An apparatus for automatically identifying a feed location and intelligently grasping and assembling

Abstract

The utility model relates to the technical field of the automatic production to power board especially, it is a kind of equipment of automatic identification feed position and intelligent grabbing and assembly, it includes: feed arrangement, receives and stores spare parts temporarily;Conveying device, receives and stores box;Grabbing device, grabs, shifts and assembles spare parts in box;And identification system, to spare parts and box are automatically identified, assist grabbing device to complete the grabbing, shifting and assembly operation of spare parts;Wherein, identification system is equipped with top identification module, the top identification module is installed in the upper of feed arrangement, and the spare parts temporarily stored on feed arrangement are automatically identified, to assist grabbing device to carry out intelligent grabbing operation to spare parts.Summarized above, through multiple identification module accurate positioning spare parts, feed conveying structure optimization, reliable gripping jaw assembly grabs assembly, effectively improve grabbing efficiency, assembly quality, reduce manual intervention, reduce cost, enhance equipment applicability and competitiveness.

Description

Technical Field

[0001] This utility model relates to the technical field of automated production of power boards, and in particular to a device that automatically identifies the feeding position and intelligently grasps and assembles the material. Background Technology

[0002] In the automated assembly process of electronic products, especially in the production of precision components such as power conversion modules, it is usually necessary to accurately install circuit boards (such as power conversion boards) into the housing. Traditional assembly equipment relies on production pallets or fixtures to position components, ensuring that robotic arms can accurately grasp and assemble them. However, in actual production processes, the previous process (such as SMT placement or testing stations) may not have used positioning pallets, resulting in random positions and inconsistent postures of components when they are transported to the assembly station, making it difficult to directly use automated equipment for grasping and assembly.

[0003] In existing technologies, common solutions include:

[0004] Manual intervention: The position of the parts is adjusted manually by the operator, but this is inefficient and inconsistent.

[0005] Mechanical positioning mechanisms, such as guide grooves or limit blocks, are only suitable for parts of fixed size and lack flexibility.

[0006] Simple visual guidance: It uses a single camera to roughly identify the position, but it does not solve the problems of multi-station collaboration and dynamic error compensation in the grasping-assembly process.

[0007] Furthermore, traditional grippers often employ forward clamping (inward contraction and clamping), which can easily cause indentations or deformation to thin-walled circuit boards. Additionally, the pressing operation during assembly may damage components due to improper force control. Therefore, there is an urgent need for an intelligent device capable of automatically identifying the location of randomly arriving materials, adaptively gripping, and precisely assembling them. Utility Model Content

[0008] To overcome the shortcomings mentioned above, this utility model aims to provide a technical solution that can solve the above problems.

[0009] This utility model provides a device for automatically identifying the feeding position and intelligently grasping and assembling materials, characterized in that it includes:

[0010] The feeding device receives materials from external equipment and temporarily stores them on the feeding device at the loading station.

[0011] The conveying device receives the boxes from the previous station and transports them to the assembly station to await assembly.

[0012] The gripping device grips the parts from the loading station, transfers them to the assembly station, and installs them into the housing, completing the assembly operation; and

[0013] The identification system automatically identifies the components and boxes, assisting the gripping device in completing the gripping, transfer, and assembly operations of the components;

[0014] The identification system includes a top identification module, which is installed above the feeding device to automatically identify the materials temporarily stored on the feeding device, thereby assisting the gripping device in intelligently gripping the materials.

[0015] Furthermore: The top recognition module is equipped with a top bracket, a flat fill light, a top camera, and a top lens. The top bracket is adjustablely mounted on the equipment frame, the flat fill light is mounted at the lower end of the top bracket, the top camera is mounted on the top bracket, and the top lens is mounted on the top camera.

[0016] Furthermore: the feeding device is equipped with a feeding bracket, a feeding shaft, a feeding conveyor belt and a feeding motor. The feeding bracket is installed on the equipment frame, the feeding shaft is rotatably connected to the feeding bracket, the feeding conveyor belt is sleeved on the feeding shaft, and the output shaft of the feeding motor is drivenly connected to the feeding shaft.

[0017] Furthermore: The conveying device is equipped with a material inlet track, a material inlet motor, and a blocking component, which are respectively installed on the frame. The output shaft of the material inlet motor is driven and connected to the input shaft of the material inlet track. The material inlet track is used to convey the assembly pallet. The assembly pallet has a box containing parts waiting to be assembled. The blocking component is used to block the assembly pallet and stop it at the assembly station, waiting for the gripping device to assemble the parts into the box.

[0018] Furthermore, the conveying device is also equipped with a lifting mechanism, which includes a lifting base plate, a lifting moving plate, a lifting cylinder, a lifting bearing, and a lifting optical shaft. The lifting base plate is installed on the equipment frame, the lifting moving plate is slidably connected above the lifting base plate, the lifting cylinder and the lifting bearing are respectively installed on the lifting base plate, one end of the lifting optical shaft is fixed to the lifting moving plate, and the other end passes through the lifting bearing. The piston rod of the lifting cylinder is drivenly connected to the lifting moving plate, thereby driving the lifting moving plate to perform an upward lifting operation.

[0019] Furthermore: the gripping device includes a robotic arm and a gripper assembly. The gripper assembly is mounted on the wrist of the robotic arm, thereby enabling the robotic arm to drive the gripper assembly to move. The gripper assembly includes a gripper bracket, a gripper cylinder, and gripper fingers. The top of the gripper bracket is mounted on the wrist of the robotic arm, the gripper cylinder is mounted on the bottom of the gripper bracket, and two sets of gripper fingers are respectively mounted on the pistons at both ends of the gripper cylinder, causing the gripper cylinder to rotate and drive the two sets of gripper fingers inserted into the through hole of the material, causing the two sets of gripper fingers to expand radially outward and perform a gripping operation on the material.

[0020] Furthermore, the gripper assembly also includes a wrist support, a pressure sensor, a wrist spring, a wrist bearing, a wrist optical axis, and an end plate. The upper end of the wrist support is connected to the wrist of the robot arm, and its lower end is used to install the gripper support. The wrist bearing is fixed to the wrist support, and the upper end of the wrist optical axis passes through the wrist bearing and is fixedly connected to the end plate, while its lower end is fixed to the gripper support. The pressure sensor is installed at the bottom of the wrist support, and one end of the wrist spring abuts against the pressure sensor, while the other end abuts against the gripper support.

[0021] Furthermore, the identification system is also equipped with a gripper identification module for intelligent identification of the materials to be processed by the gripping device; the gripper identification module is equipped with a gripper fill light, a gripper camera and a gripper lens, the gripper fill light and the gripper camera are respectively mounted on the wrist bracket, and the gripper lens is mounted on the gripper camera.

[0022] Furthermore, the recognition system also includes a bottom recognition module, which includes a bottom bracket, a bottom fill light, a bottom camera, and a bottom lens. The bottom bracket is mounted on the equipment frame, the bottom fill light is mounted on the top of the bottom bracket, the bottom camera is mounted on the bottom bracket, and the bottom lens is mounted on the bottom camera.

[0023] Furthermore, it also includes an auxiliary support and an auxiliary fixture. The auxiliary support is installed on the equipment frame, and the auxiliary fixture is installed on the top of the auxiliary support for auxiliary positioning of the material. The auxiliary fixture has a positioning space, and the inner wall of the positioning space has a positioning block. The top of the positioning block has a guide slope on the side facing the inside of the positioning space.

[0024] Compared with the prior art, the beneficial effects of this utility model are:

[0025] This invention solves the problem of automated assembly of disordered incoming materials through multi-module collaborative identification, reverse gripping mechanism, and dynamic error compensation system. Its specific advantages are as follows:

[0026] 1. Improve grasping accuracy and adaptability

[0027] Top recognition module: Using a high-resolution industrial camera and a flat fill light, it identifies the position and posture of randomly placed parts at the feeding station, generates three-dimensional coordinate parameters, and feeds them back to the automated control system to assist the robot arm in grasping actions and achieve millimeter-level grasping and positioning.

[0028] The gripper recognition module and the bottom recognition module form a closed-loop detection system, which performs secondary verification of the workpiece position before and after gripping to ensure the alignment of the gripper fingers with the workpiece through holes and avoid assembly failure due to visual errors.

[0029] 2. Innovative gripper design prevents component damage.

[0030] Reverse expansion gripping mechanism: The parallel opening and closing gripper cylinder drives the plate-shaped fingers to expand outward, and after embedding into the through hole of the material, an interference fit is formed, avoiding mechanical damage to the surface of the circuit board caused by traditional clamping.

[0031] Pressure sensing and cushioning system: The wrist spring and pressure sensor monitor the assembly pressure in real time to ensure that the pressure is controlled within a safe threshold (such as 5–10N) to prevent the circuit board from cracking.

[0032] 3. Multi-station collaboration and fault tolerance mechanism

[0033] The guide ramp design of the auxiliary fixture: When the recognition system detects a gripping deviation, the workpiece is moved to the auxiliary fixture, and its position is automatically corrected by the ramp guidance, which significantly reduces the failure rate of secondary gripping.

[0034] The lifting mechanism works in conjunction with the limiting posts: the conical limiting posts of the lifting moving plate work in conjunction with the limiting holes of the assembly tray to achieve micron-level alignment and ensure the positioning accuracy of the box at the assembly station.

[0035] 4. Compatibility and production efficiency optimization

[0036] Wide feed conveyor belt + baffle design: compatible with disordered material feeding of different sizes, while preventing falling during the conveying process.

[0037] SCARA robots offer high-speed response: combined with real-time data feedback from the vision system of the recognition module, the gripping-assembly cycle can be shortened to 5 seconds per piece, improving efficiency by more than 200% compared to traditional manual operation.

[0038] 5. Intelligent quality control

[0039] Defective product sorting function: Three sets of identification modules detect defects in materials (such as mis-installed or damaged components) and automatically transfer defective products to independent workstations, reducing the cost of manual re-inspection.

[0040] This invention uses multiple identification modules to accurately locate materials, an automated system to intelligently control each device, an optimized feeding and conveying structure, and reliable gripper assembly, effectively improving gripping efficiency and assembly quality, reducing manual intervention, lowering costs, and enhancing the applicability and competitiveness of the equipment.

[0041] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the equipment frame and workstation of this utility model;

[0044] Figure 2 This is a schematic diagram of the feeding device and the material of this utility model;

[0045] Figure 3 This is a structural schematic diagram of the conveying device and the box body of this utility model;

[0046] Figure 4 This is a schematic diagram of the lifting mechanism of this utility model;

[0047] Figure 5 This is a structural schematic diagram of the gripper assembly and the top recognition module of this utility model;

[0048] Figure 6 This is a schematic diagram of the gripper bracket and pressure sensor of this utility model;

[0049] Figure 7 This is a schematic diagram of the top recognition module of this utility model;

[0050] Figure 8 This is a schematic diagram of the bottom recognition module of this utility model;

[0051] Figure 9 This is a schematic diagram of the auxiliary fixture of this utility model.

[0052] The reference numerals and names in the figure are as follows:

[0053] 10 Equipment frame; 11 Loading station; 12 Assembly station; 13 Defective product station; 14 Assembly pallet; 15 Limiting hole; 16 Housing; 17 Material; 18 Through hole; 20 Feeding device; 21 Feeding bracket; 22 Feeding stop bar; 23 Feeding shaft; 24 Feeding conveyor belt; 25 Feeding motor; 30 Conveying device; 31 Incoming material track; 32 Incoming material motor; 33 Blocking assembly; 40 Lifting mechanism; 41 Lifting base plate; 42 Lifting moving plate; 43 Limiting post; 44 Lifting cylinder; 45 Lifting bearing; 46 Lifting optical shaft; 50 Gripping device; 51 Robotic arm; 52 Gripper assembly; 53 Gripper bracket; 54 Gripper cylinder 55 Gripper finger; 56 Positioning boss; 57 Buffer; 60 Wrist support; 61 Pressure sensor; 62 Wrist spring; 63 Wrist bearing; 64 Wrist optical axis; 65 Shaft end baffle; 70 Recognition system; 71 Top recognition module; 72 Top support; 73 Planar supplementary light; 74 Top camera; 75 Top lens; 76 Gripper recognition module; 77 Gripper supplementary light; 78 Gripper camera; 79 Gripper lens; 80 Bottom recognition module; 81 Bottom support; 82 Bottom supplementary light; 83 Bottom camera; 84 Bottom lens; 90 Auxiliary support; 91 Auxiliary fixture; 92 Positioning space; 93 Positioning block; 94 Guide slope. Detailed Implementation

[0054] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0055] Please see Figures 1 to 9 In this embodiment of the invention, a device for automatically identifying the feeding position and intelligently grasping and assembling materials includes:

[0056] The feeding device 20 receives the material 17 conveyed by external equipment and temporarily stores it on the feeding device 20 at the loading station 11.

[0057] The conveying device 30 receives the box 16 conveyed from the previous station and conveys it to the assembly station 12 to wait for assembly.

[0058] The gripping device 50 grips part 17 from the loading station 11, transfers it to the assembly station 12, and installs part 17 into the housing 16, completing the assembly operation; and

[0059] The identification system 70 automatically identifies the material 17 and the box 16, and the auxiliary gripping device 50 completes the gripping, transfer and assembly operations of the material 17.

[0060] The identification system 70 is equipped with a top identification module 71, which is installed above the feeding device 20. The top identification module 71 automatically identifies the placement position of the material 17 temporarily stored in the feeding device 20, thereby assisting the gripping device 50 in performing intelligent gripping operations on the material 17.

[0061] Specifically, in the production process of some electronic products, such as the production process of power conversion products, the power conversion circuit board of the power conversion needs to be installed in the power box 16. However, since the power board was not positioned using a production tray or production fixture during the production process of the previous station or equipment, its specific placement is uncertain after it is delivered, which is not convenient for automated production, especially not convenient for the automatic gripping of the robot arm 51.

[0062] This invention features a top identification module 71 above the feeding device 20, which automatically identifies the position of the material 17 temporarily stored at the loading station 11 and feeds back the identified position parameters to the gripping device 50. This allows the robotic arm 51 of the gripping device 50 to accurately and intelligently grip the material 17 based on the position parameters, thereby improving gripping efficiency and accuracy, and enhancing the applicability and market competitiveness of the equipment.

[0063] Secondly, to manage and coordinate the various devices, mechanisms, modules, or systems within the equipment in a unified manner, an industrial computer (as is known in the art) is installed within the equipment. A corresponding automated control system is then installed on the industrial computer to automate the equipment's operation. Specifically, based on the relevant parameters identified by the identification system 70, the movement, gripping, releasing, and assembly operations of the gripping device 50 are intelligently and automatically controlled. Since the automated control system can be configured using existing software systems and connected to the control modules of the corresponding robotic arm 51, the identification system 70, or other devices, automated control of the corresponding devices, mechanisms, modules, or systems can be achieved. For example, the automated control system establishes a data connection with the control modules of the robotic arm 51 and the identification system 70 through the communication interface of the industrial computer, receives position and status parameters from the identification system 70, and sends instructions to the control module of the gripping device 50 according to preset control logic and algorithms, thereby achieving automated control of the movement, gripping, releasing, and assembly operations of the gripping device 50.

[0064] like Figure 1 and Figure 7As shown, preferably, the top recognition module 71 is provided with a top bracket 72, a planar fill light 73, a top camera 74 and a top lens 75. The top bracket 72 is adjustablely mounted on the device frame 10, the planar fill light 73 is mounted on the lower end of the top bracket 72, the top camera 74 is mounted on the top bracket 72, and the top lens 75 is mounted on the top camera 74.

[0065] Specifically, in order to automatically identify and detect the placement of the temporarily stored parts 17 at the loading station 11, a top camera 74 is preferably installed near the central axis of the top bracket 72, so as to capture the area below the top bracket 72. To accommodate the specific installation position of the feeding device 20 below, the top bracket 72 is preferably configured as an adjustable structure, for example, by installing the top bracket 72 using a lean pipe, making it easy to adjust so that the top bracket 72 corresponds to the feeding device 20.

[0066] Secondly, to improve the shooting effect, a planar fill light 73 can preferably be installed at the lower end of the top bracket 72. The planar fill light 73 expands the illumination range, so that the parts 17 stored at any position in the relatively wide loading station 11 can be clearly photographed and identified by the top camera 74. In order to make the shooting clearer and the identification more accurate, a top lens 75 can also be installed on the top camera 74, which can make corresponding optical adjustments to optimize the identification efficiency and accuracy of the top camera 74.

[0067] Furthermore, this invention, by setting a top recognition module 71 above the feeding device 20, can automatically identify the placement position and posture of the material 17 at the loading station 11 in real time, and feed back the precise position and posture parameters to the gripping device 50. Based on this, the gripping device 50 can precisely adjust the movement trajectory of the robotic arm 51 to achieve intelligent gripping of the material 17, significantly improving gripping efficiency and accuracy. Compared with traditional assembly equipment, it improves the gripping success rate and effectively solves the industry problem of automating the gripping of non-positioning material 17.

[0068] like Figure 1 and Figure 2 As shown, preferably, the feeding device 20 is provided with a feeding bracket 21, a feeding shaft 23, a feeding conveyor belt 24 and a feeding motor 25. The feeding bracket 21 is installed on the equipment frame 10, the feeding shaft 23 is rotatably connected to the feeding bracket 21, the feeding conveyor belt 24 is sleeved on the feeding shaft 23, and the output shaft of the feeding motor 25 is drively connected to the feeding shaft 23.

[0069] Specifically, when material 17 is conveyed to this equipment from external equipment or the previous station, the position of the output material 17 is uncertain, or the position and arrangement of material 17 entering the feeding conveyor belt 24 are uncertain. In order to accommodate material 17 at more conveying positions, it is preferable to set a relatively wide feeding conveyor belt 24 so that when material 17 is input at multiple positions, it can enter the receiving range of the feeding conveyor belt 24 and complete the normal feeding operation of material 17.

[0070] Secondly, in order to transport the material 17 towards the inside of the equipment so that the gripping device 50 can easily grip it, it is preferable to set up a feeding motor 25 and a feeding shaft 23. The feeding motor 25 drives the feeding shaft 23 to rotate, thereby driving the feeding conveyor belt 24 to rotate synchronously and move the material 17 stored on the feeding conveyor belt 24 towards the inside of the equipment.

[0071] like Figure 1 and Figure 2 As shown, preferably, the end of the feeding bracket 21 facing the inside of the equipment and both sides of the feeding bracket 21 parallel to the running direction of the feeding conveyor belt 24 are provided with feeding baffles 22 to block the material 17 and prevent it from falling.

[0072] Specifically, during the feeding and conveying of the material 17 by the feeding device 20, especially when multiple material 17 are conveyed at the same time, the material 17 may affect each other and there may be a risk of falling. Therefore, feeding baffles 22 can be set at the end of the conveying direction of the material 17 and on both sides of the conveying direction to limit and block the material 17 and prevent it from falling.

[0073] Secondly, a set of through-beam photoelectric sensors can be set at the position of the feeding bracket 21 corresponding to the end of the material 17 conveying section, so as to detect the material 17 at the end of the feeding conveyor belt 24 and feed it back to the automatic control system, so that the gripping device 50 can be controlled to grip the material 17 at the end according to the detection parameters.

[0074] like Figure 1 and Figure 3 As shown, preferably, the conveying device 30 is provided with a material inlet track 31, a material inlet motor 32 and a blocking component 33 respectively installed on the frame. The output shaft of the material inlet motor 32 is drivenly connected to the input shaft of the material inlet track 31. The material inlet track 31 is used to convey the assembly pallet 14. The assembly pallet 14 has a box 16 fixed on it for waiting to assemble the parts 17. The blocking component 33 is used to block the assembly pallet 14, so that it stops at the assembly station 12 and waits for the gripping device 50 to assemble the parts 17 into the box 16.

[0075] Specifically, in order to assemble component 17 into the power supply housing 16, the power supply housing 16 needs to be transported to the assembly station 12. A conveyor track, as used in the prior art, can be installed, with the material receiving motor 32 driving the material receiving track 31 to transport the assembly pallet 14. To ensure the assembly pallet 14 stops precisely at the assembly station 12, a blocking component 33 is preferably installed, such as a blocking cylinder or pneumatic buffer stop, as used in the prior art. For example, the blocking component 33 detects the position of the assembly pallet 14 using a photoelectric sensor; upon receiving a signal, the cylinder extends a baffle to intercept the pallet, thus facilitating the assembly of component 17.

[0076] like Figure 3 and Figure 4 As shown, preferably, the conveying device 30 is further provided with a lifting mechanism 40, which is installed on the equipment frame 10 and performs a lifting operation on the assembly pallet 14 stopped at the assembly station 12. The lifting mechanism 40 is provided with a lifting base plate 41, a lifting moving plate 42, a lifting cylinder 44, a lifting bearing 45, and a lifting optical shaft 46. The lifting base plate 41 is installed on the equipment frame 10, the lifting moving plate 42 is slidably connected above the lifting base plate 41, the lifting cylinder 44 and the lifting bearing 45 are respectively installed on the lifting base plate 41, one end of the lifting optical shaft 46 is fixed to the lifting moving plate 42, and the other end passes through the lifting bearing 45. The piston rod of the lifting cylinder 44 is drivenly connected to the lifting moving plate 42, thereby driving the lifting moving plate 42 to perform a lifting operation.

[0077] Specifically, since the gripping device 50 needs to apply a certain force to press the component 17 downwards a certain distance when assembling it, so that it is assembled on the corresponding fastener of the power supply box 16, it may damage the material receiving track 31. Therefore, a lifting mechanism 40 can be set to lift the assembly tray 14 upwards a certain distance, thereby detaching it from the material receiving track 31, so that the pressing operation of the gripping device 50 will not damage the material receiving track 31. The lifting mechanism 40 can be installed on the equipment frame 10 between the two side tracks of the material receiving track 31, and the installation position is lower than the material receiving track 31, so as to facilitate the lifting operation of the assembly tray 14 conveyed on the material receiving track 31.

[0078] Secondly, the lifting bearing 45 and the lifting optical shaft 46 cooperate to form a linear motion system, thereby making the up-and-down sliding of the lifting moving plate 42 more stable. The top of the lifting moving plate 42 is provided with a limiting post 43, and the assembly tray 14 is provided with a limiting hole 15 corresponding to the position of the limiting post 43. When the lifting mechanism 40 lifts the assembly tray 14, the limiting post 43 on the lifting moving plate 42 has a conical structure, guiding the assembly tray 14 to a preset position via an inclined surface. That is, it first passes into the limiting hole 15, limiting the assembly tray 14 to the preset position of the lifting moving plate 42, facilitating the gripping device 50 to pre-judge the position of the power supply box 16 on the assembly tray 14, thereby more accurately performing the assembly operation of the component 17.

[0079] like Figure 1 , Figure 5 and Figure 6 As shown, preferably, the gripping device 50 includes a robotic arm 51 and a gripper assembly 52. ​​The gripper assembly 52 is mounted on the wrist of the robotic arm 51, thereby enabling the robotic arm 51 to drive the gripper assembly 52 to move. The gripper assembly 52 includes a gripper bracket 53, a gripper cylinder 54, and gripper fingers 55. The top of the gripper bracket 53 is mounted on the wrist of the robotic arm 51, and the gripper cylinder 54 is mounted on the bottom of the gripper bracket 53. Two sets of gripper fingers 55 are respectively mounted on the pistons at both ends of the gripper cylinder 54, causing the gripper cylinder 54 to rotate and drive the two sets of gripper fingers 55 inserted into the through hole 18 of the material 17, causing the two sets of gripper fingers 55 to expand radially outward and perform a gripping operation on the material 17.

[0080] Specifically, to enable rapid and precise movement of the gripper assembly 52, the robotic arm 51 preferably employs a SCARA robot, a special type of industrial robot with cylindrical coordinates. A SCARA robot has three rotary joints with parallel axes for positioning and orientation in a plane. The remaining joint is a prismatic joint, used to move the end effector perpendicular to the plane. These robots are lightweight, responsive, and several times faster than typical articulated robots. They are best suited for planar positioning and vertical assembly operations. For example, a horizontal multi-joint robot using the Epson LS10-B series is suitable.

[0081] Secondly, the gripper assembly 52 is used for gripping and assembling the workpiece 17. Since the workpiece 17 has a square through hole 18 in the middle, the gripper fingers 55 can be set as plate-shaped fingers. The gripper cylinder 54 preferably adopts a parallel opening and closing finger cylinder as the actuator. The pistons at both ends of the gripper cylinder 54 are driven by the pneumatic system to make radial expansion movements, so as to realize the reverse gripping of the workpiece 17 with the opening. Its working principle is as follows: When compressed air enters the cylinder cavity, it pushes the piston to drive the gripper fingers 55 on both sides to expand outward synchronously along the guide rail. The positioning bosses 56 at the ends of the gripper fingers 55 are embedded in the through hole 18 of the workpiece 17. As the air pressure continues to act, the gripper fingers 55 form an interference fit or wedge lock with the hole wall. Stable clamping force is generated by friction and mechanical limit, so as to realize reliable gripping and handling of the workpiece 17. This solution utilizes the linear reciprocating motion of a cylinder to transform the conventional inward clamping action into a reverse expansion gripping action. It is particularly suitable for thin-walled, porous, or complex workpieces, such as circuit boards with holes, and can effectively avoid surface indentations and deformation caused by forward clamping.

[0082] Furthermore, the gripper assembly 52 is also equipped with a buffer 57, which is installed at the lower part of the gripper bracket 53. The buffer 57 can cushion the material 17 when the gripper fingers 55 grasp it, preventing damage to the material 17 or the feeding device 20. It can also apply assembly pressure during the assembly of the material 17, ensuring the material 17 is correctly assembled onto the fasteners of the power supply housing 16. Understandably, multiple sets of buffers 57 can be provided, for example, three sets, to provide cushioning or pressure from three different positions.

[0083] like Figure 5 and Figure 6 As shown, preferably, the gripper assembly 52 further includes a wrist support 60, a pressure sensor 61, a wrist spring 62, a wrist bearing 63, a wrist optical axis 64, and an end plate 65. The upper end of the wrist support 60 is connected to the wrist of the robot arm 51, and its lower end is used to install the gripper support 53. The wrist bearing 63 is fixed to the wrist support 60. The upper end of the wrist optical axis 64 passes through the wrist bearing 63 and is fixedly connected to the end plate 65, and its lower end is fixed to the gripper support 53. The pressure sensor 61 is installed at the bottom of the wrist support 60, and one end of the wrist spring 62 abuts against the pressure sensor 61, while the other end abuts against the gripper support 53.

[0084] Specifically, since the gripper assembly 52 not only needs to grasp the workpiece 17 but also needs to assemble the workpiece 17 into the power supply housing 16, a certain pressing force needs to be applied to the workpiece 17 during the assembly operation to make the workpiece 17 snap into the fastener of the power supply housing 16. However, since the circuit board is relatively thin and easily cracked, it is necessary to ensure that the applied pressing force is both sufficient and does not exceed a certain limit. Therefore, a pressure sensor 61 can be set between the wrist support 60 and the gripper support 53, and the pressing force can be transmitted to the pressure sensor 61 by the wrist spring 62, so that it can detect the corresponding pressure value and feed it back to the automation control system for corresponding calculation or control.

[0085] Secondly, to allow the distance between the gripper bracket 53 and the wrist bracket 60 to be varied, a wrist bearing 63 and a wrist optical axis 64 can be provided, so that the two can be combined to form a linear motion system, ensuring the smoothness of the gripper bracket 53's up-and-down movement. The shaft end baffle 65 is fixed to the upper end of the wrist optical axis 64 that passes through the wrist bearing 63, thereby bearing the weight of the wrist optical axis 64 and the gripper bracket 53.

[0086] like Figure 1 and Figure 5 As shown, preferably, the identification system 70 is further provided with a gripper identification module 76 for intelligent identification of the materials to be processed by the gripping device 50; the gripper identification module 76 is provided with a gripper fill light 77, a gripper camera 78 and a gripper lens 79, the gripper fill light 77 and the gripper camera 78 are respectively mounted on the wrist bracket 60, and the gripper lens 79 is mounted on the gripper camera 78.

[0087] Specifically, the gripper recognition module 76 consists of an industrial camera, a supplementary light, and an adjustable focus lens mounted on the side of the wrist support 60. It is used to acquire real-time images of the material 17's position and calculate the gripping offset using a visual algorithm, thereby assisting the gripper assembly 52 in gripping the material 17. The gripper supplementary light 77 and the gripper camera 78 are preferably mounted on the side of the wrist support 60, facilitating automatic visual detection of the material to be gripped and detecting its specific position parameters. This allows the gripping device 50 to grip the material based on these parameters. Similarly, the gripper supplementary light 77 provides illumination for the material being photographed, the gripper camera 78 performs optical imaging, and the gripper lens 79 allows for optical adjustment, making the automatic detection of the gripper recognition module 76 more accurate.

[0088] like Figure 1 and Figure 8As shown, preferably, the recognition system 70 further includes a bottom recognition module 80, which includes a bottom bracket 81, a bottom fill light 82, a bottom camera 83, and a bottom lens 84. The bottom bracket 81 is mounted on the equipment frame 10, the bottom fill light 82 is mounted on the top of the bottom bracket 81, the bottom camera 83 is mounted on the bottom bracket 81, and the bottom lens 84 is mounted on the bottom camera 83.

[0089] Specifically, the bottom recognition module 80 is installed on the frame between the loading station 11 and the assembly station 12, and performs automatic visual inspection on the part 17 grasped by the gripping device 50 to check whether the gripping position is accurate. Similarly, the bottom supplement light 82 can provide supplementary lighting for the part 17 and the gripper, the bottom camera 83 can perform optical imaging, and the bottom lens 84 can perform optical adjustment to make the automatic detection of the bottom recognition module 80 more accurate.

[0090] Secondly, the top recognition module 71, the gripper recognition module 76, and the bottom recognition module 80 work together during equipment operation. The top recognition module 71 provides the gripping device 50 with the initial position information of the material 17, the gripper recognition module 76 can assist the gripping device 50 in accurately positioning the material 17 to be gripped, and the bottom recognition module 80 detects the position of the material 17 after gripping. The three together ensure the accuracy and reliability of gripping and assembling the material 17.

[0091] like Figure 1 and Figure 9 As shown, preferably, it also includes an auxiliary support 90 and an auxiliary fixture 91. The auxiliary support 90 is installed on the equipment frame 10, and the auxiliary fixture 91 is installed on the top of the auxiliary support 90 for auxiliary positioning of the material 17. The auxiliary fixture 91 is provided with a positioning space 92, and a positioning block 93 is provided on the inner side wall of the positioning space 92. A guide slope 94 is provided on the top side of the positioning block 93 facing the inside of the positioning space 92.

[0092] Specifically, when the bottom recognition module 80 detects that the deviation of the gripper assembly 52's gripping position exceeds a threshold, the robot arm 51 moves the part 17 to the auxiliary fixture 91 for repositioning. After the gripper assembly 52 of the gripping device 50 grips the part 17, to ensure accurate gripping position, it can first move to the bottom recognition module 80 for visual inspection. For example, by detecting whether the buffer 57 of the gripper assembly 52 is aligned with the positioning hole on the part 17, the accuracy of the gripping position of the gripper assembly 52 can be identified. If the gripping position is accurate, the part 17 can be directly assembled into the housing 16; if the gripping position is inaccurate, it needs to be re-grinded. To improve the accuracy of re-grinding the part 17, the auxiliary fixture 91 is preferably set up. The positioning space 92 of the auxiliary fixture 91 is used to temporarily store the part 17, so that the gripping device 50 can accurately grip the part 17 temporarily stored in the positioning space 92 according to the preset position parameters of the auxiliary fixture 91.

[0093] Secondly, the positioning space 92 mainly uses the positioning blocks 93 on its inner sidewall to limit the movement of the workpiece 17, ensuring that the workpiece 17 is stored in a preset position. Because the gripper assembly 52's gripping position of the workpiece 17 is not accurate enough, it needs to be placed on the auxiliary fixture 91 for auxiliary positioning before being gripped again. Therefore, when the gripper assembly 52 places the workpiece 17, whose gripping position is not accurate, into the positioning space 92, it may encounter difficulties in placement, i.e., it cannot be accurately placed into the positioning space 92. Therefore, a guide ramp 94 can be provided on the top of the positioning block 93 to guide the workpiece 17, allowing it to be smoothly placed into the positioning space 92 for a more accurate gripping operation.

[0094] like Figure 1 As shown, preferably, a defective product station 13 can also be installed on the equipment frame 10. During the visual inspection and identification process of the material 17 using the top identification module 71, gripper identification module 76, or bottom identification module 80, if an installation error is detected in a component of the material 17, feedback can be sent to the automated control system. This causes the gripping device 50 to transfer the gripped defective material 17 to the defective product station 13 and prompts the worker to handle the defective product. Through the visual inspection of each identification module, the equipment can detect defects such as component installation errors in the material 17 in real time and automatically transfer the defective product to the defective product station 13, while simultaneously prompting the worker to handle it. This effectively prevents defective products from flowing into subsequent production stages, improves product qualification rate, and reduces quality risks and production costs.

[0095] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A device for automatically identifying the feeding position and intelligently grasping and assembling materials, characterized in that, include: The feeding device (20) receives the material (17) delivered by the external equipment and temporarily stores it on the feeding device (20) at the loading station (11); The conveying device (30) receives the box (16) conveyed from the previous station and conveys it to the assembly station (12) to wait for assembly; The gripping device (50) grips the part (17) from the loading station (11), transfers it to the assembly station (12), and installs the part (17) into the housing (16) to complete the assembly operation; and The identification system (70) automatically identifies the material (17) and the box (16), and assists the gripping device (50) in completing the gripping, transfer and assembly operations of the material (17); The identification system (70) is equipped with a top identification module (71), which is installed above the feeding device (20) to automatically identify the material (17) temporarily stored on the feeding device (20), thereby assisting the gripping device (50) to perform intelligent gripping operation on the material (17).

2. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, The top recognition module (71) is equipped with a top bracket (72), a flat fill light (73), a top camera (74) and a top lens (75). The top bracket (72) is adjustablely mounted on the equipment frame (10). The flat fill light (73) is mounted on the lower end of the top bracket (72). The top camera (74) is mounted on the top bracket (72). The top lens (75) is mounted on the top camera (74).

3. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, The feeding device (20) is provided with a feeding bracket (21), a feeding shaft (23), a feeding conveyor belt (24) and a feeding motor (25). The feeding bracket (21) is installed on the equipment frame (10). The feeding shaft (23) is rotatably connected to the feeding bracket (21). The feeding conveyor belt (24) is sleeved on the feeding shaft (23). The output shaft of the feeding motor (25) is drivenly connected to the feeding shaft (23).

4. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, The conveying device (30) is equipped with a material inlet track (31), a material inlet motor (32) and a blocking component (33) respectively installed on the frame. The output shaft of the material inlet motor (32) is connected to the input shaft of the material inlet track (31). The material inlet track (31) is used to convey the assembly pallet (14). The assembly pallet (14) has a box (16) for waiting to be assembled (17). The blocking component (33) is used to block the assembly pallet (14) and stop it at the assembly station (12) to wait for the gripping device (50) to assemble the material (17) into the box (16).

5. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 4, characterized in that, The conveying device (30) is also provided with a lifting mechanism (40). The lifting mechanism (40) is provided with a lifting base plate (41), a lifting moving plate (42), a lifting cylinder (44), a lifting bearing (45), and a lifting optical shaft (46). The lifting base plate (41) is installed on the equipment frame (10). The lifting moving plate (42) is slidably connected above the lifting base plate (41). The lifting cylinder (44) and the lifting bearing (45) are respectively installed on the lifting base plate (41). One end of the lifting optical shaft (46) is fixed to the lifting moving plate (42), and the other end passes through the lifting bearing (45). The piston rod of the lifting cylinder (44) is connected to the lifting moving plate (42) in a transmission, thereby driving the lifting moving plate (42) to perform a lifting operation.

6. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, The gripping device (50) is equipped with a robot arm (51) and a gripper assembly (52). The gripper assembly (52) is installed on the wrist of the robot arm (51), so that the robot arm (51) drives the gripper assembly (52) to move. The gripper assembly (52) is equipped with a gripper bracket (53), a gripper cylinder (54) and gripper fingers (55). The top of the gripper bracket (53) is installed on the wrist of the robot arm (51). The gripper cylinder (54) is installed on the bottom of the gripper bracket (53). Two sets of gripper fingers (55) are respectively installed on the pistons at both ends of the gripper cylinder (54), so that the gripper cylinder (54) operates and drives the two sets of gripper fingers (55) inserted into the through hole (18) of the material (17), so that the two sets of gripper fingers (55) expand radially outward to grip the material (17).

7. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 6, characterized in that, The gripper assembly (52) is also provided with a wrist support (60), a pressure sensor (61), a wrist spring (62), a wrist bearing (63), a wrist optical axis (64), and a shaft end baffle (65). The upper end of the wrist support (60) is connected to the wrist of the robot arm (51), and its lower end is used to install the gripper support (53). The wrist bearing (63) is fixed to the wrist support (60). The upper end of the wrist optical axis (64) passes through the wrist bearing (63) and is fixed to the shaft end baffle (65), and its lower end is fixed to the gripper support (53). The pressure sensor (61) is installed at the bottom of the wrist support (60). One end of the wrist spring (62) abuts against the pressure sensor (61), and the other end abuts against the gripper support (53).

8. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 7, characterized in that, The identification system (70) is also provided with a gripper identification module (76) for intelligent identification of the material (17) to be processed by the gripping device (50); the gripper identification module (76) is provided with a gripper fill light (77), a gripper camera (78) and a gripper lens (79), the gripper fill light (77) and the gripper camera (78) are respectively installed on the wrist bracket (60), and the gripper lens (79) is installed on the gripper camera (78).

9. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, The identification system (70) is also provided with a bottom identification module (80), which is provided with a bottom bracket (81), a bottom fill light (82), a bottom camera (83) and a bottom lens (84). The bottom bracket (81) is installed on the equipment frame (10), the bottom fill light (82) is installed on the top of the bottom bracket (81), the bottom camera (83) is installed on the bottom bracket (81), and the bottom lens (84) is installed on the bottom camera (83).

10. The device for automatically identifying the feeding position and intelligently grasping and assembling materials according to claim 1, characterized in that, It also includes an auxiliary support (90) and an auxiliary fixture (91). The auxiliary support (90) is installed on the equipment frame (10), and the auxiliary fixture (91) is installed on the top of the auxiliary support (90) for auxiliary positioning of the material (17). The auxiliary fixture (91) is provided with a positioning space (92), and the inner wall of the positioning space (92) is provided with a positioning block (93). The top of the positioning block (93) facing the inside of the positioning space (92) is provided with a guide slope (94).

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