Fastening device and machining apparatus

Abstract

The application provides a buckling device for buckling materials into a to-be-buckled part, comprising a base, a suction module, a driving module and a rotating module; the suction module is used for sucking the materials; the driving module is arranged on the base and connected to the suction module, and is used for adjusting the position of the materials; the driving module comprises a first driving module, a second driving module and a third driving module; the rotating module is connected to the third driving module and the suction module, arranged on the side of the third driving module away from the base, has three rotational degrees of freedom, and is used for driving the suction module to rotate relative to the base; the first driving module is used for driving the suction module to move relative to the base along a first direction, the second driving module is used for driving the suction module to move relative to the base along a second direction, and the third driving module is used for driving the suction module to move relative to the base along a third direction; and the application also provides a processing equipment comprising the buckling device.

Description

Technical Field

[0001] This application relates to the field of processing equipment technology, and in particular to a fastening device and a processing equipment including the fastening device. Background Technology

[0002] As people's demands for smart devices increase, the hardware design of smart devices is becoming more and more complicated. For example, the flexible circuit boards in smartphones are becoming increasingly miniaturized and integrated. During smartphone assembly, it is necessary to fasten the flexible circuit boards with multiple precision electronic interfaces to the female connectors to be fastened. However, due to the high precision requirements for the fastening and assembly of flexible circuit boards in smartphones, manual assembly suffers from low fastening efficiency, and existing processing devices (such as robotic arms) are too large to meet the fastening requirements of materials with multiple precision electronic interfaces and components to be fastened. Utility Model Content

[0003] The first aspect of this application provides a fastening device for pressing material into a component to be fastened, comprising: Base; A suction module for suctioning the material; and A drive module, mounted on the base and connected to the suction module, is used to adjust the position of the material so that it is pressed into the fastening component. The drive module includes a first drive module, a second drive module, and a third drive module. The first drive module is fixed to the base, the second drive module is located on the side of the first drive module facing away from the base, and the third drive module is located on the side of the second drive module facing away from the base. A rotating module, connected to the third drive module and the suction module, is located on the side of the third drive module away from the base. The rotating module has three rotational degrees of freedom and is used to drive the suction module to rotate relative to the base. Wherein, the first driving module is used to drive the suction module to move relative to the base along a first direction, the second driving module is used to drive the suction module to move relative to the base along a second direction, the second direction being perpendicular to the first direction, and the third driving module is used to drive the suction module to move relative to the base along a third direction, the third direction being perpendicular to the first direction and the second direction.

[0004] The fastening device provided in this application embodiment includes a drive module and a rotation module. The drive module adjusts the position of the material so that it is pressed into the fastening component. The first, second, and third drive modules of the drive module can respectively drive the suction module to move relative to the base along a first, second, and third direction, giving the drive module three degrees of freedom of movement. The rotation module, connected to the third drive module and the suction module, has three degrees of freedom of rotation and drives the suction module to rotate relative to the base, thereby giving the fastening device three degrees of freedom of movement. With three rotational degrees of freedom, the suction module, which picks up the material, can be aligned more accurately with the part to be fastened, and can effectively press the material onto the part to be fastened. Compared with manual fastening, the fastening device of this application embodiment is beneficial to improving processing efficiency and reducing production costs. In addition, the fastening device provided in this application embodiment, by fixing the first drive module to the base, the second drive module is disposed on the side of the first drive module away from the base, and the third drive module is disposed on the side of the second drive module away from the base, is beneficial to reducing the volume of the drive module compared with a robot arm, thereby reducing the overall volume of the fastening device.

[0005] In some embodiments, the suction module includes a suction member, a connecting rod, and a pressure sensor; the connecting rod extends parallel to the third direction; the suction member is disposed at one end of the connecting rod near the base for suctioning the material; the pressure sensor is disposed at the other end of the connecting rod for sensing the pressure information of the material pressing against the fastening member.

[0006] In some embodiments, the suction member has a contouring structure on the side away from the connecting rod, the shape of which matches the shape of the surface on which the material is gripped.

[0007] In some embodiments, the rotating module includes a first rotating module, a second rotating module, and a third rotating module; the first rotating module is connected to the third driving module and is used to drive the suction module to rotate around a first axis, the first axis being parallel to the first direction; the second rotating module is disposed on the side of the first rotating module opposite to the third driving module and is used to drive the suction module to rotate around a second axis, the second axis being perpendicular to the first axis; the third rotating module is disposed on the side of the second rotating module opposite to the first rotating module and is used to drive the suction module to rotate around a third axis, the third axis being perpendicular to the second axis.

[0008] In some embodiments, the first rotating module includes a first driving part and a turntable. The first driving part is fixed to the third driving module, and the turntable is disposed on the side of the first driving part away from the third driving module. The turntable is used to drive the second rotating module to rotate around the first axis, so that the suction module rotates around the first axis.

[0009] In some embodiments, the second rotation module includes a second driving part, an arc-shaped slider, and a fixing block. The fixing block is fixed to the side of the turntable away from the first driving part, the arc-shaped slider is slidably disposed on the side of the fixing block away from the first rotation module, and the third rotation module is disposed on the side of the arc-shaped slider away from the first rotation module. The second driving part is used to drive the arc-shaped slider to rotate around the second axis, so that the suction module rotates around the second axis.

[0010] In some embodiments, the fixing block includes a guide surface, the arc-shaped slider includes a contact surface, the contact surface is in contact with the guide surface, and both the contact surface and the guide surface are curved about the second axis; the second driving part is connected to the arc-shaped slider to drive the arc-shaped slider to slide relative to the fixing block to achieve rotation about the second axis.

[0011] In some embodiments, the second driving unit drives the arc-shaped slider to rotate about the second axis relative to the first axis by an angle ranging from -15° to 15°.

[0012] In some embodiments, the third rotation module includes a mounting member, a fixing plate, a third drive unit, and a belt; the mounting member and the third drive unit are disposed on the fixing plate, the mounting member is away from the first rotation module relative to the third drive unit, the belt connects the third drive unit and the mounting member, the suction module is fixed to the mounting member, and the third drive unit is used to drive the belt to rotate so as to drive the suction module to rotate around the third axis.

[0013] A second aspect of this application provides a processing apparatus, comprising: The fastening device as described in any of the above embodiments is used to press the material into the fastening member; A camera, used to acquire the relative position of the material and the fastener; and A control module is electrically connected to the camera, the suction module, and the drive module; the control module is used to control the drive module to press the material into the fastener according to the relative position of the material and the fastening member.

[0014] The processing equipment provided in this application embodiment, by setting the fastening device as described in any of the above embodiments, is used to press the material into the fastening part. The camera is used to acquire the relative position of the material and the fastening part. The control module is electrically connected to the camera, the suction module, and the drive module. The control module is used to control the drive module to press the material into the fastening part according to the relative position of the material and the fastening part. This can effectively press the material into the fastening part. Compared with manual fastening, the processing equipment provided in this application embodiment is beneficial to reducing production costs. Compared with a robotic arm, the processing equipment in this application embodiment is beneficial to reducing the volume of the drive module, thereby reducing the overall volume of the fastening device, and further reducing the volume of the processing equipment. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a fastening device according to an embodiment of this application.

[0016] Figure 2 This is a schematic diagram of the materials and fasteners according to an embodiment of this application.

[0017] Figure 3 for Figure 1 The diagram shows the structure of the rotating module and the suction module.

[0018] Figure 4 for Figure 3 A schematic diagram of the structure of the second rotating module.

[0019] Figure 5 for Figure 3 The diagram shows the structure of the third rotating module and the suction module.

[0020] Figure 6 This is a schematic diagram of a processing device according to an embodiment of this application.

[0021] Explanation of key component symbols: Fastening device 100 Base 1 Absorption Module 3 Extraction component 31 311 contouring structure Connecting rod 32 Pressure sensor 33 Drive Module 5 First drive module 51 Second drive module 52 Third drive module 53 Rotating Module 7 First Rotation Module 71 First Drive Unit 711 Turntable 713 Second Rotation Module 72 Second drive unit 721 Arc-shaped slider 722 7221 bonding surface Fixed block 723 Guide surface 7231 Third Rotation Module 73 Installation part 731 Fixed plate 732 Third Drive Unit 733 Belt 734 Cover plate 735 Buckle 736 First connector 737 Second connector 738 First axis L1 Second axis L2 Third axis L3 900 processing equipment Camera 91 Control Module 93 Material W Electronic Precision Interface W1 Unlocked assembly W0 First direction X Second direction Y Third direction Z The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0022] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0023] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0024] To further illustrate the technical means and effects adopted by this application in achieving its intended purpose, the following detailed description of this application is provided in conjunction with the accompanying drawings and preferred embodiments.

[0025] Please refer to the following: Figure 1 and Figure 2The fastening device 100 provided in this application embodiment is used to press material W into the fastening part W0, and includes a base 1, a suction module 3, a drive module 5, and a rotating module 7. The suction module 3 is used to suction material W. The drive module 5 is disposed on the base 1 and connected to the suction module 3. The drive module 5 is used to adjust the position of material W so that material W is pressed into the fastening part W0. The drive module 5 includes a first drive module 51, a second drive module 52, and a third drive module 53. The first drive module 51 is fixed on the base 1, the second drive module 52 is disposed on the side of the first drive module 51 away from the base 1, and the third drive module 53 is disposed on the side of the second drive module 52 away from the base 1. The rotating module 7 is connected to the third drive module 53 and the suction module 3, and is disposed on the side of the third drive module 53 away from the base 1. The rotating module 7 has three rotational degrees of freedom and is used to drive the suction module 3 to rotate relative to the base 1.

[0026] The first drive module 51 is used to drive the suction module 3 to move relative to the base 1 along the first direction X, the second drive module 52 is used to drive the suction module 3 to move relative to the base 1 along the second direction Y, and the third drive module 53 is used to drive the suction module 3 to move relative to the base 1 along the third direction Z. Specifically, the second direction Y is perpendicular to the first direction X, and the third direction Z is perpendicular to the first direction X and the second direction Y, that is, the third direction Z is perpendicular to the plane formed by the first direction X and the second direction Y; for example, the first direction X can be the y-axis direction in a three-dimensional coordinate system, the second direction Y can be the x-axis direction in a three-dimensional coordinate system, and the third direction Z can be the z-axis direction in a three-dimensional coordinate system.

[0027] The fastening device 100 provided in this embodiment of the application includes a drive module 5 and a rotation module 7. The drive module 5 is used to adjust the position of the material W so that the material W is pressed into the fastening part W0. The first drive module 51, the second drive module 52, and the third drive module 53 of the drive module 5 can respectively drive the suction module 3 to move relative to the base 1 along the first direction X, the second direction Y, and the third direction Z, so that the drive module 5 has three degrees of freedom of movement. The rotation module 7 is connected to the third drive module 53 of the drive module 5 and the suction module 3, and has three degrees of freedom of rotation. It is used to drive the suction module 3 to rotate relative to the base 1, so that the fastening device 100 has three degrees of freedom of movement and three degrees of freedom of rotation, and can suck up the material W. The suction module 3 can be aligned with the part W0 to be fastened more accurately, and can effectively press the material W onto the part W0 to be fastened. Compared with the manual fastening method, the fastening device 100 of this application embodiment is beneficial to improving processing efficiency and reducing production costs. In addition, the fastening device 100 provided in this application embodiment, by fixing the first drive module 51 to the base 1, the second drive module 52 is disposed on the side of the first drive module 51 away from the base 1, and the third drive module 53 is disposed on the side of the second drive module 52 away from the base 1, compared with the robot arm, the fastening device 100 provided in this application does not need to set multiple sequentially connected guide shafts, which is beneficial to reducing the volume of the drive module 5, thereby reducing the overall volume of the fastening device 100.

[0028] In some embodiments, material W is a flexible circuit board with multiple precision electronic interfaces W1 in a smartphone, and the fastening part W0 is a fastening female head that matches material W; in other embodiments, material W and the fastening part W0 can also be other parts to be processed, such as material W being a chip to be installed, and the fastening part W0 being a base 1 with a card slot; the specific requirements are determined according to the usage needs, and this application does not impose any restrictions.

[0029] In some embodiments, the base 1 is generally flat, and the extension direction of the base 1 is parallel to the extension direction of the plane formed by the first direction X and the second direction Y.

[0030] In some embodiments, the suction module 3 suctions material W by vacuum adsorption. The suction module 3 includes a suction member 31, a connecting rod 32, and a pressure sensor 33. The connecting rod 32 extends parallel to the third direction Z; the suction member 31 is disposed at one end of the connecting rod 32 near the base 1 and is used to suction material W. The pressure sensor 33 is disposed at the other end of the connecting rod 32 and is used to sense the pressure information of the material W pressing against the part W0 to be fastened; for example, when the pressure of the material W pressing against the part W0 to be fastened exceeds a preset range, the pressure sensor 33 will issue a warning message to remind the user, thereby helping to improve the fastening yield and thus improving production quality. In this embodiment, the measurement error range of the pressure sensor 33 is 0.3% to 0.5% of its full scale value. For example, the measurement error of the pressure sensor 33 can be 0.4% or 0.3%. The operating temperature range of the pressure sensor 33 is -20℃ to 80℃. For example, the operating temperature of the pressure sensor 33 can be -20℃, -10℃, 0℃, 10℃, 20℃, 30℃, 50℃, 70℃ or 80℃. By selecting the pressure sensor 33 within the above operating temperature range, it is beneficial to reduce the influence of ambient temperature on the sensor and avoid the situation where the sensor has low measurement accuracy due to ambient temperature.

[0031] In some embodiments, a contouring structure 311 is provided on the side of the suction member 31 away from the connecting rod 32. The shape of the contouring structure 311 matches the shape of the surface on which the material W is gripped. Specifically, the contouring structure 311 protrudes towards the base 1. When the suction member 31 picks up the material W, the contouring structure 311 is used to engage the material W to further increase the suction strength. By setting the shape of the contouring structure 311 to match the shape of the surface on which the material W is gripped, it is beneficial for the suction member 31 to adhere to the material W, which helps to improve the suction strength, thereby improving the fastening accuracy and avoiding the situation where the material W falls off due to insufficient gripping.

[0032] In some embodiments, please refer to Figure 1 and Figure 3The rotating module 7 includes a first rotating module 71, a second rotating module 72, and a third rotating module 73. Specifically, the first rotating module 71 is connected to the third driving module 53 and is used to drive the suction module 3 to rotate around a first axis L1. The first axis L1 is parallel to the first direction X. The second rotating module 72 is located on the side of the first rotating module 71 away from the third driving module and is used to drive the suction module 3 to rotate around a second axis L2, which is perpendicular to the first axis L1. The third rotating module 73 is located on the side of the second rotating module 72 away from the first rotating module 71 and is used to drive the suction module 3 to rotate around a third axis L3, which is perpendicular to the second axis L2. For example, when the first direction X is the x-axis direction in the three-dimensional coordinate system, the first rotation module 71 is used to drive the suction module 3 to move around the x-axis, and the first axis L1 is parallel to the x-axis. When the third direction Z is the z-axis direction in the three-dimensional coordinate system, the second rotation module 72 is used to drive the suction module 3 to move around the z-axis, and the second axis L2 is parallel to the z-axis. When the second direction Y is the y-axis direction in the three-dimensional coordinate system, the third rotation module 73 is used to drive the suction module 3 to move around the y-axis, and the third axis L3 is parallel to the y-axis.

[0033] In some embodiments, the first rotating module 71 includes a first driving part 711 and a turntable 713. The first driving part 711 is fixed to the third driving module 53, and the turntable 713 is disposed on the side of the first driving part 711 opposite to the third driving module 53. The turntable 713 is located between the third driving module 53 and the second rotating module 72. The turntable 713 is used to drive the second rotating module 72 to rotate around the first axis L1, so that the suction module 3 rotates around the first axis L1. By disposing the turntable 713 between the third driving module 53 and the second rotating module 72, it is beneficial to further reduce the volume of the rotating module 7, thereby further reducing the overall volume of the fastening device 100.

[0034] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 4 The second rotation module 72 includes a second drive unit 721, an arc-shaped slider 722, and a fixing block 723. The fixing block 723 is fixed to the turntable 713 on the side away from the first drive unit 711. The arc-shaped slider 722 is slidably disposed on the fixing block 723 on the side away from the first rotation module 71. The third rotation module 73 is disposed on the side of the arc-shaped slider 722 away from the first rotation module 71. The second drive unit 721 is used to drive the arc-shaped slider 722 to rotate around the second axis L2, so that the suction module 3 rotates around the second axis L2.

[0035] Specifically, the fixed block 723 includes a guide surface 7231, and the arc-shaped slider 722 includes a contact surface 7221. The contact surface 7221 is attached to the guide surface 7231, and both the contact surface 7221 and the guide surface 7231 are curved about the second axis L2. The second driving part 721 is connected to the arc-shaped slider 722 to drive the arc-shaped slider 722 to slide relative to the fixed block 723 to achieve rotation about the second axis L2. The angle range of the arc-shaped slider 722 driven by the second driving part 721 to rotate about the second axis L2 relative to the first axis L1 is -15° to 15°. The angle of rotation of the arc-shaped slider 722 about the second axis L2 relative to the first axis L1 can be -15°, -13°, -10°, -8°, -5°, 0°, 5°, 8°, 10°, 13° or 15°. By setting the second driving part 721, the arc-shaped slider 722, and the fixing block 723, both the contact surface 7221 and the guide surface 7231 are curved around the second axis L2. This allows the second driving part 721 to drive the arc-shaped slider 722 to rotate around the second axis L2 relative to the first axis L1 by an angle of -15° to 15°. This allows for more precise adjustment of the position of the material W to align with the fastening part W0, effectively pressing the material W onto the fastening part W0, eliminating unnecessary rotation range, and further reducing the volume.

[0036] In other embodiments, the angle range by which the second driving unit 721 drives the arc-shaped slider 722 to rotate around the second axis L2 relative to the first axis L1 can be set according to the actual situation. The larger the arc of the arc-shaped slider 722, the larger the angle range, which is not limited here.

[0037] In some embodiments, please refer to Figure 1 , Figure 3 and Figure 5 The third rotation module 73 includes a mounting component 731, a fixing plate 732, a third drive unit 733, and a belt 734. The mounting component 731 and the third drive unit 733 are disposed on the fixing plate 732. The mounting component 731 is away from the first rotation module 71 relative to the third drive unit 733. The belt 734 connects the third drive unit 733 and the mounting component 731. The suction module 3 is fixed to the mounting component 731. The third drive unit 733 is used to drive the belt 734 to rotate, so as to drive the suction module 3 to rotate around the third axis L3.

[0038] Since the first rotating module 71 needs to drive the second rotating module 72 and the third rotating module 73 to rotate around the first axis L1, the closer the third driving part 733 of the third rotating module 73 is to the first rotating module 71, the less force the first rotating module 71 needs to apply when driving the second rotating module 72 and the third rotating module 73 to rotate around the first axis L1. However, the mounting part 731 needs to drive the suction part 31 to rotate under the drive of the rotating module 7, and a certain amount of movement space needs to be left for the suction part 31. Therefore, the mounting part 731 is far away from the first rotating module 71 relative to the third driving part 733. By setting a belt 734 to connect the third driving part 733 and the mounting part 731, the third driving part 733 drives the belt 734 to rotate, so as to drive the suction module 3 to rotate around the third axis L3. This can make full use of the space and save effort, thereby helping to reduce the power consumption of the rotating module 7. Furthermore, by rotating the belt 734 to drive the suction module 3 to rotate around the third axis L3, it is easy to replace the mounting part 731 and the third drive unit 733, and it is beneficial to adjust the size of the mounting part 731 according to the usage requirements to adapt to different processing needs.

[0039] The third rotating module 73 also includes a cover plate 735; the suction module 3 also includes a buckle 736, a first connecting member 737, and a second connecting member 738. The cover plate 735 is fixed to the fixing plate 732, and the mounting member 731 passes through the cover plate 735 and is fixed to the suction module 3. The buckle 736 is located on the side of the cover plate 735 away from the third driving part 733, and the buckle 736 is fixed to the mounting member 731 to further strengthen the fixing strength of the suction module 3 and the mounting member 731. The first connecting member 737 connects the buckle 736 and the second connecting member 738, and the second connecting member 738 is used to fix the pressure sensor 33 and the connecting rod 32. Through the above arrangement, it is beneficial to further strengthen the fixing strength of the suction module 3 and the mounting member 731 and avoid the suction module 3 from falling off during operation.

[0040] The fastening device 100 provided in this embodiment of the application, by setting a drive module 5 and a rotation module 7, gives the fastening device 100 three degrees of freedom of movement and three degrees of freedom of rotation. The suction module 3, which picks up the material W, can be aligned more accurately with the part W0 to be fastened, and can effectively press the material W onto the part W0 to be fastened. Compared with the manual fastening method, the fastening device 100 of this embodiment of the application is beneficial to improving processing efficiency and reducing production costs. In addition, by fixing the first drive module 51 to the base 1, the second drive module 52 is set on the side of the first drive module 51 away from the base 1, and the third drive module 53 is set on the side of the second drive module 52 away from the base 1, compared with the robotic arm, no additional The external arrangement of multiple sequentially connected guide shafts helps reduce the volume of the drive module 5, thereby reducing the overall volume of the fastening device 100. The installation of pressure sensor 33 helps improve the fastening yield, thereby improving production quality. The installation of first rotation module 71, second rotation module 72, and third rotation module 73 allows for more precise adjustment of the position of material W to align with the part to be fastened W0, effectively pressing material W onto the part to be fastened W0 and improving fastening accuracy. The connection between the second drive unit 721 and the arc-shaped slider 722 drives the arc-shaped slider 722 to slide relative to the fixed block 723 to achieve rotation around the second axis L2, further reducing the volume of the fastening device 100.

[0041] Please refer to the following: Figure 1 and Figure 6 The processing equipment 900 provided in this application embodiment includes a fastening device 100, a camera 91, and a control module 93 as described in any of the above embodiments. The fastening device 100 is used to press the material W into the fastening member W0. The camera 91 is used to acquire the relative position of the material W and the fastening member. The control module 93 is electrically connected to the camera 91, the suction module 3, and the drive module 5; the control module 93 is used to control the drive module 5 to press the material W into the fastening member W0 according to the relative position of the material W and the fastening member W0.

[0042] The processing equipment 900 provided in this application embodiment, by setting the fastening device 100 in any of the above embodiments, is used to press the material W into the fastening part W0. The camera 91 is used to acquire the relative position of the material W and the fastening part. The control module 93 is electrically connected to the camera 91, the suction module 3, and the drive module 5. The control module 93 is used to control the drive module 5 to press the material W into the fastening part W0 according to the relative position of the material W and the fastening part. It can effectively press the material W into the fastening part W0. Compared with the manual fastening method, the processing equipment 900 provided in this application embodiment is beneficial to reducing production costs. Compared with the robotic arm, the processing equipment 900 in this application embodiment is beneficial to reducing the volume of the drive module 5, thereby reducing the overall volume of the fastening device 100 and thus reducing the volume of the processing equipment 900.

[0043] The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application should not depart from the spirit and scope of the technical solutions of this application.

Claims

1. A fastening device for pressing material into a component to be fastened, characterized in that, include: Base; A suction module is used to suction the material. as well as A drive module is disposed on the base and connected to the suction module. The drive module is used to adjust the position of the material so that the material is pressed into the fastening part. The drive module includes a first drive module, a second drive module, and a third drive module. The first drive module is fixed on the base, the second drive module is disposed on the side of the first drive module opposite to the base, and the third drive module is disposed on the side of the second drive module opposite to the base. as well as A rotating module, connected to the third drive module and the suction module, is located on the side of the third drive module away from the base. The rotating module has three rotational degrees of freedom and is used to drive the suction module to rotate relative to the base. Wherein, the first driving module is used to drive the suction module to move relative to the base along a first direction, the second driving module is used to drive the suction module to move relative to the base along a second direction, the second direction being perpendicular to the first direction, and the third driving module is used to drive the suction module to move relative to the base along a third direction, the third direction being perpendicular to the first direction and the second direction.

2. The fastening device according to claim 1, characterized in that, The suction module includes a suction component, a connecting rod, and a pressure sensor; the connecting rod extends parallel to the third direction; the suction component is located at one end of the connecting rod near the base and is used to suction the material; the pressure sensor is located at the other end of the connecting rod and is used to sense the pressure information of the material pressing against the fastener.

3. The fastening device according to claim 2, characterized in that, The suction member has a contouring structure on the side away from the connecting rod, and the shape of the contouring structure matches the shape of the surface on which the material is gripped.

4. The fastening device according to claim 1, characterized in that, The rotation module includes a first rotation module, a second rotation module, and a third rotation module; The first rotation module is connected to the third drive module and is used to drive the suction module to rotate around a first axis, which is parallel to the first direction; the second rotation module is disposed on the side of the first rotation module away from the third drive module and is used to drive the suction module to rotate around a second axis, which is perpendicular to the first axis; the third rotation module is disposed on the side of the second rotation module away from the first rotation module and is used to drive the suction module to rotate around a third axis, which is perpendicular to the second axis.

5. The fastening device according to claim 4, characterized in that, The first rotating module includes a first driving part and a turntable. The first driving part is fixed to the third driving module, and the turntable is disposed on the side of the first driving part away from the third driving module. The turntable is used to drive the second rotating module to rotate around the first axis, so that the suction module rotates around the first axis.

6. The fastening device according to claim 5, characterized in that, The second rotation module includes a second driving part, an arc-shaped slider, and a fixing block. The fixing block is fixed to the turntable on the side away from the first driving part. The arc-shaped slider is slidably disposed on the fixing block on the side away from the first rotation module. The third rotation module is disposed on the side of the arc-shaped slider away from the first rotation module. The second driving part is used to drive the arc-shaped slider to rotate around the second axis, so that the suction module rotates around the second axis.

7. The fastening device according to claim 6, characterized in that, The fixed block includes a guide surface, and the arc-shaped slider includes a contact surface. The contact surface is in contact with the guide surface, and both the contact surface and the guide surface are curved about the second axis. The second driving part is connected to the arc-shaped slider to drive the arc-shaped slider to slide relative to the fixed block to achieve rotation about the second axis.

8. The fastening device according to claim 6, characterized in that, The second driving unit drives the arc-shaped slider to rotate around the second axis relative to the first axis in an angle range of -15° to 15°.

9. The fastening device according to claim 5, characterized in that, The third rotation module includes a mounting component, a fixing plate, a third drive unit, and a belt; the mounting component and the third drive unit are disposed on the fixing plate, the mounting component is away from the first rotation module relative to the third drive unit, the belt connects the third drive unit and the mounting component, the suction module is fixed to the mounting component, and the third drive unit is used to drive the belt to rotate, so as to drive the suction module to rotate around the third axis.

10. A processing device, characterized in that, include: The fastening device as described in any one of claims 1-9; Used to press the material into the fastening component; A camera is used to acquire the relative position of the material and the fastener; as well as The control module is electrically connected to the camera, the acquisition module, and the drive module; The control module is used to control the drive module to press the material into the fastener according to the relative position of the material and the fastening member.

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