressed and rebound along a first direction D1.
[0074] In some embodiments, there may be two first reset mechanisms 343. The two first reset mechanisms 343 may be respectively disposed on the gaps G1 on both sides of the first protrusion 341 along the first direction D1. When the first connecting portion 31 moves relative to the third connecting portion 33 in the first direction D1, the first gap G1 on the side of the first protrusion 341 facing the first direction D1 narrows. Accordingly, at least a portion of the first reset mechanisms 343 located in the first gap G1 is compressed. When the reaction force of the device to be assembled 200 disappears, the elastic force generated by the compressed first reset mechanisms 343 can restore the first gap G1 to its initial width, and the first protrusion 341 returns to its initial position. Thus, the relative position between the first protrusion 341 and the first receiving portion 342 can be automatically restored through the first reset mechanisms 343.
[0075] In some embodiments, the first protrusion 341 is further provided with a first mounting blind hole 3411. Along the first direction D1, the first mounting blind hole 3411 may be provided on at least one of a pair of sidewalls of the first protrusion 341.
[0076] In some embodiments, along the first direction D1, a pair of first mounting blind holes 3411 can be provided on each of the two sidewalls of the first protrusion 341. The two first mounting blind holes 3411 open in opposite directions.
[0077] In some embodiments, the first mating structure 34 may further include a first fixing member 344. Along the first direction D1, the first fixing member 344 passes through the wall of the first receiving portion 342 forming the first receiving space 3421 and is inserted into the first mounting blind hole 3411. The first reset mechanism 343 is sleeved on the first fixing member 344 and is at least partially received in the first mounting blind hole 3411.
[0078] Continue to refer to Figure 3 In some embodiments, the first receiving part 342 may include two first baffles 3422. Along the first direction D1, the two first baffles 3422 are arranged opposite to each other, and a first receiving space 3421 is formed between the two first baffles 3422.
[0079] In some embodiments, a first mounting through hole 3423 extending in a first direction may be provided on the first baffle 3422. The first mounting through hole 3423 is aligned with an adjacent first mounting blind hole 3411. At least a portion of the first fastener 344 can pass through the first mounting through hole 3423 and be inserted into the first mounting blind hole 3411.
[0080] In some embodiments, along the first direction D1, the distance between the end of the first fastener 344 inserted into the first mounting blind hole 3411 and the bottom wall of the first mounting blind hole 3411 is greater than the first gap G1. This prevents the first fastener 344 from interfering with the movement of the first protrusion 341 in the first receiving space 3421.
[0081] In some embodiments, at least a portion of the first reset mechanism 343 is accommodated in the first mounting blind hole 3411. Along the first direction D1, one end of the first reset mechanism 343 may abut against the bottom wall of the first mounting blind hole 3411, and the other end may abut against the first baffle wall 3422. When the first protrusion 341 moves along the first direction D1 in the first receiving space 3421, the first reset mechanism 343 is compressed. When the device to be assembled 200 is installed in place, the elastic force generated by the first reset mechanism 343 can reset the first protrusion 341.
[0082] In some embodiments, at least a portion of the first reset mechanism 343 may also be accommodated in the first mounting through hole 3423.
[0083] In some embodiments, the first reset mechanism 343 may be, for example, cylindrical. The cylindrical first reset mechanism 343 may be sleeved on the first fixing portion 343.
[0084] In some embodiments, at least a portion of the first reset mechanism 343 located in the first gap G1 may be compressed or stretched.
[0085] In some embodiments, combined with Figure 2 and Figure 4 The first mating structure 34 may further include a first sliding portion 345 and a first guiding portion 346. The first sliding portion 345 may be disposed in one of the first connecting portion 31 and the third connecting portion 33, and the first guiding portion 346 may be disposed in the other of the first connecting portion 31 and the third connecting portion 33. The first sliding portion 345 is configured to reciprocate along a first direction D1 under the guidance of the first guiding portion 346.
[0086] In some embodiments, the first sliding part 345 may be fixedly connected to the side of the first connecting part 31 facing the third direction D3, and the first guiding part 346 may be fixedly connected to the side of the third connecting part 33 away from the third direction D3.
[0087] In some embodiments, the first guide portion 346 may have a groove extending along the first direction D1, with the opening of the groove facing the first connecting portion 31. The first sliding portion 345 is capable of sliding within the groove along the first direction D1 and its opposite direction.
[0088] In some embodiments, combined with Figure 2 and Figure 4The second connecting part 32 and the third connecting part 33 can be movably connected through the second mating structure 35.
[0089] In some embodiments, the second mating structure 35 may include a second protrusion 351 and a second receiving portion 352. The second protrusion 351 may be disposed in one of the second connecting portion 32 and the third connecting portion 33 and extend toward the other, and the second receiving portion 352 may be disposed in the other of the second connecting portion 32 and the third connecting portion 33. The second receiving portion 352 has a second receiving space 3521. The second receiving space 3521 can be used to receive at least a portion of the second protrusion 351. Along the second direction D2, a second gap G2 is formed between the wall of the second receiving portion 352 forming the second receiving space 3521 and the second protrusion 351.
[0090] In some embodiments, the second protrusion 351 may be disposed on the second connecting portion 32, and the second receiving portion 352 may be disposed on the third connecting portion 33.
[0091] In some embodiments, the second mating structure 35 further includes a second reset mechanism 353. The second reset mechanism 353 is at least partially disposed in the second gap G2. The second reset mechanism 353 is used to reset the relative positions of the second protrusion 351 and the second receiving portion 352.
[0092] In some embodiments, the second protrusion 351 has a second assembly blind hole 3511 on at least one of a pair of sidewalls along the second direction D2.
[0093] In some embodiments, a second assembly blind hole 3511 may be provided on a pair of sidewalls of the second protrusion 351 along the second direction D2.
[0094] In some embodiments, the second mating structure 35 may further include a second fastener 354. Along the second direction D2, the second fastener 354 passes through the wall of the second receiving portion 352 and is inserted into the second mounting blind hole 3511. The second reset mechanism 353 is sleeved on the second fastener 354 and at least partially accommodated in the second mounting blind hole 3511.
[0095] In some embodiments, the second gap G2 is formed on both sides of the second protrusion 351 along the second direction D2.
[0096] In some embodiments, the second mating structure 35 further includes a second sliding portion 355 and a second guiding portion 356. The second sliding portion 355 is disposed in one of the second connecting portion 32 and the third connecting portion 33. The second guiding portion 356 is disposed in the other of the second connecting portion 32 and the third connecting portion 33. The second sliding portion 355 is configured to reciprocate in a second direction D2 under the guidance of the second guiding portion 356.
[0097] In some embodiments, the second sliding part 355 may be fixedly connected to the side of the third connecting part 33 facing the third direction D3, and the second guiding part 356 may be fixedly connected to the side of the second connecting part 32 away from the third direction D3.
[0098] In some embodiments, the second mating structure 35 is disposed on both sides of the second connecting portion 32 and the third connecting portion 33 along the first direction D1.
[0099] In some embodiments, the movable connection between the third connecting portion 33 and the second connecting portion 32, as well as the structures and components used to realize the movable connection between the third connecting portion 33 and the second connecting portion 32 along the second direction D2, may be the same as or similar to the relevant descriptions of the first connecting portion 31 and the third connecting portion 33 above, and therefore will not be repeated here.
[0100] In some embodiments, the assembly device 10 may further include a pressure sensor (not shown). The pressure sensor is used to collect the reaction force exerted on the gripper 1 by the device 200 to be assembled. In response to the collected reaction force value exceeding a preset threshold, the robotic arm 2 stops moving. At the same time as the robotic arm 2 stops moving, the gripper 1 and the compensation connection structure 3 can also be in a stationary state. Thus, it is possible to avoid the assembly device 10 continuously applying pressure to the device 200 to be assembled when the device 200 cannot be assembled further, thereby preventing damage to the device 200.
[0101] In some embodiments, the pressure sensor may be disposed between the second connecting portion 32 and the gripper 1. In other embodiments, the pressure sensor may also be disposed at other reasonable locations capable of collecting the reaction force of the device 200 to be assembled on the gripper 1, without particular limitation.
[0102] As described above, by adopting the technical solution of this embodiment, through the compensating connection structure 3 between the gripper 1 and the robotic arm 2, the assembly device 10 can automatically adjust the position of the gripper 1 when the 200 parts to be assembled encounter assembly resistance, so as to adapt to the small assembly error between the 200 parts to be assembled and the target assembly position, and can install the 200 parts to be assembled into place without additional user operation control. This automatic adjustment capability of the gripper 1 ensures that the 200 parts to be assembled can be accurately installed into the target assembly position, and can achieve a stable assembly effect even when there are small deviations in the size of the parts due to tolerances. The compensating connection structure 3 allows the gripper 1 to make small movements relative to the robotic arm 2 in the first direction D1 and the second direction D2 (these two directions are perpendicular to the direction of the robotic arm 2 pointing to the gripper 1) and reset. This design increases the flexibility in the assembly process, so that the assembly device 10 can better adapt to the 200 parts to be assembled with different shapes and sizes.
[0103] In some embodiments, the compensation connection structure 3 is activated when the assembly resistance experienced by the device to be assembled 200 exceeds a preset threshold. This ensures the structural strength of the assembly device 10 and prevents accidental wobbling during the movement of the gripper 1. Simultaneously, when the device to be assembled 200 experiences significant assembly resistance, the compensation connection structure 3 provides a certain degree of freedom, allowing for slight adjustments to the position of the device to be assembled 200, thereby facilitating successful assembly.
[0104] In some embodiments, the assembly device 10 further includes a pressure sensor, which stops the robotic arm 1 when the reaction force exerted on the gripper 1 by the device 200 to be assembled is too large. This avoids the assembly device 10 continuously applying pressure to the device 200, causing damage, when the device 200 cannot continue to be assembled (e.g., the assembly error between the device 200 and the target assembly position is large, causing the device 200 to become stuck and unable to move towards the target assembly position).
[0105] Figure 5 A schematic diagram of an assembly system 100 consistent with some embodiments of this disclosure is shown.
[0106] refer to Figure 5 Assembly system 100 includes the components described above. Figures 1 to 4 The assembly device 10 and fixing device 20 are consistent with the embodiments shown. The fixing device 20 is used to fix the support base 300. The assembly device 10 is capable of moving the device to be assembled 200 and assembling the device to be assembled 200 onto the support base 300.
[0107] In some embodiments, the target assembly position may be formed on the support 300.
[0108] In some embodiments, one of the device to be assembled 200 and the support 300 is provided with at least one mounting protrusion 301, and the other of the device to be assembled 200 and the support 300 is provided with at least one mounting groove 201. The at least one mounting protrusion 301 and the at least one mounting groove 201 correspond one-to-one.
[0109] Figure 5 The assembly of the device 200 and the support 300 is illustrated by dashed boxes. Figure 5 In the assembly, the mounting groove 201 is provided on the device to be assembled 200, and the mounting protrusion 301 is provided on the support base 300.
[0110] In some embodiments, when the device to be assembled 200 is installed in place, the assembly protrusion 301 can be inserted into the corresponding assembly groove 201.
[0111] In some embodiments, the gripper 1 clamps the device 200 to be assembled, and the robotic arm 2 moves above the fixing device 20 under the drive of a motor, such as... Figure 5 As shown, the assembly device 10 is then driven to move along the third direction D3 so that the assembly protrusion 301 enters the corresponding assembly groove 201, completing the installation of the device to be assembled 200 and the support 300. Due to various limitations, the assembly device 10 moves under the drive of the motor to the position shown. Figure 5 When the mounting device 20 is positioned above the mounting groove 201, there may be a positional deviation between the mounting groove 201 and the corresponding mounting protrusion 301 within the first plane. This can lead to minor assembly errors between the mounting groove 201 and the corresponding mounting protrusion 301 when the assembly device 10 moves downward along the third direction D3. By employing the assembly device 10 described in this embodiment, the design of the compensating connection structure 3 can adaptively compensate for and eliminate the aforementioned assembly errors during the movement of the assembly device 10 along the third direction D3, thereby adaptively adjusting the position of the device to be assembled 200 within the first plane. This ensures that the mounting protrusion 301 smoothly enters the corresponding mounting groove 201, completing the installation of the device to be assembled 200 and the support 300.
[0112] In some embodiments, a bevel may also be formed on the end face of the device to be assembled 200 on the side where the assembly groove 201 is formed. The bevel is used to guide the assembly protrusion 301 into the assembly groove 201.
[0113] In some embodiments, the outer surface of the mounting protrusion 301 and the inner wall of the mounting groove 201 are in close contact.
[0114] In some embodiments, the assembly system 100 may further include a control module (not shown). The control module can communicate with a pressure sensor disposed on the assembly device 10. The control module is used to control the movement state of the robotic arm 2 based on the value of the force fed back by the pressure sensor. For example, when the value of the force fed back by the pressure sensor exceeds a threshold, the control module controls the robotic arm 2 to stop moving.
[0115] It should be understood that the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this document indicates that the preceding and following related objects are in an "or" relationship. As used herein, unless explicitly stated otherwise, the term "or" covers all possible combinations unless impractical. For example, if a component is declared to include A or B, then unless explicitly stated otherwise or impractical, the component can include A, or B, or A and B. As a second example, if a component is declared to include A, B, or C, then unless explicitly stated otherwise or impractical, the component can include A, or B, or C, or A and B, or A and C, or B and C, or A and B and C. In embodiments of this disclosure, "multiple" refers to two or more.
[0116] Relational terms appearing in the embodiments of this disclosure, such as "first," "second," etc., are used only to distinguish an entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the words "comprising," "having," and "including," and other similar forms, are intended to be equivalent in meaning and are open-ended; one or more items following any of these words do not imply an exhaustive list of such items or that they are limited to only the listed items. Exemplary embodiments have been disclosed in the drawings and specification. However, many variations and modifications can be made to these embodiments. Therefore, although specific terminology is used, it is used only in a general and descriptive sense and not for limiting purposes.
[0117] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this disclosure 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 disclosure. 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, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified.
[0118] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or connections that allow for communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.
[0119] In this disclosure, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0120] While the above disclosure is provided, it is not limited thereto. Any person skilled in the art may make various alterations and modifications without departing from the spirit and scope of this disclosure; therefore, the scope of protection of this disclosure shall be determined by the scope defined in the claims.
Claims
1. An assembly device, characterized in that, include: Grippers are used to hold the parts to be assembled. A robotic arm is used to drive the gripper to move the device to be assembled; A compensating connection structure is provided, through which the robotic arm and the gripper are movably connected. The compensating connection structure is used to allow the gripper to have a degree of freedom of movement relative to the robotic arm in a first plane, the first plane being perpendicular to the direction from the robotic arm to the gripper.
2. The assembly device according to claim 1, characterized in that, During the process of the robotic arm driving the gripper to move the device to be assembled, through the compensating connection structure, when the gripper is subjected to the reaction force of the device to be assembled, the gripper moves relative to the robotic arm in a first direction and / or a second direction; wherein... The first direction and the second direction are within the first plane.
3. The assembly device according to claim 2, characterized in that, In response to the assembly resistance of the device to be assembled being greater than a preset threshold, the compensation connection structure enables the gripper to move relative to the robotic arm along the first direction and / or the second direction.
4. The assembly device according to claim 1, characterized in that, The compensation connection structure includes: The first connecting part is fixedly connected to the robotic arm; The second connecting part is fixedly connected to the gripper; A third connecting part is disposed between the first connecting part and the second connecting part. There is a relative displacement degree of freedom between the first connecting part and the third connecting part along a first direction, and there is a relative displacement degree of freedom between the second connecting part and the third connecting part along a second direction. The first direction and the second direction are perpendicular to the direction in which the robotic arm points towards the gripper.
5. The assembly device according to claim 4, characterized in that, The first connecting part and the third connecting part are movably connected by a first mating structure, the first mating structure comprising: A first protrusion is provided in one of the first connecting portion and the third connecting portion, and extends toward the other one; A first receiving portion is disposed in the other of the first connecting portion and the third connecting portion. The first receiving portion has a first receiving space for receiving at least a portion of the first protrusion. Along the first direction, a first gap exists between the wall of the first receiving portion forming the first receiving space and the first protrusion.
6. The assembly device according to claim 5, characterized in that, The first mating structure further includes: A first reset mechanism is at least partially disposed in the first gap, and the first reset mechanism is used to reset the relative positions of the first protrusion and the first receiving part.
7. The assembly device according to claim 6, characterized in that, The first protrusion has a first blind hole on at least one of a pair of sidewalls along the first direction, and the first mating structure further includes: A first fixing member, along the first direction, passes through the wall forming the first receiving space of the first receiving part and is inserted into the first assembly blind hole, and a first reset mechanism is sleeved on the first fixing member and is at least partially accommodated in the first assembly blind hole.
8. The assembly device according to claim 5, characterized in that, The first gap is formed on both sides of the first protrusion along the first direction.
9. The assembly device according to claim 5, characterized in that, The first mating structure further includes: A first sliding portion is disposed in one of the first connecting portion and the third connecting portion; A first guide portion is disposed in the other of the first connecting portion and the third connecting portion, and the first sliding portion is configured to reciprocate in the first direction under the guidance of the first guide portion.
10. The assembly apparatus according to claim 5, characterized in that, The first mating structure is disposed on both sides of the first connecting portion and the third connecting portion along the second direction.
11. The assembly device according to claim 4, characterized in that, The second connecting part and the third connecting part are movably connected by a second mating structure, the second mating structure including: The second protrusion is disposed in one of the second connecting portion and the third connecting portion, and extends toward the other one; A second receiving part is disposed in the other of the second connecting part and the third connecting part. The second receiving part has a second receiving space for receiving at least a portion of the second protrusion. Along the second direction, a second gap is formed between the wall of the second receiving part forming the second receiving space and the second protrusion.
12. The assembly apparatus according to claim 11, characterized in that, The second mating structure also includes: A second reset mechanism is at least partially disposed in the second gap, and the second reset mechanism is used to reset the relative positions of the second protrusion and the second receiving part.
13. The assembly apparatus according to claim 12, characterized in that, The second protrusion has a second blind hole on at least one of a pair of sidewalls along the second direction, and the second mating structure further includes: The second fixing member, along the second direction, passes through the wall forming the second receiving space of the second receiving part and is inserted into the second assembly blind hole. The second reset mechanism is sleeved on the second fixing member and is at least partially accommodated in the second assembly blind hole.
14. The assembly apparatus according to claim 11, characterized in that, The second gap is formed on both sides of the second protrusion along the second direction.
15. The assembly apparatus according to claim 11, characterized in that, The second mating structure also includes: The second sliding part is disposed in one of the second connecting part and the third connecting part; A second guide portion is disposed in the other of the second connecting portion and the third connecting portion, and the second sliding portion is configured to reciprocate in the second direction under the guidance of the second guide portion.
16. The assembly apparatus according to claim 11, characterized in that, The second mating structure is disposed on both sides of the second connecting portion and the third connecting portion along the first direction.
17. The assembly apparatus according to claim 1, characterized in that, Also includes: A pressure sensor is used to collect the reaction force of the gripper on the device to be assembled. In response to the collected reaction force value exceeding a preset threshold, the robotic arm stops moving.
18. An assembly system, characterized in that, include: The assembly apparatus as described in any one of claims 1 to 17; A fixing device is used to fix a support base, and the assembly device moves the device to be assembled and assembles the device to be assembled onto the support base.
19. The assembly system according to claim 18, characterized in that, One of the device to be assembled and the support base is provided with at least one assembly protrusion, and the other of the device to be assembled and the support base is provided with at least one assembly groove, wherein the at least one assembly protrusion and the at least one assembly groove correspond one-to-one.
20. The assembly system according to claim 18, characterized in that, Also includes: The control module communicates with the pressure sensor installed on the assembly device, and the control module is used to control the movement state of the robotic arm based on the value of the force fed back by the pressure sensor.