Multifunctional automatic material taking and assembling device and assembling system

Abstract

The utility model relates to a multifunctional automatic material taking and assembling device and an assembling system. The multifunctional automatic material taking and assembling device comprises an installation unit, an air distribution unit, a plurality of material taking units and an image acquisition unit. The material taking device has the advantages that a plurality of material taking units can be mounted on the mounting unit according to an assembly process, so that a plurality of assembly processes are integrated into one structure, the assembly efficiency is improved, the assembly time is shortened, and the equipment mounting space is reduced; the mounting unit can be used in cooperation with different multi-axis robots according to the assembly process, and high-precision positioning assembly can be achieved; the material taking unit is detachably connected with the mounting unit, different material taking units can be selected according to products of different specifications, and the application range is wide; the image acquisition unit is used for achieving positioning guiding, then automatic material taking and automatic assembling are achieved, and the assembling efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of workpiece assembly technology, and in particular to a multifunctional automatic material handling and assembly device and assembly system. Background Technology

[0002] In existing technologies, such as Figure 1 As shown, a three-axis gantry module is generally used for picking and assembling products. If multiple products need to be assembled on a production line, multiple three-axis gantry modules are required. However, this type of picking and assembly module has the following drawbacks:

[0003] 1) The structure is complex and requires a large amount of space;

[0004] 2) It has weak product compatibility; each product requires a corresponding three-axis gantry module.

[0005] 3) There are many actions and the control is complex.

[0006] Currently, no effective solutions have been proposed for the problems existing in related technologies, such as complex structure, large usage space, weak product compatibility, and complex control. Utility Model Content

[0007] The purpose of this utility model is to address the shortcomings of existing technologies by providing a multifunctional automatic material handling and assembly device and system, thereby solving problems such as complex structure, large operating space, weak product compatibility, and complex control in related technologies.

[0008] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0009] In a first aspect, a multifunctional automatic material handling and assembly device is provided, comprising:

[0010] Installation unit;

[0011] The gas distribution unit is located on the side of the installation unit and is connected to the gas source delivery device.

[0012] A plurality of material handling units are detachably disposed on the side of the mounting unit and are respectively connected to the gas distribution unit for adsorbing or releasing workpieces under the action of the gas distribution unit.

[0013] An image acquisition unit is disposed on the side of the mounting unit and is used to acquire image information.

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

[0015] First main component;

[0016] at least one first mounting element, the first mounting element being disposed on a side of the first body element and connected with the gas distribution unit;

[0017] a plurality of second mounting elements, the second mounting elements being disposed on a side of the first body element and connected with corresponding material taking units respectively;

[0018] at least one third mounting element, the third mounting element being disposed on a side of the first body element and connected with the image acquisition unit.

[0019] In some embodiments, the mounting unit further comprises:

[0020] a fourth mounting element, the fourth mounting element being disposed on a side of the first body element and detachably connected with a mechanical arm device.

[0021] In some embodiments, the gas distribution unit comprises:

[0022] a second body element, the second body element being disposed on a side of the mounting unit;

[0023] at least one fifth mounting element, the fifth mounting element being disposed on a side of the second body element and connected with the mounting unit;

[0024] a plurality of first channel elements, the first channel elements being disposed on the second body element and penetrating through the second body element respectively;

[0025] a plurality of first interface elements, the first interface elements being disposed on a side of the second body element, first ends of the first interface elements being in communication with corresponding first channel elements respectively, and second ends of the first interface elements being in communication with gas source delivery devices respectively;

[0026] a plurality of second interface elements, the second interface elements being disposed on a side of the second body element, first ends of the second interface elements being in communication with corresponding first channel elements respectively, and second ends of the second interface elements being in communication with corresponding material taking units respectively.

[0027] In some embodiments, the material taking unit comprises:

[0028] a third body element, the third body element being disposed on a side of the mounting unit;

[0029] at least one sixth mounting element, the sixth mounting element being disposed on a side of the third body element and connected with the mounting unit;

[0030] A second channel element is arranged in the third body element and extends through the third body element;

[0031] A third interface element is arranged on a side of the third body element, a first end of the third interface element is in communication with the second channel element, and a second end of the third interface element is in communication with the gas distribution unit;

[0032] At least one adsorption element is arranged on a side of the third body element, a first end of the adsorption element is in communication with the second channel element, and the adsorption element is used for adsorbing or releasing a workpiece under the action of the gas distribution unit.

[0033] In some embodiments, the image acquisition unit comprises:

[0034] A support element is arranged on a side of the mounting unit;

[0035] At least one seventh mounting element is arranged on a side of the support element and detachably connected with the mounting unit;

[0036] An image acquisition element is arranged on the support element and used for acquiring image information.

[0037] In some embodiments, the device further comprises:

[0038] A plurality of position adjustment units are arranged between the mounting unit and the plurality of material taking units and are respectively in communication with the gas distribution unit, and are used for adjusting the position of the corresponding material taking unit under the action of the gas distribution unit.

[0039] In some embodiments, the gas distribution unit further comprises:

[0040] A plurality of third channel elements are arranged in the gas distribution unit and extend through the gas distribution unit;

[0041] A plurality of fourth interface elements are arranged on a side of the gas distribution unit, a first end of each of the fourth interface elements is in communication with a corresponding third channel element, and a second end of each of the fourth interface elements is in communication with a gas source conveying device;

[0042] A plurality of fifth interface elements are arranged on a side of the gas distribution unit, a first end of each of the fifth interface elements is in communication with a corresponding third channel element, and a second end of each of the fifth interface elements is in communication with a corresponding position adjustment unit.

[0043] In some embodiments, the position adjusting unit comprises:

[0044] A fourth body element is arranged on the side of the mounting unit;

[0045] At least one eighth mounting element is arranged on the side of the fourth body element and connected with the mounting unit;

[0046] At least one first movable element is arranged on the fourth body element and penetrates through the fourth body element;

[0047] At least one fourth channel element is arranged on the side of the fourth body element and communicates with the first movable element;

[0048] At least one sixth interface element has a first end communicating with the corresponding fourth channel element and a second end communicating with the gas distribution unit;

[0049] A fifth body element is arranged between the fourth body element and the corresponding material taking unit and movably connected with the fourth body element, for driving the corresponding material taking unit to reciprocate along a preset direction;

[0050] At least one ninth mounting element is arranged on the side of the fifth body element and connected with the material taking unit;

[0051] At least one second movable element is arranged on the fifth body element and movably connected with the corresponding first movable element, for driving the fifth body element to reciprocate along a preset direction under the action of the gas distribution unit.

[0052] In a second aspect, a kind of assembly system is provided, comprising:

[0053] The multifunctional automatic material taking and assembling device as described in the first aspect;

[0054] A gas source conveying device is connected with the gas distribution unit of the multifunctional automatic material taking and assembling device, for conveying gas to the gas distribution unit.

[0055] In some embodiments, further comprising:

[0056] A mechanical arm device is detachably connected with the mounting unit of the multifunctional automatic material taking and assembling device.

[0057] The above technical scheme is adopted, compared with prior art, and the following technical effects are achieved:

[0058] The multifunctional automatic material taking and assembling device and the assembling system can install multiple material taking units in the mounting unit according to an assembling process, so that multiple assembling processes are integrated in one structure, the assembling efficiency is improved, the assembling time is shortened, and the equipment mounting space is reduced; the mounting unit can be used in cooperation with the multi-axis robot according to the assembling process, high-precision positioning and assembling can be realized; the material taking unit and the mounting unit are detachably connected, different material taking units can be selected according to different specifications of products, and the use range is wide; positioning guidance is realized by using the image acquisition unit, and then automatic material taking and automatic assembling are realized, and the assembling efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 is a three-axis gantry assembling module in the prior art;

[0060] Figure 2 is a schematic view of the multifunctional automatic material taking and assembling device according to an embodiment of the present application;

[0061] Figure 3 is a schematic view of the mounting unit according to an embodiment of the present application;

[0062] Figure 4 is a schematic view of the gas distribution unit according to an embodiment of the present application (I);

[0063] Figure 5 is a schematic view of the gas distribution unit according to an embodiment of the present application (II);

[0064] Figure 6 is a schematic view of the material taking unit according to an embodiment of the present application;

[0065] Figure 7 is a sectional view of the material taking unit according to an embodiment of the present application;

[0066] Figure 8 is a schematic view of the image acquisition unit according to an embodiment of the present application;

[0067] Figure 9 is a schematic view of the position adjusting unit according to an embodiment of the present application (I);

[0068] Figure 10 is a schematic view of the position adjusting unit according to an embodiment of the present application (II);

[0069] Figure 11 is a schematic view of the position adjusting unit according to an embodiment of the present application (III);

[0070] Figure 12 is a schematic view of the assembling system according to an embodiment of the present application.

[0071] Wherein the reference signs are: 100, multifunctional automatic picking and assembling device;

[0072] 110, mounting unit; 111, first main element; 112, first mounting element; 113, second mounting element; 114, third mounting element; 115, fourth mounting element;

[0073] 120, gas distribution unit; 121, second main element; 122, fifth mounting element; 123, first channel element; 124, first interface element; 125, second interface element; 126, third channel element; 127, fourth interface element; 128, fifth interface element;

[0074] 130, picking unit; 131, third main element; 132, sixth mounting element; 133, second channel element; 134, third interface element; 135, suction element;

[0075] 140, image acquisition unit; 141, support element; 142, seventh mounting element; 143, image acquisition element;

[0076] 150, position adjusting unit; 151, fourth main element; 152, eighth mounting element; 153, first movable element; 154, fourth channel element; 155, sixth interface element; 156, fifth main element; 157, ninth mounting element; 158, second movable element;

[0077] 200, gas source conveying device; 300, mechanical arm device. DETAILED DESCRIPTION

[0078] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0079] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0080] The present application will be further described below with reference to the drawings and specific embodiments, but not as a limitation of the present application.

[0081] Embodiment 1

[0082] This embodiment relates to a novel carrier overturning and positioning device of the present application.

[0083] An illustrative embodiment of this utility model, such as Figure 2 As shown, a multifunctional automatic material handling and assembly device 100 includes an installation unit 110, a gas distribution unit 120, several material handling units 130, and an image acquisition unit 140. The gas distribution unit 120 is disposed on the side of the installation unit 110 and connected to a gas supply device; the several material handling units 130 are detachably disposed on the side of the installation unit 110 and connected to the gas distribution unit 120 respectively, for adsorbing or releasing workpieces under the action of the gas distribution unit 120; the image acquisition unit 140 is disposed on the side of the installation unit 110 and is used to acquire image information.

[0084] In this invention, the multifunctional automatic material handling and assembly device 100 is mainly used for high-precision automatic assembly of products in the fields of automotive electronics, 3C industry, new energy, and semiconductors. Examples include: lenses, screens, and rotating mirrors.

[0085] The working principle of this utility model is as follows:

[0086] The image acquisition unit 140 acquires image information and feeds it back to the central control unit;

[0087] Central control unit 110 moved;

[0088] When the installation unit 110 moves to the material picking position, the central control unit controls the air supply delivery device so that the material picking unit 130 can pick up the workpiece to be assembled.

[0089] When the mounting unit 110 moves to the assembly position, the material handling unit 130 installs the workpiece to the preset position;

[0090] After the workpiece is installed, the central control unit controls the air supply delivery device to release the workpiece from the material handling unit 130.

[0091] Repeat the above steps until the assembly process is complete.

[0092] like Figure 3 As shown, the mounting unit 110 includes a first main body element 111, at least one first mounting element 112, a plurality of second mounting elements 113, and at least one third mounting element 114. The first mounting element 112 is disposed on the side of the first main body element 111 and connected to the air distribution unit 120; the plurality of second mounting elements 113 are distributed on the side of the first main body element 111 and are respectively connected to the corresponding material handling unit 130; the third mounting element 114 is disposed on the side of the first main body element 111 and connected to the image acquisition unit 140.

[0093] In some of these embodiments, the cross-section of the first body element 111 is triangular, quadrilateral, or polygonal.

[0094] Generally, the first body element 111 comprises at least three mounting surfaces, except for the top end and the bottom end. Among them, one mounting surface is mounted with the gas distribution unit 120, at least one mounting surface is mounted with the material taking unit 130, and one mounting surface is mounted with the image acquisition unit 140.

[0095] Generally, the image acquisition unit 140 occupies one mounting surface, and the gas distribution unit 120 and the material taking unit 130 can share one mounting surface.

[0096] In some embodiments, the first body element 111 comprises four mounting surfaces. Among them, the first mounting surface is mounted with the gas distribution unit 120, the first, second, and third mounting surfaces are mounted with the material taking unit 130, and the fourth mounting surface is mounted with the image acquisition unit 140.

[0097] In some embodiments, the first body element 111 comprises, but is not limited to, a mounting body.

[0098] The first mounting element 112 is arranged on one mounting surface of the first body element 111.

[0099] In the case of a plurality of first mounting elements 112, the plurality of first mounting elements 112 are arranged on one mounting surface of the first body element 111. For example, the plurality of first mounting elements 112 are arranged at intervals along the height direction and / or the width direction of the first body element 111.

[0100] In some embodiments, the first mounting element 112 comprises, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0101] The plurality of second mounting elements 113 are arranged on different mounting surfaces of the first body element 111. That is, at least one second mounting element 113 is arranged on the mounting surface on which the material taking unit 130 is arranged.

[0102] In the case of a plurality of second mounting elements 113 arranged on the mounting surface on which the material taking unit 130 is arranged, the plurality of second mounting elements 113 are arranged on the mounting surface of the first body element 111. For example, the plurality of second mounting elements 113 are arranged at intervals along the height direction and / or the width direction of the first body element 111.

[0103] In some embodiments, the second mounting element 113 comprises, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0104] The third mounting element 114 is arranged on one mounting surface of the first body element 111.

[0105] When there are multiple third mounting elements 114, the multiple third mounting elements 114 are distributed on a mounting surface of the first main body element 111. For example, the multiple third mounting elements 114 are spaced apart along the height direction and / or width direction of the first main body element 111.

[0106] In some of these embodiments, the third mounting element 114 includes, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0107] Furthermore, the mounting unit 110 also includes a fourth mounting element 115. The fourth mounting element 115 is disposed on the side of the first main body element 111 and is detachably connected to the robotic arm device.

[0108] Generally, the fourth mounting element 115 is disposed at the top of the first main body element 111.

[0109] In some of these embodiments, the fourth mounting element 115 includes, but is not limited to, a mounting groove, a mounting hole, and a mounting flange.

[0110] like Figures 4-5 As shown, the gas distribution unit 120 includes a second main body element 121, at least one fifth mounting element 122, a plurality of first channel elements 123, a plurality of first interface elements 124, and a plurality of second interface elements 125. The second main body element 121 is disposed on the side of the mounting unit 110; the fifth mounting element 122 is disposed on the side of the second main body element 121 and connected to the mounting unit 110; the plurality of first channel elements 123 are distributed on the second main body element 121 and pass through it; the plurality of first interface elements 124 are distributed on the side of the second main body element 121, with their first ends communicating with corresponding first channel elements 123 and their second ends communicating with the gas source delivery device 200; the plurality of second interface elements 125 are distributed on the side of the second main body element 121, with their first ends communicating with corresponding first channel elements 123 and their second ends communicating with corresponding material receiving units 130.

[0111] Specifically, the second main body element 121 is disposed on the side of the first main body element 111; the fifth mounting element 122 is matched and docked with the first mounting element 112.

[0112] In some of these embodiments, the cross-section of the second body element 121 is triangular, quadrilateral, or polygonal.

[0113] Generally, the second body element 121 comprises at least three sides, except the left side and the right side. Among them, one side is arranged close to the first body element 111, one side is provided with a plurality of first interface elements 124, and one side is provided with a plurality of second interface elements 125.

[0114] In some embodiments, the second body element 121 comprises four sides. Among them, the first side is arranged close to the first body element 111, the second side is provided with the fifth mounting element 122, the third side is provided with a plurality of first interface elements 124, and the fourth side is provided with a plurality of second interface elements 125.

[0115] Further, the second body element 121 further comprises an extension surface. Among them, the extension surface is arranged on the second side of the second body element 121, and the extension surface is provided with the fifth mounting element 122.

[0116] In some embodiments, the second body element 121 comprises, but is not limited to, a gas block body.

[0117] Generally, the fifth mounting element 122 is connected with the first mounting element 112 through a bolt set.

[0118] In some embodiments, the fifth mounting element 122 is a plurality of fifth mounting elements 122. The plurality of fifth mounting elements 122 are arranged on the extension surface of the second body element 121. For example, the plurality of fifth mounting elements 122 are arranged at intervals along the height direction and / or the width direction of the second body element 121.

[0119] In some embodiments, the fifth mounting element 122 comprises, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0120] The plurality of first channel elements 123 are arranged inside the second body element 121. Generally, the first end of the first channel element 123 penetrates one side of the second body element 121, and the second end of the first channel element 123 penetrates another side of the second body element 121.

[0121] The plurality of first channel elements 123 are arranged at intervals along the length direction and / or the width direction of the second body element 121.

[0122] In some embodiments, the first channel element 123 comprises, but is not limited to, a gas channel.

[0123] The first interface element 124 is detachably connected with the first channel element 123, including but not limited to plug-in connection, threaded connection, etc.

[0124] The number of first interface elements 124 matches the number of first channel elements 123. Generally, the number of first interface elements 124 matches the number of first channel elements 123. Generally, the number of first interface elements 124 is equal to the number of first channel elements 123, that is, there is a one-to-one correspondence between the first interface elements 124 and the first channel elements 123.

[0125] In some of these embodiments, the first interface element 124 includes, but is not limited to, a gas interface.

[0126] The second interface element 125 is detachably connected to the first channel element 123, including but not limited to plug-in connection, threaded connection, etc.

[0127] The number of second interface elements 125 matches the number of first channel elements 123. Generally, the number of second interface elements 125 is equal to the number of first channel elements 123, that is, there is a one-to-one correspondence between the second interface elements 125 and the first channel elements 123.

[0128] In some of these embodiments, the second interface element 125 includes, but is not limited to, a gas interface.

[0129] like Figures 6-7 As shown, the material handling unit 130 includes a third main component 131, at least one sixth mounting component 132, a second channel component 133, a third interface component 134, and at least one adsorption element 135. The third main component 131 is disposed on the side of the mounting unit 110; the sixth mounting component 132 is disposed on the side of the third main component 131 and connected to the mounting unit 110; the second channel component 133 is disposed on the third main component 131 and extends through it; the third interface component 134 is disposed on the side of the third main component 131, with its first end communicating with the second channel component 133 and its second end communicating with the gas distribution unit 120; the adsorption element 135 is disposed on the side of the third main component 131, with its first end communicating with the second channel component 133, and is used to adsorb or release workpieces under the action of the gas distribution unit 120.

[0130] Specifically, the third main body element 131 is disposed on the side of the first main body element 111; the sixth mounting element 132 is connected to the second mounting element 113; and the third interface element 134 is connected to the second interface element 125.

[0131] In the utility model, the number of the taking units 130 matches the number of the second interface elements 125. Generally, the number of the taking units 130 is equal to the number of the second interface elements 125. That is, the taking units 130 and the second interface elements 125 correspond one by one.

[0132] In some embodiments, the third body element 131 has a triangular, quadrilateral or polygonal cross section.

[0133] Generally, the third body element 131 comprises at least three side surfaces in addition to the top end and the bottom end. One side surface is arranged close to the first body element 111 and provided with the sixth mounting element 132.

[0134] In some embodiments, the third body element 131 comprises four side surfaces.

[0135] In some embodiments, the third body element 131 comprises, but is not limited to, a taking block body.

[0136] Generally, the sixth mounting element 132 is connected to the second mounting element 113 through a bolt set.

[0137] The sixth mounting element 132 can be arranged through the third body element 131 or not.

[0138] When the sixth mounting element 132 comprises a plurality of elements, the plurality of sixth mounting elements 132 are arranged on one side surface of the third body element 131. For example, the plurality of sixth mounting elements 132 are arranged at intervals along the height direction and / or the width direction of the third body element 131.

[0139] In some embodiments, the sixth mounting element 132 comprises, but is not limited to, a mounting groove, a mounting hole or a mounting screw hole.

[0140] The second channel element 133 is arranged inside the third body element 131. Generally, the top end of the second channel element 133 is arranged through the top end of the third body element 131, and the bottom end of the second channel element 133 is arranged through the bottom end of the third body element 131.

[0141] In some embodiments, the second channel element 133 comprises a main channel and at least one branch channel. The main channel is arranged inside the third body element 131, arranged through the top end of the third body element 131 and communicates with the third interface element 134. The branch channel is arranged inside the third body element 131, arranged through the bottom end of the third body element 131 and communicates with the main channel and the corresponding adsorption element 135.

[0142] In some embodiments, the plurality of branch channels are arranged in the interior of the third body element 131 and respectively communicate with the main channel and the corresponding adsorption element 135.

[0143] In some embodiments, the second channel element 133 includes, but is not limited to, a gas channel.

[0144] The third interface element 134 is detachably connected with the second channel element 133, including but not limited to, plug-in connection, threaded connection, etc.

[0145] The third interface element 134 and the second interface element 125 are in communication through a gas pipeline.

[0146] In some embodiments, the third interface element 134 includes, but is not limited to, a gas interface.

[0147] Generally, the adsorption element 135 is arranged at the bottom end of the third body element 131.

[0148] The number of adsorption elements 135 matches the number of branch channels of the second channel element 133. Generally, the number of adsorption elements 135 is equal to the number of branch channels. That is, the adsorption element 135 corresponds to the branch channel one by one.

[0149] In some embodiments, the plurality of adsorption elements 135 are arranged at the bottom end of the third body element 131.

[0150] In some embodiments, the adsorption element 135 includes, but is not limited to, an adsorption disc, an adsorption joint, etc.

[0151] As shown in Figure 8 The image acquisition unit 140 includes a support element 141, at least one seventh mounting element 142, and an image acquisition element 143. The support element 141 is arranged at the side of the mounting unit 110; the seventh mounting element 142 is arranged at the side of the support element 141 and detachably connected with the mounting unit 110; and the image acquisition element 143 is arranged at the support element 141 and used for acquiring image information.

[0152] Specifically, the support element 141 is arranged at the side of the first body element 111; and the seventh mounting element 142 is connected with the third mounting element 114.

[0153] In some embodiments, the support element 141 includes, but is not limited to, a mounting support.

[0154] Generally, the seventh mounting element 142 and the third mounting element 114 are connected through a bolt set.

[0155] In the case of a plurality of seventh mounting elements 142, the plurality of seventh mounting elements 142 are arranged at intervals in the height direction and / or the width direction of the bracket element 141.

[0156] In some embodiments, the seventh mounting element 142 includes, but is not limited to, a mounting groove, a mounting hole, a mounting threaded hole.

[0157] The image acquisition element 143 is detachably arranged inside the bracket element 141.

[0158] In some embodiments, the image acquisition element 143 includes, but is not limited to, an image sensor, a camera, etc.

[0159] The use method of the utility model is as follows:

[0160] The image acquisition element 143 acquires image information and feeds back to the central control;

[0161] The central control controls the movement of the first main element 111;

[0162] In the case of moving the first main element 111 to the material taking position, the central control controls the gas source conveying device to make the gas pass through the first interface element 124, the first channel element 123, the second interface element 125, the third interface element 134, and the second channel element 133 to form negative pressure in the adsorption element 135, and the adsorption element 135 adsorbs the workpiece to be assembled;

[0163] After the adsorption is completed, the central control controls the movement of the first main element 111;

[0164] In the case of moving the first main element 111 to the assembly position, the adsorption element 135 installs the workpiece to the preset position;

[0165] After the workpiece is installed, the central control controls the gas source conveying device to make the gas pass through the first interface element 124, the first channel element 123, the second interface element 125, the third interface element 134, and the second channel element 133 to form positive pressure in the adsorption element 135, and the adsorption element 135 releases the workpiece;

[0166] Repeat the above steps until the assembly process is completed.

[0167] The technical effects of the utility model are as follows:

[0168] 1) A plurality of material taking units can be installed in the mounting unit according to the assembly process, so as to integrate multiple assembly processes in one structure, improve the assembly efficiency, shorten the assembly time, and reduce the equipment installation space;

[0169] 2) The mounting unit can be used in cooperation with the multi-axis robot according to the assembly process, and high-precision positioning assembly can be realized;

[0170] 3) The taking unit is detachably connected with the mounting unit, different taking units can be selected according to different specifications of products, and the use range is wide;

[0171] 4) The image acquisition unit is used for positioning and guiding, and automatic taking and automatic assembling are realized, so that the assembling efficiency is greatly improved.

[0172] Embodiment 2

[0173] This embodiment is a variant of embodiment 1.

[0174] As shown in Figure 2 , the multifunctional automatic taking and assembling device 100 further comprises a plurality of position adjusting units 150. Among them, the plurality of position adjusting units 150 are distributed and arranged between the mounting unit 110 and the plurality of taking units 130, and are respectively communicated with the gas distribution unit 120, for adjusting the position of the corresponding taking unit 130 under the action of the gas distribution unit 120.

[0175] The position of the taking unit 130 is finely adjusted by the position adjusting unit 150, so that the position of the taking unit 130 can be adjusted with higher precision.

[0176] As shown in Figures 4-5 , the gas distribution unit 120 further comprises a plurality of third channel elements 126, a plurality of fourth interface elements 127 and a plurality of fifth interface elements 128. Among them, the plurality of third channel elements 126 are distributed and arranged in the gas distribution unit 120, and are respectively arranged through the gas distribution unit 120; the plurality of fourth interface elements 127 are distributed and arranged on the side of the gas distribution unit 120, the first end of the plurality of fourth interface elements 127 is respectively communicated with the corresponding third channel element 126, and the second end of the plurality of fourth interface elements 127 is respectively communicated with the gas source conveying device 200; the plurality of fifth interface elements 128 are distributed and arranged on the side of the gas distribution unit 120, the first end of the plurality of fifth interface elements 128 is respectively communicated with the corresponding third channel element 126, and the second end of the plurality of fifth interface elements 128 is respectively communicated with the corresponding position adjusting unit 150.

[0177] Specifically, the plurality of third channel elements 126 are distributed and arranged in the interior of the second main body element 121, and are arranged through the second main body element 121.

[0178] The plurality of third channel elements 126 are distributed and arranged in the interior of the second main body element 121. Generally, the first end of the third channel element 126 is arranged through one side of the second main body element 121, and the second end of the third channel element 126 is arranged through the other side of the second main body element 121.

[0179] The plurality of third channel elements 126 are arranged at intervals along the length direction and / or width direction of the second main body element 121.

[0180] The number of the third channel elements 126 matches the number of the first channel elements 123. Generally, the number of the third channel elements 126 is not less than the number of the first channel elements 123. Specifically, the number of the third channel elements 126 is an integer multiple of the number of the first channel elements 123.

[0181] Preferably, the number of the third channel elements 126 is twice the number of the first channel elements 123.

[0182] In some embodiments, the third channel elements 126 include, but are not limited to, gas channels.

[0183] The fourth interface elements 127 are detachably connected to the third channel elements 126, including but not limited to, insertion, threaded connection, etc.

[0184] The number of the fourth interface elements 127 matches the number of the third channel elements 126. Generally, the number of the fourth interface elements 127 matches the number of the third channel elements 126. Generally, the number of the fourth interface elements 127 is equal to the number of the third channel elements 126, that is, the fourth interface elements 127 correspond to the third channel elements 126 one by one.

[0185] In some embodiments, the fourth interface elements 127 include, but are not limited to, gas interfaces.

[0186] The fifth interface elements 128 are detachably connected to the third channel elements 126, including but not limited to, insertion, threaded connection, etc.

[0187] The number of the fifth interface elements 128 matches the number of the third channel elements 126. Generally, the number of the fifth interface elements 128 matches the number of the third channel elements 126. Generally, the number of the fifth interface elements 128 is equal to the number of the third channel elements 126, that is, the fifth interface elements 128 correspond to the third channel elements 126 one by one.

[0188] In some embodiments, the fifth interface elements 128 include, but are not limited to, gas interfaces.

[0189] As Figures 9-11As shown, the position adjusting unit 150 comprises a fourth main element 151, at least one eighth mounting element 152, at least one first movable element 153, at least one fourth channel element 154, at least one sixth interface element 155, a fifth main element 156, at least one ninth mounting element 157, and at least one second movable element 158. The fourth main element 151 is arranged at the side of the mounting unit 110; the eighth mounting element 152 is arranged at the side of the fourth main element 151 and connected with the mounting unit 110; the first movable element 153 is arranged at the fourth main element 151 and penetrates the fourth main element 151; the fourth channel element 154 is arranged at the side of the fourth main element 151 and communicates with the first movable element 153; the first end of the sixth interface element 155 communicates with the corresponding fourth channel element 154, and the second end of the sixth interface element 155 communicates with the gas distribution unit 120; the fifth main element 156 is arranged between the fourth main element 151 and the corresponding material taking unit 130 and movably connected with the fourth main element 151, for driving the corresponding material taking unit 130 to reciprocate along the preset direction; the ninth mounting element 157 is arranged at the side of the fifth main element 156 and connected with the material taking unit 130; and the second movable element 158 is arranged at the fifth main element 156 and movably connected with the corresponding first movable element 153, for driving the fifth main element 156 to reciprocate along the preset direction under the action of the gas distribution unit 120.

[0190] Specifically, the fourth main element 151 is arranged at the side of the first main element 111; the eighth mounting element 152 is connected with the second mounting element 113; the sixth interface element 155 communicates with the fifth interface element 128; the fifth main element 156 is arranged at the side of the third main element 131; and the ninth mounting element 157 is connected with the sixth mounting element 132.

[0191] In the utility model, the number of the position adjusting unit 150 matches the number of the material taking unit 130. Generally, the number of the position adjusting unit 150 is equal to the number of the material taking unit 130.

[0192] In the utility model, the number of the position adjusting unit 150 matches the number of the fifth interface element 128. Generally, the number of the position adjusting unit 150 is not greater than the number of the fifth interface element 128. Specifically, the number of the fifth interface element 128 is an integer multiple of the number of the position adjusting unit 150.

[0193] Preferably, the number of the fifth interface element 128 is 2 times the number of the position adjusting unit 150.

[0194] In some embodiments, the cross section of the fourth main element 151 is triangular, quadrangular, polygonal, or the like.

[0195] Generally, the fourth body element 151 comprises at least three side surfaces in addition to the top end and the bottom end. Among them, one side surface is arranged close to the first body element 111 and is provided with the eighth mounting element 152, one side surface is provided with the sixth interface element 155, and one side surface is arranged close to the fifth body element 156.

[0196] In some embodiments, the fourth body element 151 comprises four side surfaces.

[0197] In some embodiments, the fourth body element 151 comprises, but is not limited to, a fixed block body.

[0198] Generally, the eighth mounting element 152 is connected to the second mounting element 113 by a bolt group.

[0199] The eighth mounting element 152 can be arranged through the fourth body element 151 or not arranged through the fourth body element 151.

[0200] In the case of a plurality of eighth mounting elements 152, the plurality of eighth mounting elements 152 are arranged on one side surface of the fourth body element 151. For example, the plurality of eighth mounting elements 152 are arranged at intervals along the height direction and / or the width direction of the fourth body element 151.

[0201] In some embodiments, the eighth mounting element 152 comprises, but is not limited to, a mounting groove, a mounting hole, and a mounting screw hole.

[0202] The first movable element 153 is arranged inside the fourth body element 151 and arranged through the bottom end of the fourth body element 151.

[0203] In the case of a plurality of first movable elements 153, the plurality of first movable elements 153 are arranged at intervals along the width direction of the fourth body element 151.

[0204] In the case of a plurality of first movable elements 153, the outermost one of the plurality of first movable elements 153 is in communication with the fourth channel element 154.

[0205] In some embodiments, the first movable element 153 comprises a first movable part and a second movable part. Among them, the first movable part is arranged inside the fourth body element 151; the second movable part is arranged inside the fourth body element 151, is in communication with the first movable part, and is arranged through the bottom end of the fourth body element 151.

[0206] The size of the second movable part matches the size of the first movable part. Generally, the radial size (such as diameter) of the second movable part is smaller than the radial size (such as diameter) of the first movable part, and the axial size (such as height) of the second movable part is smaller than the axial size (such as height) of the first movable part.

[0207] In some embodiments, the first movable element 153 includes, but is not limited to, a movable cavity, a movable slot, and the like.

[0208] The fourth channel element 154 is disposed through the side surface of the fourth main element 151.

[0209] In the case of a plurality of fourth channel elements 154, the plurality of fourth channel elements 154 are distributed and disposed on the side surface of the fourth main element 151. For example, the plurality of fourth channel elements 154 are disposed at intervals along the height direction of the fourth main element 151.

[0210] Preferably, the fourth channel element 154 is two. One of the fourth channel elements 154 is disposed close to the first end of the first movable element 153, and the other fourth channel element 154 is disposed close to the second end of the first movable element 153.

[0211] In some embodiments, the fourth channel element 154 includes, but is not limited to, a gas channel.

[0212] The sixth interface element 155 is detachably connected with the fourth channel element 154, including but not limited to, plug-in connection, threaded connection, and the like.

[0213] The sixth interface element 155 is in communication with the fifth interface element 128 through the gas pipeline.

[0214] The number of the sixth interface element 155 matches the number of the fourth channel element 154. Generally, the number of the sixth interface element 155 matches the number of the fourth channel element 154. Generally, the number of the sixth interface element 155 is equal to the number of the fourth channel element 154, that is, the sixth interface element 155 corresponds to the fourth channel element 154 one-to-one.

[0215] In some embodiments, the sixth interface element 155 includes, but is not limited to, a gas interface.

[0216] In some embodiments, the cross section of the fifth main element 156 is triangular, quadrilateral, polygonal, and the like.

[0217] Generally, in addition to the top end and the bottom end, the fifth main element 156 includes at least three side surfaces. One of the side surfaces is disposed close to the third main element 131 and is provided with the ninth mounting element 157, and one of the side surfaces is provided with the second movable element 158 and is disposed close to the fourth main element 151.

[0218] In some embodiments, the fifth main element 156 includes four side surfaces.

[0219] In some embodiments, the fifth main element 156 includes, but is not limited to, a movable block main body.

[0220] Generally, the ninth mounting element 157 is connected with the sixth mounting element 132 by a bolt set.

[0221] The ninth mounting element 157 can be arranged through the fifth body element 156 or not.

[0222] In the case that the ninth mounting element 157 is several, the several ninth mounting elements 157 are arranged on one side of the fifth body element 156. For example, the several ninth mounting elements 157 are arranged at intervals along the height direction and / or the width direction of the fifth body element 156.

[0223] In some embodiments, the ninth mounting element 157 includes, but is not limited to, a mounting slot, a mounting hole, and a mounting screw hole.

[0224] Generally, the second movable element 158 is connected with the first movable element 153 in a non-separable sliding manner.

[0225] The number of the second movable element 158 matches the number of the first movable element 153. Generally, the number of the second movable element 158 is equal to the number of the first movable element 153. That is, the second movable element 158 corresponds to the first movable element 153 one by one.

[0226] In the case that the second movable element 158 is several, the several second movable elements 158 are arranged at intervals along the width direction of the fifth body element 156.

[0227] In some embodiments, the second movable element 158 includes a third movable element and a fourth movable element. The third movable element is arranged on the side of the fifth body element 156 and connected with the fifth body element 156, and is connected with the second movable element of the first movable element 153 in a movable manner. The fourth movable element is arranged on the side of the fifth body element 156 and connected with the third movable element, and is connected with the first movable element of the first movable element 153 in a movable manner.

[0228] The size of the third movable element matches the size of the second movable element. Generally, the radial size (such as diameter) of the third movable element is not greater than the radial size (such as diameter) of the second movable element, and the axial size (such as height) of the third movable element is greater than the axial size (such as height) of the second movable element.

[0229] The size of the fourth movable element matches the size of the third movable element. Generally, the radial size (such as diameter) of the fourth movable element is greater than the radial size (such as diameter) of the third movable element, and the axial size (such as height) of the fourth movable element is less than the axial size (such as height) of the third movable element.

[0230] The fourth movable element has a size matching that of the first movable element. Generally, the fourth movable element has a radial size (e.g. diameter) not greater than that of the first movable element, and an axial size (e.g. height) smaller than that of the first movable element.

[0231] In some embodiments, the second movable element 158 includes, but is not limited to, a movable rod and a movable column.

[0232] The method of using the embodiment is as follows:

[0233] The image acquisition element 143 acquires image information and feeds back to the central control;

[0234] The central control controls the movement of the first main element 111;

[0235] When the first main element 111 moves to the material taking position, the image acquisition element 143 acquires image information again and feeds back to the central control;

[0236] The central control controls the gas delivery device to make the gas pass through the fourth interface element 127, the third channel element 126, the fifth interface element 128, the sixth interface element 155, and the fourth channel element 154 to operate the second movable element 158, so that the second movable element 158 reciprocates along the axial direction of the first movable element 153 to drive the fifth main element 156 and the third main element 131 to move, thereby finely adjusting the position of the third main element 131;

[0237] After the fine adjustment is completed, the central control controls the gas delivery device to make the gas pass through the first interface element 124, the first channel element 123, the second interface element 125, the third interface element 134, and the second channel element 133 to form a negative pressure in the adsorption element 135, and the adsorption element 135 adsorbs the workpiece to be assembled;

[0238] After the adsorption is completed, the central control controls the movement of the first main element 111;

[0239] When the first main element 111 moves to the assembly position, the adsorption element 135 installs the workpiece to the preset position;

[0240] After the installation of the workpiece is completed, the central control controls the gas delivery device to make the gas pass through the first interface element 124, the first channel element 123, the second interface element 125, the third interface element 134, and the second channel element 133 to form a positive pressure in the adsorption element 135, and the adsorption element 135 releases the workpiece;

[0241] The above steps are repeated until the assembly process is completed.

[0242] The technical effects of the embodiment are as follows:

[0243] 1) The installation unit and the material taking unit are provided with a position adjusting unit, so that after the position of the material taking unit is roughly adjusted, the position of the material taking unit can be finely adjusted by the position adjusting unit, and the position of the material taking unit is adjusted with higher precision.

[0244] Embodiment 3

[0245] The present embodiment relates to the assembly system of the utility model.

[0246] As shown in FIG. 1, in one illustrative embodiment of the utility model, an assembly system comprises a multifunctional automatic material taking and assembling device 100 and a gas source conveying device 200. Figure 12 As shown in FIG. 1, in one illustrative embodiment of the utility model, an assembly system comprises a multifunctional automatic material taking and assembling device 100 and a gas source conveying device 200.

[0247] Specifically, the gas source conveying device 200 is connected with the first interface element 124 and the fourth interface element 127.

[0248] In some embodiments, the gas source conveying device 200 comprises but is not limited to a gas pump.

[0249] Further, the assembly system further comprises a mechanical arm device 300.

[0250] Specifically, the mechanical arm device 300 is detachably connected with the fourth installation element 115.

[0251] Generally, the mechanical arm device 300 is connected with the fourth installation element 115 through a bolt module.

[0252] In some embodiments, the mechanical arm device 300 comprises but is not limited to a multi-axis mechanical arm.

[0253] Further, the assembly system further comprises a control device.

[0254] Specifically, the control device is connected with the image acquisition element 143 of the image acquisition unit 140 of the multifunctional automatic material taking and assembling device 100.

[0255] The use method of the present embodiment is as follows:

[0256] The control device controls the movement of the mechanical arm device 300, so as to drive the movement of the multifunctional automatic material taking and assembling device 100.

[0257] During the moving, the image acquisition unit 140 acquires image information and transmits to the control device;

[0258] The control device determines the subsequent moving direction according to the image information, and further controls the mechanical arm device 300 to act;

[0259] In the case that the multifunctional automatic material taking and assembling device 100 moves to the preset position of the workpiece, the control device controls the air source conveying device 200 to act, so that the material taking unit 130 adsorbs the workpiece;

[0260] The control device controls the mechanical arm device 300 to move, and in the case that the multifunctional automatic material taking and assembling device 100 moves to the mounting position, the workpiece is mounted to the preset position of the product;

[0261] After the mounting is completed, the control device controls the air source conveying device 200 to act, so that the material taking unit 130 releases the workpiece;

[0262] The above steps are repeated until the assembling of the product is completed.

[0263] The technical effect of the embodiment is basically the same as that of the embodiments 1-2, and will not be repeated here.

[0264] The above only describes the preferred embodiments of the present application, and is not intended to limit the implementation and protection scope of the present application. For those skilled in the art, it should be realized that any equivalent replacement and obvious changes made according to the content of the present application should be included in the protection scope of the present application.

Claims

1. A multi-functional automatic pick-and-place assembly device, characterized by, The utility model relates to a kind of gas distribution device, including: Mounting unit; Gas distribution unit, the gas distribution unit is arranged in the side of the mounting unit, and is communicated with gas source conveying device; Several material taking units, several the material taking units are detachably arranged in the side of the mounting unit, and are respectively communicated with the gas distribution unit, for adsorbing or releasing workpiece under the action of the gas distribution unit; Image acquisition unit, the image acquisition unit is arranged in the side of the mounting unit, for obtaining image information.

2. The multi-functional automatic pick-and-place assembly apparatus according to claim 1, wherein, The mounting unit includes: First body element; At least one first mounting element, the first mounting element is arranged in the side of the first body element, and is connected with the gas distribution unit; Several second mounting elements, several the second mounting elements are distributed and arranged in the side of the first body element, and are respectively connected with corresponding material taking unit; At least one third mounting element, the third mounting element is arranged in the side of the first body element, and is connected with the image acquisition unit.

3. The multi-functional automatic pick-and-place assembly apparatus according to claim 2, wherein, The mounting unit further includes: Fourth mounting element, the fourth mounting element is arranged in the side of the first body element, and is detachably connected with mechanical arm device.

4. The multi-functional automatic pick-and-place assembly apparatus according to claim 1, wherein, The gas distribution unit includes: Second body element, the second body element is arranged in the side of the mounting unit; At least one fifth mounting element, the fifth mounting element is arranged in the side of the second body element, and is connected with the mounting unit; Several first channel elements, several the first channel elements are distributed and arranged in the second body element, and are respectively arranged through the second body element; Several first interface elements, several the first interface elements are distributed and arranged in the side of the second body element, the first end of several the first interface elements is respectively communicated with corresponding first channel element, the second end of several the first interface elements is respectively communicated with gas source conveying device; Several second interface elements, several the second interface elements are distributed and arranged in the side of the second body element, the first end of several the second interface elements is respectively communicated with corresponding first channel element, the second end of several the second interface elements is respectively communicated with corresponding material taking unit.

5. The multi-functional automatic pick-and-place assembly apparatus according to claim 1, wherein, The material taking unit includes: Third body element, the third body element is arranged in the side of the mounting unit; At least one sixth mounting element, the sixth mounting element is arranged in the side of the third body element, and is connected with the mounting unit; Second channel element, the second channel element is arranged in the third body element, and is arranged through the third body element; Third interface element, the third interface element is arranged in the side of the third body element, the first end of the third interface element is communicated with the second channel element, the second end of the third interface element is communicated with the gas distribution unit; At least one adsorption element, the adsorption element is arranged in the side of the third body element, the first end of the adsorption element is communicated with the second channel element, for adsorbing or releasing workpiece under the action of the gas distribution unit.

6. The multi-functional automatic pick-and-place assembly apparatus according to claim 1, wherein, The image acquisition unit includes: Support element, the support element is arranged in the side of the mounting unit; At least one seventh mounting element is arranged on the side of the bracket element and detachably connected with the mounting unit; An image acquisition element is arranged on the bracket element and used for acquiring image information.

7. The multi-functional automatic pick-and-place assembly apparatus according to any one of claims 1 to 6, characterized by, Further comprising: A plurality of position adjusting units are arranged between the mounting unit and the plurality of material taking units and respectively communicated with the gas distribution unit, and used for adjusting the position of the corresponding material taking unit under the action of the gas distribution unit.

8. The multi-functional automatic pick-and-place assembly apparatus according to claim 7, wherein, The gas distribution unit further comprises: A plurality of third channel elements are arranged on the gas distribution unit and respectively arranged through the gas distribution unit; A plurality of fourth interface elements are arranged on the side of the gas distribution unit, the first end of each fourth interface element is respectively communicated with the corresponding third channel element, and the second end of each fourth interface element is respectively communicated with the gas source conveying device; A plurality of fifth interface elements are arranged on the side of the gas distribution unit, the first end of each fifth interface element is respectively communicated with the corresponding third channel element, and the second end of each fifth interface element is respectively communicated with the corresponding position adjusting unit; and / or The position adjusting unit comprises: A fourth main body element is arranged on the side of the mounting unit; At least one eighth mounting element is arranged on the side of the fourth main body element and connected with the mounting unit; At least one first movable element is arranged on the fourth main body element and arranged through the fourth main body element; At least one fourth channel element is arranged on the side of the fourth main body element and communicated with the first movable element; At least one sixth interface element is communicated at the first end with the corresponding fourth channel element and at the second end with the gas distribution unit; A fifth main body element is arranged between the fourth main body element and the corresponding material taking unit and movably connected with the fourth main body element, and used for driving the corresponding material taking unit to reciprocate along a predetermined direction; At least one ninth mounting element is arranged on the side of the fifth main body element and connected with the material taking unit; At least one second movable element is arranged on the fifth main body element and movably connected with the corresponding first movable element, and used for driving the fifth main body element to reciprocate along a predetermined direction under the action of the gas distribution unit.

9. An assembly system characterized by, Comprise: The multifunctional automatic material taking and assembling device according to any one of claims 1-8; A gas source conveying device is connected with the gas distribution unit of the multifunctional automatic material taking and assembling device and used for conveying gas to the gas distribution unit.

10. The assembly system of claim 9, wherein, Further comprising: A mechanical arm device is detachably connected with the mounting unit of the multifunctional automatic material taking and assembling device.

Images