Self-adaptive assembling device and self-adaptive assembling system

Abstract

The utility model relates to a self-adaptive assembling device and a self-adaptive assembling system. The self-adaptive assembling device comprises a positioning structure, a material taking structure and an image obtaining structure. The automatic assembling machine has the advantages that the positioning mechanism is matched with the material taking structure, so that the first workpiece and the second workpiece are assembled in a matched mode close to zero clearance; the material taking structure adjusts the assembling state of the products in real time through the feedback of the minimum contact force value between the products in the assembling process through the first moving unit, so that automatic assembling of the products is completed, and the problem that the assembling difficulty is large due to too small gaps is solved; the assembling time is shortened, the assembling efficiency is improved, and the production cost is reduced; and the image acquisition structure is used for visual inspection before and after assembly, so that the yield of products is improved.

Description

Technical Field

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

[0002] In existing technologies, the assembly steps for the main lens of a lidar are as follows:

[0003] The operator holds the radar body with one hand and uses a manual suction nozzle to pick up the lens with the other, then assembles the lens into the radar body. Because the gap between the lens and the body on one side is 0–0.02 mm, manual assembly is difficult and can easily damage the lens.

[0004] Currently, no effective solutions have been proposed for the problems in related technologies, such as difficulties in manual assembly due to small gaps and easy damage to lenses. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing an adaptive assembly device and system to solve problems such as difficulty in manual assembly and easy damage to lenses due to small gaps.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] In a first aspect, an adaptive assembly apparatus is provided, comprising:

[0008] A positioning structure, which is disposed on a horizontal plane, is used to adsorb and fix the first workpiece;

[0009] A material-grabbing structure, which is set on a horizontal plane, is used to adsorb the second workpiece and move the second workpiece to the first workpiece for the assembly process.

[0010] An image acquisition structure is provided on the material handling structure to acquire image information so that the material handling structure can carry the second workpiece to the first workpiece for the assembly process.

[0011] In some embodiments, the positioning structure includes:

[0012] A positioning unit, which is disposed on a horizontal plane, is used to fix the first workpiece;

[0013] At least one first adsorption unit is disposed on the side of the positioning unit and connected to the air source delivery device for adsorbing the first workpiece.

[0014] In some embodiments, the positioning unit includes:

[0015] A base element, wherein the base element is disposed on a horizontal plane, and the first adsorption unit is disposed on the side of the base element;

[0016] At least one positioning element is disposed on the base element for fixing the first workpiece.

[0017] In some embodiments, the first adsorption unit includes:

[0018] A first main component is disposed on the side of the positioning unit;

[0019] A first channel element is disposed on the first main body element and extends through the first main body element;

[0020] A first interface element is disposed on the side of the first main body element. The first end of the first interface element is connected to the first channel element, and the second end of the first interface element is connected to the gas source delivery device.

[0021] At least one first adsorption element is disposed on the side of the first main body element, and the first end of the first adsorption element is connected to the first channel element for adsorbing or releasing the first workpiece under the action of the gas source delivery device.

[0022] In some embodiments, the positioning structure further includes:

[0023] The second moving unit is disposed on the horizontal plane and connected to the positioning unit, and is used to drive the positioning unit to reciprocate along a preset direction.

[0024] In some embodiments, the material handling structure includes:

[0025] A first moving unit, wherein the first moving unit is disposed on a horizontal plane;

[0026] A first installation unit is disposed on the first moving unit and is used to move in three-dimensional space under the action of the first moving unit;

[0027] A gas distribution unit is disposed on the side of the first mounting unit and is connected to a gas source delivery device;

[0028] At least one second adsorption unit is provided, which is detachably disposed on the side of the first mounting unit and communicates with the gas distribution unit, for adsorbing or releasing the second workpiece under the action of the gas distribution unit.

[0029] In some embodiments, the gas distribution unit includes:

[0030] The second main component is disposed on the side of the first mounting unit;

[0031] At least one second channel element, wherein the second channel element extends through the second body element;

[0032] At least one second interface element is provided on the side of the second main body element. The first end of the second interface element is connected to the corresponding second channel element, and the second end of the second interface element is connected to the air source delivery device.

[0033] At least one third interface element is provided, the third interface element is disposed on the side of the second main body element, the first end of the third interface element is connected to the corresponding second channel element, and the second end of the third interface element is connected to the corresponding second adsorption unit.

[0034] In some embodiments, the second adsorption unit includes:

[0035] The third main component is disposed on the side of the first mounting unit;

[0036] A third channel element is disposed through the third main body element;

[0037] A fourth interface element is disposed on the side of the third main body element. The first end of the fourth interface element is connected to the third channel element, and the second end of the fourth interface element is connected to the gas distribution unit.

[0038] At least one second adsorption element is disposed on the side of the third main element, and the first end of the second adsorption element is connected to the third channel element for adsorbing or releasing the second workpiece under the action of the gas distribution unit.

[0039] In some embodiments, the material handling structure further includes:

[0040] At least one sliding unit is provided, which is disposed between the first mounting unit and the corresponding second adsorption unit and is connected to the gas distribution unit, and is used to adjust the position of the corresponding second adsorption unit under the action of the gas distribution unit.

[0041] In some embodiments, the gas distribution unit further includes:

[0042] At least one fourth channel element, the fourth channel element being disposed through the gas distribution unit;

[0043] At least one fifth interface element is provided, the fifth interface element is disposed on the side of the gas distribution unit, the first end of the fifth interface element is connected to the corresponding fourth channel element, and the second end of the fifth interface element is connected to the gas source delivery device;

[0044] At least one sixth interface element is provided on the side of the gas distribution unit. The first end of the sixth interface element is connected to the corresponding fourth channel element, and the second end of the sixth interface element is connected to the corresponding sliding unit.

[0045] In some of these embodiments, the sliding unit includes;

[0046] A fourth main component is disposed on the side of the first mounting unit;

[0047] At least one first sliding element is disposed through the fourth main body element;

[0048] At least one fifth channel element, the fifth channel element being disposed through the fourth main body element and communicating with the first sliding element;

[0049] At least one seventh interface element is provided, the seventh interface element is disposed on the side of the fourth main body element, the first end of the seventh interface element is connected to the corresponding fifth channel element, and the second end of the seventh interface element is connected to the gas distribution unit;

[0050] The fifth main component is disposed on the side of the corresponding second adsorption unit and is slidably connected to the fourth main component, and is used to drive the corresponding second adsorption unit to reciprocate along a preset direction;

[0051] At least one second sliding element is provided, which is disposed on the side of the fifth main body element and slidably connected to the first sliding element, for driving the fifth main body element to reciprocate along a preset direction under the action of the gas distribution unit.

[0052] In some embodiments, the image acquisition structure includes:

[0053] A second mounting unit is disposed on the side of the material handling structure;

[0054] An image acquisition unit is disposed in the second installation unit and is used to acquire image information.

[0055] Secondly, an adaptive assembly system is provided, comprising:

[0056] The adaptive assembly apparatus as described in the first aspect;

[0057] An air source conveying device, wherein the air source conveying device is connected to the positioning structure and the material handling structure of the adaptive assembly device;

[0058] A control device is connected to the positioning structure, the material handling structure, the image acquisition structure, and the air supply delivery device of the adaptive assembly device.

[0059] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0060] This invention discloses an adaptive assembly device and system that utilizes the cooperation of a positioning mechanism and a material-picking structure to achieve near-zero gap assembly between a first workpiece and a second workpiece. The material-picking structure, through a first moving unit, adjusts the assembly state of the products in real time based on feedback from minimal contact forces between the products during the assembly process, thereby completing automated assembly and solving the problem of high assembly difficulty due to excessively small gaps. This shortens assembly time, improves assembly efficiency, and reduces production costs. Visual inspection is performed using an image acquisition structure both before and after assembly, improving the product yield. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of an adaptive assembly device according to an embodiment of the present invention;

[0062] Figure 2 This is a schematic diagram of the positioning structure according to an embodiment of the present utility model;

[0063] Figure 3 This is a schematic diagram of the positioning unit according to an embodiment of the present utility model;

[0064] Figure 4 This is a schematic diagram of the first adsorption unit according to an embodiment of the present utility model;

[0065] Figure 5 This is a schematic diagram of the material handling structure according to an embodiment of the present utility model;

[0066] Figure 6 This is a schematic diagram of a gas distribution unit according to an embodiment of the present utility model;

[0067] Figure 7 This is a schematic diagram of the second adsorption unit according to an embodiment of the present invention;

[0068] Figure 8 This is a schematic diagram of the image acquisition structure according to an embodiment of the present utility model;

[0069] Figure 9 This is a schematic diagram (a) of the sliding unit according to an embodiment of the present utility model;

[0070] Figure 10 This is a schematic diagram (II) of the sliding unit according to an embodiment of the present utility model;

[0071] Figure 11 This is a schematic diagram (iii) of the sliding unit according to an embodiment of the present utility model;

[0072] Figure 12 This is a schematic diagram of an adaptive assembly system according to an embodiment of the present invention.

[0073] The reference numerals in the accompanying drawings are as follows: 100, positioning structure; 110, positioning unit; 111, base element; 112, positioning element; 120, first adsorption unit; 121, first main body element; 122, first channel element; 123, first interface element; 124, first adsorption element; 130, second moving unit;

[0074] 200. Material handling structure; 210. First moving unit; 220. First mounting unit; 230. Gas distribution unit; 231. Second main component; 232. Second channel component; 233. Second interface component; 234. Third interface component; 235. Fourth channel component; 236. Fifth interface component; 237. Sixth interface component; 240. Second adsorption unit; 241. Third main component; 242. Third channel component; 243. Fourth interface component; 244. Second adsorption element; 250. Sliding unit; 251. Fourth main component; 252. First sliding element; 253. Fifth channel component; 254. Seventh interface component; 255. Fifth main component; 256. Second sliding element;

[0075] 300. Image acquisition structure; 310. Second mounting unit; 320. Image acquisition unit;

[0076] A. Adaptive assembly device; B. Gas source delivery device; C. Control device. Detailed Implementation

[0077] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0078] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0079] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0080] Example 1

[0081] This embodiment relates to the adaptive assembly device of this utility model.

[0082] An illustrative embodiment of this utility model, such as Figure 1 As shown, an adaptive assembly device includes a positioning structure 100, a material-picking structure 200, and an image acquisition structure 300. The positioning structure 100 is disposed on a horizontal plane and is used to adsorb and fix a first workpiece; the material-picking structure 200 is disposed on a horizontal plane and is used to adsorb a second workpiece and move the second workpiece to the first workpiece for the assembly process; the image acquisition structure 300 is disposed on the material-picking structure 200 and is used to acquire image information so that the material-picking structure 200 can carry the second workpiece to the first workpiece for the assembly process.

[0083] In this invention, the adaptive assembly device is mainly used for the automatic assembly of LiDAR products in the automotive electronics industry.

[0084] The working principle of this utility model is as follows:

[0085] Place the first workpiece on the positioning structure 100;

[0086] The central control unit controls the air supply delivery device so that the positioning structure 100 can adsorb the first workpiece to be assembled.

[0087] The image acquisition structure 300 acquires image information and feeds it back to the central control unit;

[0088] The central control unit moves the material handling structure 200 mm.

[0089] When the material handling structure 200 moves to the material handling position, the central control unit controls the air supply delivery device to make the material handling structure 200 adsorb the second workpiece to be assembled.

[0090] When the material handling structure 200 moves to the assembly position, the material handling structure 200 installs the second workpiece onto the first workpiece located in the positioning structure 100;

[0091] After the second workpiece is assembled with the first workpiece, the central control unit controls the air supply delivery device to release the second workpiece from the material handling structure 200.

[0092] After release, the central control unit moves the material handling structure 200.

[0093] When the material handling structure 200 is far from the assembly position, the central control unit controls the air supply device to make the positioning structure 100 release the first workpiece.

[0094] Remove the first workpiece;

[0095] Repeat the above steps until all assembly processes are completed.

[0096] like Figures 2-4 As shown, the positioning structure 100 includes a positioning unit 110 and at least one first adsorption unit 120. The positioning unit 110 is disposed on a horizontal plane and is used to fix the first workpiece; the first adsorption unit 120 is disposed on the side of the positioning unit 110 and is connected to an air source delivery device for adsorbing the first workpiece.

[0097] In some embodiments, there are multiple first adsorption units 120. The multiple first adsorption units 120 are distributed in the positioning unit 110 to adsorb the first workpiece from different positions to improve the stability of the first workpiece (e.g., adsorb the first workpiece from the bottom, left, and right ends of the first workpiece respectively).

[0098] like Figure 3 As shown, the positioning unit 110 includes a base element 111 and at least one positioning element 112. The base element 111 is disposed on a horizontal plane, and a first adsorption unit 120 is disposed on the side of the base element 111. The positioning element 112 is disposed on the base element 111 and is used to fix the first workpiece.

[0099] In some of the embodiments, the base element 111 includes, but is not limited to, a positioning base, a positioning pedestal, and a positioning platform.

[0100] The positioning element 112 is fixedly connected to the base element 111 or detachably connected, including but not limited to welding, integral molding, plug-in, bolt connection, etc.

[0101] In some embodiments, there are multiple positioning elements 112. The multiple positioning elements 112 are distributed on the top of the base element 111.

[0102] In some of the embodiments, the positioning element 112 includes, but is not limited to, a positioning base, a positioning seat, a positioning baffle, etc.

[0103] In some embodiments, the positioning unit 110 further includes a through element. The through element extends through the base element 111 to expose the adsorption end of the first adsorption unit 120.

[0104] In some of these embodiments, the through element includes, but is not limited to, a through groove.

[0105] In some embodiments, the positioning unit 110 further includes at least one first mounting element and at least one second mounting element. The first mounting element is disposed on the side of the base element 111; the second mounting element is disposed on the side of the positioning element 112 and is connected to the corresponding first mounting element.

[0106] When there are multiple first mounting elements, the multiple first mounting elements are distributed and disposed on the top of the base element 111. For example, the multiple first mounting elements are spaced apart along the length direction and / or width direction of the base element 111.

[0107] In some of these embodiments, the first mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting flange.

[0108] Generally, the second mounting element is connected to the first mounting element by a bolt group.

[0109] The number of second mounting elements matches the number of positioning elements 112. Generally, the number of second mounting elements is not less than the number of positioning elements 112. That is, each positioning element 112 is provided with at least one second mounting element.

[0110] When there are multiple second mounting elements, the multiple second mounting elements are distributed at the bottom end and / or side of the positioning element 112. For example, the multiple second mounting elements are spaced apart along the length direction and / or width direction and / or height direction of the positioning element 112.

[0111] In some of these embodiments, the second mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting flange.

[0112] In some embodiments, the positioning unit 110 further includes at least one third mounting element. The first mounting element is disposed on the side of the base element 111 and connected to the corresponding first adsorption unit 120.

[0113] When there are multiple third mounting elements, the multiple third mounting elements are distributed and disposed on the top of the base element 111. For example, the multiple third mounting elements are spaced apart along the length direction and / or width direction of the base element 111.

[0114] In some of these embodiments, the third mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting flange.

[0115] like Figure 4As shown, the first adsorption unit 120 includes a first main body element 121, a first channel element 122, a first interface element 123, and at least one first adsorption element 124. The first main body element 121 is disposed on the side of the positioning unit 110; the first channel element 122 is disposed on the first main body element 121 and extends through it; the first interface element 123 is disposed on the side of the first main body element 121, with its first end communicating with the first channel element 122 and its second end connected to a gas source delivery device; the first adsorption element 124 is disposed on the side of the first main body element 121, with its first end communicating with the first channel element 122, and is used to adsorb or release the first workpiece under the action of the gas source delivery device.

[0116] Specifically, the first main body element 121 is disposed on the side of the base element 111 (e.g., top end, bottom end, side end, etc.).

[0117] In some of these embodiments, the cross-section of the first main element 121 is triangular, quadrilateral, or polygonal.

[0118] Generally, in addition to the top and bottom ends, the first main body element 121 includes at least three sides.

[0119] In some of these embodiments, the first body element 121 includes four sides.

[0120] In some of these embodiments, the first main element 121 includes, but is not limited to, the adsorption block body.

[0121] The first channel element 122 is disposed inside the first main body element 121. Generally, one end of the first channel element 122 passes through one end of the first main body element 121, and the other end of the first channel element 122 passes through the other end of the first main body element 121.

[0122] In some embodiments, the first channel element 122 includes a main channel and at least one branch channel. The main channel is disposed inside the first main body element 121, extends through the side end of the first main body element 121, and communicates with the first interface element 123; the branch channel is disposed inside the first main body element 121, extends through the other side end of the first main body element 121, and communicates with the main channel and the corresponding first adsorption element 124.

[0123] In some embodiments, there are several branch channels. Several branch channels are distributed inside the first main body element 121 and are respectively connected to the main channel and the corresponding first adsorption element 124.

[0124] In some of these embodiments, the first channel element 122 includes, but is not limited to, a gas channel.

[0125] The first interface element 123 is detachably connected to the first channel element 122, including but not limited to plug-in connection, threaded connection, etc.

[0126] The first interface element 123 is connected to the gas source delivery device through a gas pipeline.

[0127] In some of these embodiments, the first interface element 123 includes, but is not limited to, a gas interface.

[0128] The number of first adsorption elements 124 matches the number of branch channels of the first channel element 122. Generally, the number of first adsorption elements 124 is equal to the number of branch channels. That is, there is a one-to-one correspondence between the first adsorption elements 124 and the branch channels.

[0129] In some embodiments, there are multiple first adsorption elements 124. Multiple first adsorption elements 124 are distributed on the first main body element 121.

[0130] In some of these embodiments, the first adsorption element 124 includes, but is not limited to, an adsorption plate, an adsorption connector, etc.

[0131] In some embodiments, the first adsorption unit 120 further includes at least one fourth mounting element. The fourth mounting element is disposed on the side of the first main body element 121 and connected to the positioning unit 110.

[0132] Specifically, the fourth mounting element is connected to the third mounting element.

[0133] Generally, the fourth mounting element is connected to the third mounting element by a bolt group.

[0134] The fourth mounting element may be installed through the first main body element 121 or may not be installed through the first main body element 121.

[0135] When there are multiple fourth mounting elements, the multiple fourth mounting elements are distributed on one side of the first main body element 121. For example, the multiple fourth mounting elements are spaced apart along the height direction and / or width direction of the first main body element 121.

[0136] In some of these embodiments, the fourth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0137] like Figures 5-7As shown, the material handling structure 200 includes a first moving unit 210, a first mounting unit 220, a gas distribution unit 230, and at least one second adsorption unit 240. The first moving unit 210 is disposed on a horizontal plane; the first mounting unit 220 is disposed on the first moving unit 210 and is used to move in three-dimensional space under the action of the first moving unit 210; the gas distribution unit 230 is disposed on the side of the first mounting unit 220 and is connected to a gas source delivery device; the second adsorption unit 240 is detachably disposed on the side of the first mounting unit 220 and is connected to the gas distribution unit 230, used to adsorb or release the second workpiece under the action of the gas distribution unit 230.

[0138] In some embodiments, there are multiple second adsorption units 240. These multiple second adsorption units 240 are distributed on the side of the first mounting unit 220 and are used to adsorb different second components for automated assembly processes.

[0139] In some of these embodiments, the first mobile unit 210 includes, but is not limited to, a multi-axis robot.

[0140] In some embodiments, the first moving unit 210 includes a first base element, a multi-axis robot element, and at least one fifth mounting element. The first base element is disposed on a horizontal plane; the bottom end of the multi-axis robot element is connected to the first base element; and the fifth mounting element is disposed at the movable end of the multi-axis robot and connected to the first mounting unit 220.

[0141] In some of these embodiments, the first base element includes, but is not limited to, a fixed base, a fixed base, etc.

[0142] In some of these embodiments, the multi-axis robot element includes, but is not limited to, a five-axis robot, a six-axis robot, a seven-axis robot, etc.

[0143] When there are multiple fifth mounting elements, these elements are distributed at the movable end of the multi-axis robot element. For example, the fifth mounting elements are spaced apart radially (e.g., in the length direction and / or width direction) along the movable end of the multi-axis robot element.

[0144] In some of these embodiments, the fifth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0145] In some embodiments, the first mounting unit 220 includes a second base element, at least a sixth mounting element, at least a seventh mounting element, at least an eighth mounting element, and at least a ninth mounting element. The sixth mounting element is disposed on the side of the second base element and connected to the first moving unit 210; the seventh mounting element is disposed on the side of the second base element and connected to the gas distribution unit 230; the eighth mounting element is disposed on the side of the second base element and connected to a corresponding second adsorption unit 240; and the ninth mounting element is disposed on the side of the second base element and connected to the image acquisition structure 300.

[0146] Specifically, the sixth mounting element is connected to the fifth mounting element.

[0147] In some of these embodiments, the cross-section of the second base element is triangular, quadrilateral, or polygonal.

[0148] Generally, in addition to the top and bottom ends, the second base element includes at least three mounting surfaces. Among them, a gas distribution unit 230 is mounted on one mounting surface, a second adsorption unit 240 is mounted on at least one mounting surface, and an image acquisition structure 300 is mounted on one mounting surface.

[0149] Generally, the image acquisition structure 300 occupies a single mounting surface, while the gas distribution unit 230 and the second adsorption unit 240 can share a mounting surface.

[0150] In some embodiments, the second base element includes four mounting surfaces. The first mounting surface houses the gas distribution unit 230, the first, second, and third mounting surfaces house the second adsorption unit 240, and the fourth mounting surface houses the image acquisition structure 300.

[0151] In some of these embodiments, the second base element includes, but is not limited to, the mounting body.

[0152] Generally, the sixth mounting element is located at the top of the second base element.

[0153] Generally, the sixth mounting element is connected to the fifth mounting element by a bolt group.

[0154] In some of these embodiments, the sixth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting flange.

[0155] The seventh mounting element is disposed on one mounting surface of the second base element.

[0156] When there are multiple seventh mounting elements, these seventh mounting elements are distributed on a mounting surface of the second base element. For example, the multiple seventh mounting elements are spaced apart along the height and / or width direction of the second base element.

[0157] In some of these embodiments, the seventh mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0158] When there are multiple eighth mounting elements, these eighth mounting elements are distributed on different mounting surfaces of the second base element. That is, at least one eighth mounting element is provided on the mounting surface where the second adsorption unit 240 is mounted.

[0159] When a plurality of eighth mounting elements are provided on the mounting surface on which the second adsorption unit 240 is mounted, the plurality of eighth mounting elements are distributed on the mounting surface of the second base element. For example, the plurality of eighth mounting elements are spaced apart along the height direction and / or width direction of the second base element.

[0160] In some of these embodiments, the eighth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0161] The ninth mounting element is disposed on one mounting surface of the second base element.

[0162] When there are multiple ninth mounting elements, the multiple ninth mounting elements are distributed on a mounting surface of the second base element. For example, the multiple ninth mounting elements are spaced apart along the height direction and / or width direction of the second base element.

[0163] In some of these embodiments, the ninth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0164] like Figure 6 As shown, the gas distribution unit 230 includes a second main body element 231, at least one second channel element 232, at least one second interface element 233, and at least one third interface element 234. The second main body element 231 is disposed on the side of the first mounting unit 220; the second channel element 232 passes through the second main body element 231; the second interface element 233 is disposed on the side of the second main body element 231, with its first end connected to the corresponding second channel element 232 and its second end connected to the gas source delivery device; the third interface element 234 is disposed on the side of the second main body element 231, with its first end connected to the corresponding second channel element 232 and its second end connected to the corresponding second adsorption unit 240.

[0165] Specifically, the second main body element 231 is disposed on the side of the second base element.

[0166] In some of these embodiments, the cross-section of the second body element 231 is triangular, quadrilateral, or polygonal.

[0167] Generally, in addition to the left and right ends, the second main body element 231 includes at least three sides. One side is disposed near the second base element, one side is provided with a plurality of second interface elements 233, and one side is provided with a plurality of third interface elements 234.

[0168] In some embodiments, the second main body element 231 includes four sides. The first side is disposed near the second base element, the third side is provided with a plurality of second interface elements 233, and the fourth side is provided with a plurality of third interface elements 234.

[0169] Furthermore, the second main body element 231 also includes an extension surface. The extension surface is disposed on a second side surface of the second main body element 231.

[0170] In some of these embodiments, the second main body element 231 includes, but is not limited to, the gas distribution block body.

[0171] When there are multiple second channel elements 232, the multiple second channel elements 232 are distributed inside the second main body element 231. Generally, the first end of the second channel element 232 is disposed through one side of the second main body element 231, and the second end of the second channel element 232 is disposed through the other side of the second main body element 231.

[0172] A plurality of second channel elements 232 are spaced apart along the length and / or width of the second main body element 231.

[0173] In some of these embodiments, the second channel element 232 includes, but is not limited to, a gas channel.

[0174] The second interface element 233 is detachably connected to the second channel element 232, including but not limited to plug-in connection, threaded connection, etc.

[0175] The number of second interface elements 233 matches the number of second channel elements 232. Generally, the number of second interface elements 233 is equal to the number of second channel elements 232, that is, there is a one-to-one correspondence between the second interface elements 233 and the second channel elements 232.

[0176] In some of these embodiments, the second interface element 233 includes, but is not limited to, a gas interface.

[0177] The third interface element 234 is detachably connected to the second channel element 232, including but not limited to plug-in and threaded connections.

[0178] The number of third interface elements 234 matches the number of second channel elements 232. Generally, the number of third interface elements 234 is equal to the number of second channel elements 232, that is, there is a one-to-one correspondence between the third interface elements 234 and the second channel elements 232.

[0179] In some of these embodiments, the third interface element 234 includes, but is not limited to, a gas interface.

[0180] In some embodiments, the gas distribution unit 230 further includes at least a tenth mounting element. The tenth mounting element is disposed on the side of the second main body element 231 and connected to the first mounting unit 220.

[0181] Specifically, the tenth mounting element is connected to the seventh mounting element.

[0182] Generally, the tenth mounting element and the seventh mounting element are connected by a bolt group.

[0183] In some embodiments, there are multiple tenth mounting elements. These multiple tenth mounting elements are distributed on the second side and / or extended surface of the second main body element 231. For example, the multiple tenth mounting elements are spaced apart along the height and / or width direction of the second main body element 231.

[0184] In some of these embodiments, the tenth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0185] like Figure 7 As shown, the second adsorption unit 240 includes a third main element 241, a third channel element 242, a fourth interface element 243, and at least one second adsorption element 244. The third main element 241 is disposed on the side of the first mounting unit 220; the third channel element 242 extends through the third main element 241; the fourth interface element 243 is disposed on the side of the third main element 241, with its first end communicating with the third channel element 242 and its second end communicating with the gas distribution unit 230; the second adsorption element 244 is disposed on the side of the third main element 241, with its first end communicating with the third channel element 242, and is used to adsorb or release the second workpiece under the action of the gas distribution unit 230.

[0186] Specifically, the third main body element 241 is disposed on the side of the second base element; the fourth interface element 243 is connected to the corresponding third interface element 234.

[0187] In this invention, the number of second adsorption units 240 matches the number of third interface elements 234. Generally, the number of second adsorption units 240 is equal to the number of third interface elements 234. That is, there is a one-to-one correspondence between the second adsorption units 240 and the third interface elements 234.

[0188] In some of these embodiments, the cross-section of the third body element 241 is triangular, quadrilateral, or polygonal.

[0189] Generally, in addition to the top and bottom ends, the third main body element 241 includes at least three sides.

[0190] In some of these embodiments, the third body element 241 includes four sides.

[0191] In some of these embodiments, the third body element 241 includes, but is not limited to, the adsorption block body.

[0192] The third channel element 242 is disposed inside the third main body element 241. Generally, the top end of the third channel element 242 extends through the top end of the third main body element 241, and the bottom end of the third channel element 242 extends through the bottom end of the third main body element 241.

[0193] In some embodiments, the third channel element 242 includes a main channel and at least one branch channel. The main channel is disposed inside the third main body element 241, extends through the top end of the third main body element 241, and communicates with the fourth interface element 243; the branch channel is disposed inside the third main body element 241, extends through the bottom end of the third main body element 241, and communicates with the main channel and the corresponding second adsorption element 244.

[0194] In some embodiments, there are several branch channels. Several branch channels are distributed inside the third main body element 241 and are respectively connected to the main channel and the corresponding second adsorption element 244.

[0195] In some of these embodiments, the third channel element 242 includes, but is not limited to, a gas channel.

[0196] The fourth interface element 243 is detachably connected to the third channel element 242, including but not limited to plug-in connection, threaded connection, etc.

[0197] The fourth interface element 243 is connected to the third interface element 234 via a gas pipeline.

[0198] In some of these embodiments, the fourth interface element 243 includes, but is not limited to, a gas interface.

[0199] Generally, the second adsorption element 244 is disposed at the bottom end of the third main element 241.

[0200] The number of second adsorption elements 244 matches the number of branch channels of the third channel element 242. Generally, the number of second adsorption elements 244 is equal to the number of branch channels. That is, there is a one-to-one correspondence between the second adsorption elements 244 and the branch channels.

[0201] In some embodiments, there are multiple second adsorption elements 244. Multiple second adsorption elements 244 are distributed at the bottom end of the third main element 241.

[0202] In some of these embodiments, the second adsorption element 244 includes, but is not limited to, an adsorption plate, an adsorption connector, etc.

[0203] In some embodiments, the second adsorption unit 240 further includes at least an eleventh mounting element. The eleventh mounting element is disposed on the side of the third main body element 241 and connected to the first mounting unit 220.

[0204] Specifically, the eleventh mounting element is connected to the eighth mounting element.

[0205] Generally, the eleventh mounting element is connected to the eighth mounting element by a bolt group.

[0206] The eleventh mounting element may or may not penetrate the third main component 241.

[0207] When there are multiple eleventh mounting elements, the multiple eleventh mounting elements are distributed on one side of the third main body element 241. For example, the multiple eleventh mounting elements are spaced apart along the height direction and / or width direction of the third main body element 241.

[0208] In some of these embodiments, the eleventh mounting element includes, but is not limited to, mounting slots, mounting holes, and mounting screw holes.

[0209] like Figure 8 As shown, the image acquisition structure 300 includes a second mounting unit 310 and an image acquisition unit 320. The second mounting unit 310 is disposed on the side of the material handling structure 200; the image acquisition unit 320 is disposed on the second mounting unit 310 and is used to acquire image information.

[0210] Specifically, the second mounting unit 310 is disposed on the side of the first mounting unit 220.

[0211] In some embodiments, the second mounting unit 310 includes a support element and a twelfth mounting element. The support element is disposed on the side of the first mounting unit 220 and has an image acquisition unit 320 thereon; the twelfth mounting element is disposed on the side of the support element and is connected to the first mounting unit 220.

[0212] Specifically, the support element is disposed on the side of the second base element; the twelfth mounting element is connected to the ninth mounting element.

[0213] In some of these embodiments, the support element includes, but is not limited to, a mounting bracket.

[0214] Generally, the twelfth mounting element is connected to the ninth mounting element by a bolt group.

[0215] When there are multiple twelfth mounting elements, the multiple twelfth mounting elements are spaced apart along the height direction and / or width direction of the support element.

[0216] In some of these embodiments, the twelfth mounting element includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0217] The image acquisition unit 320 is detachably disposed inside the second mounting unit 310.

[0218] In some embodiments, the image acquisition unit 320 includes, but is not limited to, an image sensor, a camera, etc.

[0219] The method of using this utility model is as follows:

[0220] Place the first workpiece on the positioning element 112;

[0221] The central control unit controls the gas supply delivery device so that the gas passes through the first interface element 123 and the first channel element 122 to form a negative pressure in the first adsorption element 124, and the first adsorption element 124 adsorbs the first workpiece to be assembled.

[0222] The image acquisition unit 320 acquires image information and feeds it back to the central control unit;

[0223] The central control unit controls the movement of the first moving unit 210;

[0224] When the first moving unit 210 carries the first mounting unit 220 to the material picking position, the central control controls the gas supply delivery device so that the gas passes through the second interface element 233, the second channel element 232, the third interface element 234, the fourth interface element 243, and the third channel element 242 to form a negative pressure in the second adsorption element 244, and the second adsorption element 244 adsorbs the second workpiece to be assembled.

[0225] After adsorption is complete, the central control unit moves the first moving unit 210.

[0226] When the first moving unit 210 carries the first mounting unit 220 to the assembly position, the second adsorption element 244 mounts the second workpiece to the first workpiece located at the positioning element 112;

[0227] After the second workpiece is assembled with the first workpiece, the central control unit controls the gas supply delivery device so that the gas passes through the second interface element 233, the second channel element 232, the third interface element 234, the fourth interface element 243, and the third channel element 242 to form a positive pressure in the second adsorption element 244, and the second adsorption element 244 releases the second workpiece.

[0228] After release, the central control unit controls the first moving unit 210 to move;

[0229] When the first moving unit 210 carries the first mounting unit 220 away from the assembly position, the central control unit controls the gas supply delivery device so that the gas passes through the first interface element 123 and the first channel element 122 to form a negative pressure in the first adsorption element 124, and the first adsorption element 124 releases the first workpiece.

[0230] Remove the first workpiece;

[0231] Repeat the above steps until all assembly processes are completed.

[0232] The technical effects of this utility model are as follows:

[0233] 1) By utilizing the cooperation between the positioning mechanism and the material handling structure, the first workpiece and the second workpiece can be assembled with near-zero clearance.

[0234] 2) The material handling structure uses the feedback of the minimum force value between the products during the assembly process through the first moving unit to adjust the assembly state of the products in real time, thereby completing the automated assembly of the products and solving the problem of difficult assembly due to the small gap.

[0235] 3) Shorten assembly time, improve assembly efficiency, and reduce production costs;

[0236] 4) Visual inspection of the structure is performed using images both before and after assembly, which improves the product yield.

[0237] 5) Multiple second adsorption units can be installed in the first mounting unit according to the assembly process, thereby integrating multiple assembly processes into one structure, improving assembly efficiency, shortening assembly time, and reducing equipment installation space;

[0238] 6) The second adsorption unit is detachably connected to the first installation unit, and different second adsorption units can be selected according to different product specifications, making it widely applicable.

[0239] Example 2

[0240] This embodiment is a modified embodiment of embodiment 1.

[0241] like Figure 2As shown, the positioning structure 100 also includes a second moving unit 130. The second moving unit 130 is disposed on a horizontal plane and connected to the positioning unit 110, and is used to drive the positioning unit 110 to reciprocate along a preset direction.

[0242] Specifically, the second moving unit 130 is connected to the base element 111 and is used to drive the base element 111 to reciprocate along a preset direction.

[0243] In some embodiments, the second moving unit 130 includes, but is not limited to, a linear motion module, such as a servo motor-driven linear motion module, a pneumatic linear motion module, etc.

[0244] In some embodiments, the second moving unit 130 includes a driving element, a first movable element, and a second movable element. The driving element is disposed on a horizontal plane; the first movable element is disposed on a horizontal plane and located on the side of the driving element; the second movable element is connected to the driving element and the positioning unit 110 respectively, and is slidably connected to the first movable element, for driving the positioning unit 110 to reciprocate under the action of the driving element.

[0245] Specifically, the second movable element is connected to the base element 111; the sixth movable element is connected to the base element 111.

[0246] In some of these embodiments, the driving element includes, but is not limited to, a servo motor, a lead screw motor, etc.

[0247] In some of these embodiments, the cross-section of the first active element is concave or I-shaped.

[0248] In some of these embodiments, the first moving element includes, but is not limited to, a sliding track.

[0249] The second movable element is detachably connected to the base element 111, including but not limited to bolt connections and plug-in connections. The purpose of this detachable design is to allow the installation position of the second movable element to be selected according to the different positions of the first movable element.

[0250] The dimensions of the second moving element are matched with those of the first moving element. Generally, the axial dimension of the second moving element is smaller than that of the first moving element.

[0251] In some of these embodiments, the cross-section of the second active element is concave.

[0252] In some embodiments, the second moving element includes, but is not limited to, a sliding track, a sliding block, etc.

[0253] The usage method of this embodiment is as follows:

[0254] When the first workpiece is being loaded, the first workpiece is being unloaded, and the first workpiece and the second workpiece are being assembled, the second moving unit 130 moves the base element 111 to a preset position.

[0255] The technical effects of this embodiment are as follows:

[0256] 1) The position of the positioning unit is adjusted by the second moving unit, which facilitates the loading, unloading and assembly of workpieces.

[0257] Example 3

[0258] This embodiment is a modified embodiment of Embodiments 1 and 2.

[0259] like Figure 5 As shown, the material handling structure 200 also includes at least one sliding unit 250. The sliding unit 250 is disposed between the first mounting unit 220 and the corresponding second adsorption unit 240, and is connected to the gas distribution unit 230, for adjusting the position of the corresponding second adsorption unit 240 under the action of the gas distribution unit 230.

[0260] By using the sliding unit 250 to fine-tune the position of the second adsorption unit 240, the position of the second adsorption unit 240 can be adjusted with higher precision.

[0261] In this invention, the number of sliding units 250 matches the number of second adsorption units 240. Generally, the number of sliding units 250 is equal to the number of second adsorption units 240.

[0262] like Figure 6 As shown, the gas distribution unit 230 further includes at least one fourth channel element 235, at least one fifth interface element 236, and at least one sixth interface element 237. The fourth channel element 235 extends through the gas distribution unit 230; the fifth interface element 236 is disposed on the side of the gas distribution unit 230, with its first end connected to the corresponding fourth channel element 235 and its second end connected to the gas source delivery device; the sixth interface element 237 is disposed on the side of the gas distribution unit 230, with its first end connected to the corresponding fourth channel element 235 and its second end connected to the corresponding sliding unit 250.

[0263] Specifically, the fourth channel element 235 is disposed through the second main body element 231.

[0264] When there are multiple fourth channel elements 235, the multiple fourth channel elements 235 are distributed inside the second main body element 231. Generally, the first end of the fourth channel element 235 is disposed through one side of the second main body element 231, and the second end of the fourth channel element 235 is disposed through the other side of the second main body element 231.

[0265] Several fourth channel elements 235 are spaced apart along the length and / or width of the second main body element 231.

[0266] The number of fourth channel elements 235 matches the number of second channel elements 232. Generally, the number of fourth channel elements 235 is not less than the number of second channel elements 232. Specifically, the number of fourth channel elements 235 is an integer multiple of the number of second channel elements 232.

[0267] Preferably, the number of fourth channel elements 235 is twice the number of second channel elements 232.

[0268] In some of these embodiments, the fourth channel element 235 includes, but is not limited to, a gas channel.

[0269] The fifth interface element 236 is detachably connected to the fourth channel element 235, including but not limited to plug-in and threaded connections.

[0270] The number of fifth interface elements 236 matches the number of fourth channel elements 235. Generally, the number of fifth interface elements 236 is equal to the number of fourth channel elements 235, that is, there is a one-to-one correspondence between the fifth interface elements 236 and the fourth channel elements 235.

[0271] In some of these embodiments, the fifth interface element 236 includes, but is not limited to, a gas interface.

[0272] The sixth interface element 237 is detachably connected to the fourth channel element 235, including but not limited to plug-in and threaded connections.

[0273] The number of sixth interface elements 237 matches the number of fourth channel elements 235. Generally, the number of sixth interface elements 237 is equal to the number of fourth channel elements 235, that is, there is a one-to-one correspondence between the sixth interface elements 237 and the fourth channel elements 235.

[0274] In some embodiments, the sixth interface element 237 includes, but is not limited to, a gas interface.

[0275] like Figures 9-11As shown, the sliding unit 250 includes a fourth main element 251, at least one first sliding element 252, at least one fifth channel element 253, at least one seventh interface element 254, a fifth main element 255, and at least one second sliding element 256. The fourth main component 251 is disposed on the side of the first mounting unit 220; the first sliding element 252 is disposed through the fourth main component 251; the fifth channel element 253 is disposed through the fourth main component 251 and communicates with the first sliding element 252; the seventh interface element 254 is disposed on the side of the fourth main component 251, the first end of the seventh interface element 254 is communicated with the corresponding fifth channel element 253, and the second end of the seventh interface element 254 is communicated with the gas distribution unit 230; the fifth main component 255 is disposed on the side of the corresponding second adsorption unit 240 and is slidably connected to the fourth main component 251, for driving the corresponding second adsorption unit 240 to reciprocate in a preset direction; the second sliding element 256 is disposed on the side of the fifth main component 255 and is slidably connected to the first sliding element 252, for driving the fifth main component 255 to reciprocate in a preset direction under the action of the gas distribution unit 230.

[0276] Specifically, the fourth main body element 251 is disposed on the side of the first moving unit 210; the seventh interface element 254 is connected to the sixth interface element 237; and the fifth main body element 255 is disposed on the side of the third main body element 241.

[0277] In this invention, the number of sliding units 250 matches the number of sixth interface elements 237. Generally, the number of sliding units 250 is not greater than the number of sixth interface elements 237. Specifically, the number of sixth interface elements 237 is an integer multiple of the number of sliding units 250.

[0278] Preferably, the number of the sixth interface element 237 is twice the number of the sliding unit 250.

[0279] In some of these embodiments, the cross-section of the fourth body element 251 is triangular, quadrilateral, or polygonal.

[0280] Generally, in addition to the top and bottom, the fourth main body element 251 includes at least three sides. One side is provided with the seventh interface element 254, and another side is located near the fifth main body element 255.

[0281] In some of these embodiments, the fourth body element 251 includes four sides.

[0282] In some of these embodiments, the fourth body element 251 includes, but is not limited to, the sliding block body.

[0283] The first sliding element 252 is disposed inside the fourth main element 251 and extends through the bottom end of the fourth main element 251.

[0284] When there are multiple first sliding elements 252, the multiple first sliding elements 252 are spaced apart along the width direction of the fourth main body element 251.

[0285] When there are multiple first sliding elements 252, the outermost first sliding element 252 is connected to the fifth channel element 253.

[0286] In some embodiments, the first sliding element 252 includes a first slider and a second slider. The first slider is disposed inside the fourth main element 251; the second slider is disposed inside the fourth main element 251, communicates with the first slider, and extends through the bottom end of the fourth main element 251.

[0287] The dimensions of the second slider are matched with those of the first slider. Generally, the radial dimension (e.g., diameter) of the second slider is smaller than the radial dimension (e.g., diameter) of the first slider, and the axial dimension (e.g., height) of the second slider is smaller than the axial dimension (e.g., height) of the first slider.

[0288] In some of these embodiments, the first sliding element 252 includes, but is not limited to, a movable cavity, a movable groove, etc.

[0289] The fifth channel element 253 is disposed on the side of the fourth main element 251.

[0290] When there are multiple fifth channel elements 253, the multiple fifth channel elements 253 are distributed on the side of the fourth main body element 251. For example, the multiple fifth channel elements 253 are spaced apart along the height direction of the fourth main body element 251.

[0291] Preferably, there are two fifth channel elements 253. One fifth channel element 253 is disposed near the first end of the first sliding element 252, and the other fifth channel element 253 is disposed near the second end of the first sliding element 252.

[0292] In some of these embodiments, the fifth channel element 253 includes, but is not limited to, a gas channel.

[0293] The seventh interface element 254 is detachably connected to the fifth channel element 253, including but not limited to plug-in and threaded connections.

[0294] The seventh interface element 254 and the sixth interface element 237 are connected through a gas pipeline.

[0295] The number of seventh interface elements 254 matches the number of fifth channel elements 253. Generally, the number of seventh interface elements 254 is equal to the number of fifth channel elements 253, that is, there is a one-to-one correspondence between the seventh interface elements 254 and the fifth channel elements 253.

[0296] In some embodiments, the seventh interface element 254 includes, but is not limited to, a gas interface.

[0297] In some of these embodiments, the cross-section of the fifth body element 255 is triangular, quadrilateral, or polygonal.

[0298] Generally, in addition to the top and bottom ends, the fifth main body element 255 includes at least three sides. One of these sides is provided with a second sliding element 256 and is located close to the fourth main body element 251.

[0299] In some of these embodiments, the fifth body element 255 includes four sides.

[0300] In some of these embodiments, the fifth body element 255 includes, but is not limited to, the active block body.

[0301] Generally, the second sliding element 256 and the first sliding element 252 are in a non-separable sliding connection.

[0302] The number of second sliding elements 256 matches the number of first sliding elements 252. Generally, the number of second sliding elements 256 is equal to the number of first sliding elements 252. That is, there is a one-to-one correspondence between the second sliding elements 256 and the first sliding elements 252.

[0303] When there are multiple second sliding elements 256, the multiple second sliding elements 256 are spaced apart along the width direction of the fifth main body element 255.

[0304] In some embodiments, the second sliding element 256 includes a third sliding member and a fourth sliding member. The third sliding member is disposed on the side of the fifth main body element 255 and connected to the fifth main body element 255, and is movably connected to the second sliding member of the first sliding element 252; the fourth sliding member is disposed on the side of the fifth main body element 255 and connected to the third sliding member, and is movably connected to the first sliding member of the first sliding element 252.

[0305] The dimensions of the third slider are matched with those of the second slider. Generally, the radial dimension (e.g., diameter) of the third slider is not greater than the radial dimension (e.g., diameter) of the second slider, and the axial dimension (e.g., height) of the third slider is greater than the axial dimension (e.g., height) of the second slider.

[0306] The dimensions of the fourth slider are matched with those of the third slider. Generally, the radial dimension (e.g., diameter) of the fourth slider is larger than that of the third slider, and the axial dimension (e.g., height) of the fourth slider is smaller than that of the third slider.

[0307] The dimensions of the fourth slider are matched with those of the first slider. Generally, the radial dimension (e.g., diameter) of the fourth slider is not greater than the radial dimension (e.g., diameter) of the first slider, and the axial dimension (e.g., height) of the fourth slider is less than the axial dimension (e.g., height) of the first slider.

[0308] In some embodiments, the second sliding element 256 includes, but is not limited to, a movable rod or a movable column.

[0309] In some embodiments, the sliding unit 250 further includes at least a thirteenth mounting element and at least a fourteenth mounting element. The thirteenth mounting element is disposed on the side of the fourth main body element 251 and connected to the first mounting unit 220; the fourteenth mounting element is disposed on the side of the fifth main body element 255 and connected to the second adsorption unit 240.

[0310] Specifically, the thirteenth mounting element is connected to the eighth mounting element; the fourteenth mounting element is connected to the eleventh mounting element.

[0311] Generally, the thirteenth mounting element is connected to the eighth mounting element by a bolt group.

[0312] The thirteenth mounting element may or may not penetrate the fourth main element 251.

[0313] When there are multiple thirteenth mounting elements, these thirteenth mounting elements are distributed on one side of the fourth main body element 251. For example, the multiple thirteenth mounting elements are spaced apart along the height and / or width direction of the fourth main body element 251.

[0314] In some of these embodiments, the thirteenth mounting element includes, but is not limited to, mounting slots, mounting holes, and mounting screw holes.

[0315] Generally, the fourteenth mounting element is connected to the eleventh mounting element by a bolt group.

[0316] The fourteenth mounting element may or may not pass through the fifth main element 255.

[0317] When there are multiple fourteenth mounting elements, these fourteenth mounting elements are distributed on one side of the fifth main body element 255. For example, the fourteenth mounting elements are spaced apart along the height and / or width direction of the fifth main body element 255.

[0318] In some embodiments, the fourteenth mounting element includes, but is not limited to, mounting slots, mounting holes, and mounting screw holes.

[0319] The usage method of this embodiment is as follows:

[0320] Place the first workpiece on the positioning element 112;

[0321] The central control unit controls the gas supply delivery device so that the gas passes through the first interface element 123 and the first channel element 122 to form a negative pressure in the first adsorption element 124, and the first adsorption element 124 adsorbs the first workpiece to be assembled.

[0322] The image acquisition unit 320 acquires image information and feeds it back to the central control unit;

[0323] The central control unit controls the movement of the first moving unit 210;

[0324] When the first moving unit 210 carries the first mounting unit 220 to the material picking position, the image acquisition unit 320 acquires the image information again and feeds it back to the central control unit.

[0325] The central control unit controls the gas supply delivery device so that the gas operates the second sliding element 256 through the fifth interface element 236, the fourth channel element 235, the sixth interface element 237, the seventh interface element 254, and the fifth channel element 253, so that the second sliding element 256 reciprocates along the axial direction of the first sliding element 252, thereby driving the fifth main element 255 and the third main element 241 to move, and finely adjusting the position of the third main element 241;

[0326] After fine-tuning, the central control unit controls the gas supply delivery device so that the gas passes through the second interface element 233, the second channel element 232, the third interface element 234, the fourth interface element 243, and the third channel element 242 to form a negative pressure in the second adsorption element 244, and the second adsorption element 244 adsorbs the second workpiece to be assembled.

[0327] After adsorption is complete, the central control unit moves the first moving unit 210.

[0328] When the first moving unit 210 carries the first mounting unit 220 to the assembly position, the second adsorption element 244 mounts the second workpiece to the first workpiece located at the positioning element 112;

[0329] After the second workpiece is assembled with the first workpiece, the central control unit controls the gas supply delivery device so that the gas passes through the second interface element 233, the second channel element 232, the third interface element 234, the fourth interface element 243, and the third channel element 242 to form a positive pressure in the second adsorption element 244, and the second adsorption element 244 releases the second workpiece.

[0330] After release, the central control unit controls the first moving unit 210 to move;

[0331] When the first moving unit 210 carries the first mounting unit 220 away from the assembly position, the central control unit controls the gas supply delivery device so that the gas passes through the first interface element 123 and the first channel element 122 to form a negative pressure in the first adsorption element 124, and the first adsorption element 124 releases the first workpiece.

[0332] Remove the first workpiece;

[0333] Repeat the above steps until all assembly processes are completed.

[0334] The technical effects of this embodiment are as follows:

[0335] 1) A sliding unit is set between the first mounting unit and the second adsorption unit. After the position of the second adsorption unit is coarsely adjusted, the position of the second adsorption unit can be finely adjusted by using the sliding unit, thereby adjusting the position of the second adsorption unit with higher precision.

[0336] Example 4

[0337] This embodiment relates to the adaptive assembly system of this utility model.

[0338] An illustrative embodiment of this utility model, such as Figure 10 As shown, an adaptive assembly system includes an adaptive assembly device A, an air supply delivery device B, and a control device C as described in Examples 1 to 3. The air supply delivery device B is connected to the positioning structure 100 and the material handling structure 200 of the adaptive assembly device A; the control device C is connected to the positioning structure 100, the material handling structure 200, the image acquisition structure 300, and the air supply delivery device B of the adaptive assembly device A.

[0339] Specifically, the gas supply delivery device B is connected to the first interface element 123, the second interface element 233, and the fifth interface element 236 respectively; the control device C is connected to the second moving unit 130, the first moving unit 210, and the image acquisition unit 320 respectively.

[0340] In some of these embodiments, the gas delivery device B includes, but is not limited to, an air pump.

[0341] In some of these embodiments, the control device C includes, but is not limited to, a central control unit, a PLC, etc.

[0342] The usage method of this embodiment is basically the same as that of Embodiments 1 to 3, and will not be repeated here.

[0343] The technical effects of this embodiment are basically the same as those of Embodiments 1 to 3, and will not be repeated here.

[0344] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive assembly device, characterized by, The application relates to a positioning structure, a material taking structure and an image acquisition structure. The positioning structure is arranged on a horizontal plane and used for adsorbing and fixing a first workpiece. The material taking structure is arranged on the horizontal plane and used for adsorbing a second workpiece and moving the second workpiece to the first workpiece for an assembling process. The image acquisition structure is arranged on the material taking structure and used for acquiring image information for moving the second workpiece to the first workpiece by the material taking structure for the assembling process.

2. The adaptive assembly device of claim 1, wherein, The positioning structure comprises: a positioning unit arranged on the horizontal plane and used for fixing the first workpiece; at least one first adsorption unit arranged on the side of the positioning unit and connected with a gas source conveying device and used for adsorbing the first workpiece.

3. The adaptive assembly device of claim 2, wherein, The positioning unit comprises: a base element arranged on the horizontal plane, the side of the base element being provided with the first adsorption unit; at least one positioning element arranged on the base element and used for fixing the first workpiece; and / or The first adsorption unit comprises: a first main body element arranged on the side of the positioning unit; a first channel element arranged on the first main body element and penetrating through the first main body element; a first interface element arranged on the side of the first main body element, the first end of the first interface element being in communication with the first channel element, and the second end of the first interface element being connected with the gas source conveying device; at least one first adsorption element arranged on the side of the first main body element, the first end of the first adsorption element being in communication with the first channel element and used for adsorbing or releasing the first workpiece under the action of the gas source conveying device.

4. The self-adapting assembly apparatus of any one of claims 2 or 3, wherein, The positioning structure further comprises: a second moving unit arranged on the horizontal plane and connected with the positioning unit and used for driving the positioning unit to reciprocate along a preset direction.

5. The adaptive assembly apparatus of claim 1, wherein, The material taking structure comprises: a first moving unit arranged on the horizontal plane; a first mounting unit arranged on the first moving unit and used for moving in a three-dimensional space under the action of the first moving unit; a gas distribution unit arranged on the side of the first mounting unit and in communication with the gas source conveying device; at least one second adsorption unit detachably arranged on the side of the first mounting unit and in communication with the gas distribution unit and used for adsorbing or releasing the second workpiece under the action of the gas distribution unit.

6. The self-adapting assembly apparatus of claim 5, wherein, The gas distribution unit comprises: a second main body element arranged on the side of the first mounting unit; at least one second channel element penetrating through the second main body element; at least one second interface element arranged on the side of the second main body element, the first end of the second interface element being in communication with the corresponding second channel element, and the second end of the second interface element being connected with the gas source conveying device. at least one third interface element disposed on the side of the second main element, a first end of the third interface element being in communication with the corresponding second channel element, and a second end of the third interface element being in communication with the corresponding second adsorption unit; and / or the second adsorption unit comprises: a third main element disposed on the side of the first mounting unit; a third channel element disposed through the third main element; a fourth interface element disposed on the side of the third main element, a first end of the fourth interface element being in communication with the third channel element, and a second end of the fourth interface element being in communication with the gas distribution unit; at least one second adsorption element disposed on the side of the third main element, a first end of the second adsorption element being in communication with the third channel element, and the second adsorption element being used for adsorbing or releasing a second workpiece under the action of the gas distribution unit.

7. The adaptive assembly apparatus of claim 5 or 6, wherein, the material taking structure further comprises: at least one sliding unit disposed between the first mounting unit and the corresponding second adsorption unit, and in communication with the gas distribution unit, and used for adjusting the position of the corresponding second adsorption unit under the action of the gas distribution unit.

8. The adaptive assembly apparatus of claim 7, wherein, the gas distribution unit further comprises: at least one fourth channel element disposed through the gas distribution unit; at least one fifth interface element disposed on the side of the gas distribution unit, a first end of the fifth interface element being in communication with the corresponding fourth channel element, and a second end of the fifth interface element being in communication with a gas source conveying device; at least one sixth interface element disposed on the side of the gas distribution unit, a first end of the sixth interface element being in communication with the corresponding fourth channel element, and a second end of the sixth interface element being in communication with the corresponding sliding unit; and / or the sliding unit comprises: a fourth main element disposed on the side of the first mounting unit; at least one first sliding element disposed through the fourth main element; at least one fifth channel element disposed through the fourth main element and in communication with the first sliding element; at least one seventh interface element disposed on the side of the fourth main element, a first end of the seventh interface element being in communication with the corresponding fifth channel element, and a second end of the seventh interface element being in communication with the gas distribution unit; a fifth main element disposed on the side of the corresponding second adsorption unit and in sliding connection with the fourth main element, and used for driving the corresponding second adsorption unit to reciprocate along a predetermined direction; at least one second sliding element disposed on the side of the fifth main element and in sliding connection with the first sliding element, and used for driving the fifth main element to reciprocate along a predetermined direction under the action of the gas distribution unit.

9. The adaptive assembly apparatus of claim 1, wherein, the image acquisition structure comprises: A second mounting unit is arranged on the side of the material taking structure; An image acquisition unit is arranged on the second mounting unit and used for acquiring image information.

10. An adaptive assembly system, characterized by, Comprise: The adaptive assembly device according to any one of claims 1-9; An air source conveying device is connected with the positioning structure and the material taking structure of the adaptive assembly device; A control device is connected with the positioning structure, the material taking structure, the image acquisition structure and the air source conveying device of the adaptive assembly device respectively.

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