Assembly apparatus

Abstract

An assembly apparatus, comprising a first loading device (10), a second loading device (20) and a manipulator (30). The first loading device (10) comprises a first positioning platform (11), a first carrier (12) and a first carrying mechanism (13), wherein the first positioning platform (11) is used for positioning a first workpiece; the first carrier (12) has a first positioning identifier (123); and the first carrying mechanism (13) can carry the first carrier (12) to the first positioning platform (11) so as to suction the first workpiece. The second feeding device (20) comprises a second positioning platform (21), a second carrier (22), a conveying mechanism (23) and a second carrying mechanism (24), wherein the second positioning platform (21) is used for positioning a second workpiece; the second carrier (22) has a second positioning identifier (223); the second carrying mechanism (24) can carry the second workpiece to the second carrier (22), and can adjust the position of the second workpiece relative to the second positioning identifier (223) according to a positional relationship between the first workpiece and the first positioning identifier (123); and the conveying mechanism (23) can convey the second carrier (22) to an assembly station (A). The manipulator (30) is used for carrying to the assembly station (A) the first carrier (12) onto which the first workpiece is suctioned, so that the first carrier (12) is fitted with the second carrier (22), and thus the second workpiece is aligned and assembled with the first workpiece. The assembly apparatus can improve the alignment precision of workpieces and thus achieve precise assembly.

Description

Assembly equipment Technical Field

[0001] The present application relates to the field of assembly technology, and in particular to an assembly device. Background Art

[0002] When two workpieces need to be assembled together, alignment is often necessary. For example, in an in-vehicle display, a glass sheet must be assembled onto a rigid frame. Before assembling the glass sheet onto the rigid frame, the glass sheet and the rigid frame are often placed on a carrier. The position of the glass sheet on the carrier is then adjusted based on the photographic results, thereby adjusting the position of the glass sheet relative to the rigid frame to ensure alignment.

[0003] When the glass sheet is large or a curved screen is used, the corresponding carrier is large. Traditional technology cannot obtain the exact position of the glass sheet in the carrier, making it difficult to achieve precise alignment of the glass sheet with the rigid frame, resulting in poor assembly accuracy.

[0004] Summary of the Invention

[0005] Based on this, it is necessary to provide an assembly device that can improve the alignment accuracy of workpieces to achieve precision assembly in order to address the above problems.

[0006] An assembly device comprising:

[0007] The first loading device includes a first positioning platform, a first carrier, and a first transport mechanism; the first positioning platform is used to position the first workpiece, and the first carrier has a first positioning mark; the first transport mechanism is capable of transporting the first carrier to the first positioning platform to adsorb the first workpiece;

[0008] The second loading device includes a second positioning platform, a second carrier, a conveying mechanism, and a second transporting mechanism; the second positioning platform is used to position the second workpiece, and the second carrier has a second positioning mark; the second transporting mechanism is capable of transporting the second workpiece to the second carrier and adjusting the position of the second workpiece relative to the second positioning mark based on the positional relationship between the first workpiece and the first positioning mark; the conveying mechanism is capable of transporting the second carrier to the assembly station;

[0009] The robot is used to transport the first carrier that absorbs the first workpiece to the assembly station to engage with the second carrier so as to align and assemble the second workpiece with the first workpiece.

[0010] In the assembly equipment described above, when the first workpiece and the second workpiece are respectively adsorbed or placed on the first carrier and the second carrier, the first workpiece is positioned on the first positioning platform and the second workpiece is positioned on the second positioning platform to prevent the first workpiece from being misaligned when the first carrier adsorbs it, and to prevent the second workpiece from being misaligned when the second transport mechanism transports it, thereby ensuring that the first workpiece is in a preset position on the first carrier and that the second workpiece is in a preset position on the second transport mechanism. When the first workpiece is adsorbed onto the first carrier, the first position information of the first workpiece in the coordinate system constructed with the first positioning mark as the reference point is obtained. When the second workpiece is placed on the second carrier, the second position information of the second workpiece in the coordinate system constructed with the second positioning mark as the reference point is obtained. When the first carrier and the second carrier are molded together, the relative position of the first positioning mark and the second positioning mark remains unchanged. In this way, it is determined whether there is a positional deviation between the second workpiece and the first workpiece based on the relationship between the first position information and the second position information. If there is a positional deviation between the second workpiece and the first workpiece, the specific deviation value of the second workpiece relative to the first workpiece is calculated based on the deviation value, and the second conveying mechanism accurately adjusts the position of the second workpiece until the second workpiece is precisely aligned with the first workpiece.

[0011] In one embodiment, the first carrier has a first carrying surface, the first carrying surface is provided with a first adsorption portion and the first positioning mark, and the first adsorption portion is capable of adsorbing the first workpiece.

[0012] In one embodiment, the second carrier has a second carrying surface, the second carrying surface is provided with a second adsorption portion and a second positioning mark, and the second adsorption portion is capable of adsorbing the second workpiece.

[0013] In one embodiment, the positioning mark is a protruding column protruding from the corresponding bearing surface.

[0014] In one embodiment, the first loading device further includes a first visual positioning mechanism, the first visual positioning mechanism being configured to construct a coordinate system using the first positioning mark as a reference point to obtain first position information of the first workpiece;

[0015] The second loading device further includes a second visual positioning mechanism, which is used to construct a coordinate system with the second positioning mark as a reference point to obtain second position information of the second workpiece;

[0016] The assembly equipment also includes a controller, which can control the second conveying mechanism to adjust the position of the second workpiece relative to the second positioning mark based on the relationship between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

[0017] In one embodiment, the first visual positioning mechanism includes a first three-axis linear module and a first camera, and the first three-axis linear module can drive the first camera to move in three mutually perpendicular directions.

[0018] In one embodiment, the second visual positioning mechanism includes a second three-axis linear module and a second camera, and the second three-axis linear module can drive the second camera to move in three mutually perpendicular directions.

[0019] In one embodiment, the first positioning platform includes a placement table and a positioning mechanism. The placement table is used to place the first workpiece, and the positioning mechanism is used to position the first workpiece on the placement table.

[0020] In one embodiment, the positioning mechanism includes a plurality of positioning components, and the plurality of positioning components are arranged around the placement table;

[0021] Each positioning assembly includes a driving member, a positioning column and an elastic member. The positioning column is connected to the driving member, and the elastic member is connected to the positioning column. The driving member can drive the positioning column to approach or move away from the first workpiece; when the positioning column approaches the first workpiece, the elastic member abuts against the first workpiece and is compressed until the positioning column abuts against the first workpiece.

[0022] In one embodiment, the placement table has a light-transmitting hole; the first loading device further includes a first visual positioning mechanism, the first visual positioning mechanism being used to construct a coordinate system with the first positioning mark as a reference point to obtain first position information of the first workpiece;

[0023] When the first transport mechanism transports the first carrier to the first positioning platform to absorb the first workpiece, the first visual positioning mechanism can obtain first position information of the first workpiece through the light-transmitting hole.

[0024] In one embodiment, the first loading device further comprises a buffer platform and a loading platform for carrying the first carrier; the first transport mechanism is capable of placing the first carrier adsorbing the first workpiece on the buffer platform, and the manipulator is capable of grabbing the first carrier from the buffer platform;

[0025] The loading platform, the first positioning platform and the buffer platform are arranged in sequence in the horizontal direction.

[0026] In one embodiment, the first conveying mechanism includes a horizontal moving component, a vertical moving component and a first conveying component, the vertical moving component is fixedly mounted on the horizontal moving component, the first conveying component is connected to the vertical moving component, the horizontal moving component can drive the first conveying component to move between the loading platform, the first positioning platform and the cache platform through the vertical moving component, and the vertical moving component can drive the first conveying component to move in the vertical direction.

[0027] In one embodiment, the first carrier includes a pin sleeve, and the loading platform is provided with a first positioning pin. When the first carrier is on the loading platform, the pin sleeve cooperates with the first positioning pin.

[0028] In one embodiment, the first carrier includes a pin sleeve, and the second carrier includes a second positioning pin;

[0029] When the first carrier and the second carrier are molded together, the pin sleeve of the first carrier cooperates with the second positioning pin of the second carrier.

[0030] In one embodiment, when the first carrier and the second carrier are molded together, the first positioning mark and the second positioning mark are aligned.

[0031] In one embodiment, the first positioning mark and the second positioning mark are both multiple and equal in number. When the first carrier and the second carrier are molded together, the first positioning mark and the second positioning mark are aligned one by one.

[0032] In one embodiment, the second conveying mechanism includes a third three-axis linear module and a second conveying assembly. The third three-axis linear module can drive the second conveying assembly to move in three mutually perpendicular directions to transport the second workpiece to the second carrier, and adjust the position of the second workpiece relative to the second positioning mark according to the positional relationship between the first workpiece and the first positioning mark.

[0033] In one embodiment, the conveying mechanism is capable of conveying the second carrier to the shaping station and the assembly station in sequence;

[0034] The second carrier is provided with a shaping curved surface, and the second transport mechanism can press the second workpiece onto the second carrier located at the shaping station and shape it through the shaping curved surface.

[0035] In one embodiment, the conveying mechanism is capable of conveying the second carrier to the shaping station, the dispensing station, the inspection station and the assembly station in sequence;

[0036] The assembly equipment also includes a dispensing device and a detection device. The dispensing device is used to dispense glue to the second workpiece on the second carrier at the dispensing station, and the detection device is used to detect the dispensing quality of the second workpiece on the second carrier at the detection station.

[0037] In one embodiment, the conveying mechanism can convey the mold carrier formed after the mold is closed at the assembly station to the pressure holding station, the curing station and the disassembly station. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic diagram of an assembly device provided in one embodiment of the present application;

[0039] FIG2 is a front view of the first feeding device;

[0040] FIG3 is an axonometric view of the second feeding device;

[0041] FIG4 is a top view of the first feeding device shown in FIG2 ;

[0042] FIG5 is a plan view of the first carrier;

[0043] FIG6 is a plan view of a second carrier;

[0044] FIG7 is an axonometric view of the first visual positioning mechanism of the first feeding device shown in FIG2 ;

[0045] FIG8 is an axonometric view of the second visual positioning mechanism of the second feeding device shown in FIG3 ;

[0046] FIG9 is a structural diagram of the first transport mechanism and the loading platform of the first loading device shown in FIG2 ;

[0047] FIG10 is a top view of the first positioning platform of the first loading device shown in FIG2 ;

[0048] FIG11 is a plan view of an assembly device provided by another embodiment of the present application;

[0049] FIG12 is a structural diagram of a mold clamping carrier formed after the first carrier and the second carrier of the assembly equipment provided in FIG1 or FIG11 are molded together.

[0050] 100. Assembly equipment; 10. First loading device; 11. First positioning platform; 111. Placement table; 1111. Light hole; 112. Positioning assembly; 1121. Driving member; 1122. Positioning column; 1123. Elastic member; 12. First carrier; 121. First bearing surface; 122. First adsorption portion; 123. First positioning mark; 124. First body; 125. Pin sleeve; 13. First conveying mechanism; 131. Horizontal moving assembly; 132. Vertical moving assembly; 133. First conveying assembly; 14. Cache platform; 15. First visual positioning mechanism; 151. First three-axis linear module; 152. First camera; 16. Loading platform ;161. First positioning pin;20. Second loading device;21. Second positioning platform;22. Second carrier;221. Second carrying surface;222. Second adsorption part;223. Second positioning mark;224. Second body;225. Second positioning pin;23. Conveying mechanism;24. Second transport mechanism;241. Third three-axis linear module;242. Second transport assembly;25. Second visual positioning mechanism;251. Second three-axis linear module;252. Second camera;30. Robot;40. Locking mechanism;A. Assembly station;B. Molding station;C. Glue dispensing station;D. Inspection station;E. Pressure holding station;F. Curing station;G. Disassembly station. DETAILED DESCRIPTION

[0051] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0052] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0054] In this application, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0055] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0057] Referring to Figure 1 , one embodiment of the present application provides an assembly apparatus 100 for assembling a second workpiece onto a first workpiece. In some embodiments, the first workpiece is a rigid frame, and the second workpiece is a glass sheet. Assembly apparatus 100 is capable of assembling the glass sheet onto the rigid frame to form an in-vehicle display. Of course, in other embodiments, the types of the first and second workpieces are not limited.

[0058] 1 to 3 , the assembly equipment 100 includes a first loading device 10 and a second loading device 20 . The first loading device 10 and the second loading device 20 are used for loading a first workpiece and a second workpiece, respectively.

[0059] Referring to Figures 2, 4 and 5, the first loading device 10 includes a first positioning platform 11, a first carrier 12, a first transport mechanism 13 and a buffer platform 14. The first positioning platform 11 is used to position the first workpiece, and the first carrier 12 has a first positioning mark 123. Specifically, the first carrier 12 has a first carrying surface 121, and the first carrying surface 121 is provided with a first adsorption portion 122 and a first positioning mark 123. The first adsorption portion 122 can adsorb the first workpiece. The first transport mechanism 13 can transport the first carrier 12 to the first positioning platform 11 to adsorb the first workpiece, and transport the first carrier 12 adsorbing the first workpiece to the buffer platform 14. That is, when loading the first workpiece, the first workpiece is first positioned on the first positioning platform 11, and the first transport mechanism 13 can transport the first carrier 12 to the first positioning platform 11. Its first adsorption portion 122 can adsorb the first workpiece, and the first transport mechanism 13 transports the first carrier 12 adsorbing the first workpiece to the buffer platform 14 to wait. Generally, the buffer platform 14 is provided with a vacuum adsorption device, which can continuously perform vacuum adsorption on the first carrier 12 to prevent the first carrier 12 and the first workpiece from shifting.

[0060] Referring to Figures 3 and 6 , the second loading device 20 includes a second positioning platform 21, a second carrier 22, a conveying mechanism 23, and a second transport mechanism 24. The second positioning platform 21 is used to position the second workpiece, and the second carrier 22 has a second positioning mark 223. Specifically, the second carrier 22 has a second carrying surface 221, which is provided with a second suction portion 222 and a second positioning mark 223. The second suction portion 222 is capable of sucking the second workpiece. The second transport mechanism 24 is capable of transporting the second workpiece onto the second carrier 22 and adjusting the position of the second workpiece relative to the second positioning mark 223 based on the positional relationship between the first workpiece and the first positioning mark 123. The conveying mechanism 23 is capable of transporting the second carrier 22 to the assembly station A. That is, when loading the second workpiece, the second workpiece is first positioned on the second positioning platform 21, the second conveying mechanism 24 can convey the second workpiece to the second carrier 22, and adjust the position of the second workpiece relative to the second positioning mark 223, and the conveying mechanism 23 can convey the second carrier 22 carrying the second workpiece to the assembly station A to wait.

[0061] Continuing with FIG1 , the assembly apparatus 100 further includes a robot arm 30 . The robot arm 30 is capable of grasping the first carrier 12 located on the buffer platform 14 , transporting the first carrier 12 with the first workpiece attached thereto to the assembly station A, and then closing the first carrier 12 with the second carrier 22 , thereby aligning the second workpiece with the first workpiece and assembling it onto the first workpiece. It should be understood that in other embodiments, the first loading device 10 may omit the buffer platform 14 . In this case, the robot arm 30 directly grasps the first carrier 12 transported by the first transport mechanism 13 .

[0062] Generally, when the first carrier 12 and the second carrier 22 are molded together, the first carrier 12 is located above the second carrier 22 . At this time, the second carrier 22 serves as a lower mold and the first carrier 12 serves as an upper mold.

[0063] In the assembly equipment 100 provided in an embodiment of the present application, when the first workpiece and the second workpiece are respectively adsorbed or placed on the first carrier 12 and the second carrier 22, the first workpiece is positioned on the first positioning platform 11 and the second workpiece is positioned on the second positioning platform 21, so as to prevent the first carrier 12 from deviating from its position when adsorbing the first workpiece, and to prevent the second transport mechanism 24 from deviating from its position when transporting the second workpiece, thereby ensuring that the first workpiece is in a preset position on the first carrier 12 and the second workpiece is in a preset position on the second transport mechanism 24. When the first workpiece is adsorbed onto the first carrier 12, the first position information of the first workpiece in the coordinate system constructed with the first positioning mark 123 as the reference point is obtained. When the second workpiece is placed on the second carrier 22, the second position information of the second workpiece in the coordinate system constructed with the second positioning mark 223 as the reference point is obtained. When the first carrier 12 and the second carrier 22 are molded together, the relative position of the first positioning mark 123 and the second positioning mark 223 remains unchanged. In this way, it is determined whether there is a positional deviation between the second workpiece and the first workpiece based on the relationship between the first position information and the second position information. If there is a positional deviation between the second workpiece and the first workpiece, the specific deviation value of the second workpiece relative to the first workpiece is calculated based on the deviation value, and the second conveying mechanism 24 accurately adjusts the position of the second workpiece until the second workpiece is precisely aligned with the first workpiece, thereby realizing precise assembly of the first workpiece and the second workpiece.

[0064] Further, with continued reference to FIG2 , the first loading device 10 includes a first visual positioning mechanism 15 , which is used to construct a coordinate system with the first positioning mark 123 as a reference point to obtain first position information of the first workpiece. With continued reference to FIG3 , the second loading device 20 also includes a second visual positioning mechanism 25 , which is used to construct a coordinate system with the second positioning mark 223 as a reference point to obtain second position information of the second workpiece. The assembly equipment 100 also includes a controller, which can control the second transport mechanism 24 to adjust the position of the second workpiece relative to the second positioning mark 223 based on the relationship between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

[0065] In the above-mentioned setting, the first visual positioning mechanism 15 captures the position of the first workpiece and the first positioning mark 123, and constructs a first coordinate system with the first positioning mark 123 as a reference point (generally the origin of the coordinate system), thereby obtaining the coordinate value of the first workpiece in the first coordinate system. The second visual positioning mechanism 25 captures the position of the second workpiece and the second positioning mark 223, and constructs a second coordinate system with the second positioning mark 223 as a reference point (generally the origin of the coordinate system), thereby obtaining the coordinate value of the second workpiece in the second coordinate system. By comparing and analyzing the coordinate value of the second workpiece with the coordinate value of the first workpiece through the controller, it can be determined whether the second workpiece has a position deviation relative to the first workpiece. Based on the difference between the two coordinate systems, the controller can calculate the specific deviation value of the second workpiece relative to the first workpiece, and the second conveying mechanism 24 can accurately adjust the position of the second workpiece according to the deviation value until the second workpiece is aligned with the first workpiece.

[0066] Referring to FIG7 , the first visual positioning mechanism 15 includes a first three-axis linear module 151 and a first camera 152. The first three-axis linear module 151 can drive the first camera 152 to move in three mutually perpendicular directions. Specifically, there are two first cameras 152, and both of the two first cameras 152 can move in three mutually perpendicular directions. The two first cameras 152 cooperate with each other to obtain the coordinate value of the first workpiece in the first coordinate system. Referring to FIG8 , the second visual positioning mechanism 25 includes a second three-axis linear module 251 and a second camera 252. The second three-axis linear module 251 can drive the second camera 252 to move in three mutually perpendicular directions. Specifically, there are two second cameras 252, and both of the two second cameras 252 can move in three mutually perpendicular directions. The two second cameras 252 cooperate with each other to obtain the coordinate value of the second workpiece in the second coordinate system.

[0067] In some embodiments, when the first carrier 12 and the second carrier 22 are molded together, the first positioning mark 123 and the second positioning mark 223 are aligned. In this way, the first coordinate system and the second coordinate system can be regarded as the same coordinate system. After obtaining the coordinate values ​​of the first workpiece and the second workpiece, it is possible to determine whether the second workpiece has a positional deviation relative to the first workpiece without performing coordinate system conversion.

[0068] Specifically, the first positioning mark 123 and the second positioning mark 223 are both protruding columns protruding from the corresponding bearing surfaces. Of course, in other embodiments, the first positioning mark 123 and the second positioning mark 223 can also be holes or other pattern marks.

[0069] In some specific embodiments, both the first positioning marks 123 and the second positioning marks 223 are multiple and equal in number. When the first carrier 12 and the second carrier 22 are molded together, the first positioning marks 123 and the second positioning marks 223 are aligned one by one. Thus, when obtaining the coordinate values ​​of the first workpiece, the multiple first positioning marks 123 can be used as reference points, while when obtaining the coordinate values ​​of the second workpiece, the multiple second positioning marks 223 can be used as reference points. In this way, by comparing the multiple coordinate values, the alignment accuracy of the first and second workpieces can be further guaranteed.

[0070] In some embodiments, referring to Figures 2 and 9 , the first loading device 10 further includes a loading platform 16 for supporting the first carrier 12. The loading platform 16, the first positioning platform 11, and the buffer platform 14 are arranged horizontally in sequence. The first transport mechanism 13 includes a horizontal moving assembly 131, a vertical moving assembly 132, and a first transport assembly 133. The vertical moving assembly 132 is fixedly mounted on the horizontal moving assembly 131, and the first transport assembly 133 is connected to the vertical moving assembly 132. The horizontal moving assembly 131 can drive the first transport assembly 133 to move between the loading platform 16, the first positioning platform 11, and the buffer platform 14 via the vertical moving assembly 132. The vertical moving assembly 132 can also drive the first transport assembly 133 to move vertically. Thus, the first transport assembly 133 of the first transport mechanism 13 can move in two directions to move the first carrier 12 between the loading platform 16, the first positioning platform 11, and the buffer platform 14, and perform corresponding pick-and-place operations, resulting in a simple structure for the first transport mechanism 13.

[0071] It is conceivable that in other embodiments, the first transport mechanism 13 may also be configured in other ways, such as using a three-axis moving mechanism to achieve movement of the first transport assembly 133 in three directions, which is not limited here.

[0072] Furthermore, the horizontal moving assembly 131 includes a horizontal moving member and two guide rails extending in the horizontal direction. The horizontal moving member drives the first transport assembly 133 to move in the horizontal direction under the guidance of the guide rails.

[0073] In some embodiments, the first transport assembly 133 includes a plurality of grippers that cooperate to pick up and place the first carrier 12. Of course, in other embodiments, the first transport assembly 133 can also be configured in other ways, such as including a suction cup that absorbs the first carrier 12, which is not limited here.

[0074] Referring to Figures 5, 9, and 12, the loading platform 16 is provided with a first locating pin 161. The first carrier 12 includes a first body 124 and a pin sleeve 125. The first bearing surface 121 and the pin sleeve 125 are both disposed on the first body 124. When the first carrier 12 is on the loading platform 16, its pin sleeve 125 cooperates with the first locating pin 161, positioning the first carrier 12 on the loading platform 16. Furthermore, referring to Figures 6 and 12, the second carrier 22 includes a second body 224 and a second locating pin 225. The second bearing surface 221 and the second locating pin 225 are disposed on the second body 224. When the first carrier 12 and the second carrier 22 are molded together, the pin sleeve 125 of the first carrier 12 cooperates with the second locating pin 225 of the second carrier 22, thereby reducing the alignment time of the first and second carriers 12, 22, improving operational efficiency, and reducing alignment errors.

[0075] In some embodiments, referring to FIG10 , the first positioning platform 11 includes a placement table 111 and a positioning mechanism, the placement table 111 is used to place the first workpiece, and the positioning mechanism is used to position the first workpiece on the placement table 111. Furthermore, the positioning mechanism includes a plurality of positioning assemblies 112, and the plurality of positioning assemblies 112 are respectively arranged around the placement table 111. Each positioning assembly 112 includes a driving member 1121, a positioning column 1122, and an elastic member 1123. The positioning column 1122 is connected to the driving member 1121, and the elastic member 1123 is connected to the positioning column 1122. The driving member 1121 is a cylinder or a motor, which can drive the positioning column 1122 to approach or move away from the first workpiece. When the positioning column 1122 approaches the first workpiece, the elastic member 1123 abuts against the first workpiece and is compressed until the positioning column 1122 abuts against the first workpiece. That is, when positioning the first workpiece, the elastic member 1123 first contacts the first workpiece to initially position it, and then after the elastic member 1123 is compressed to a certain extent, the positioning column 1122 contacts the first workpiece to complete the positioning of the first workpiece.

[0076] It is conceivable that in other embodiments, the positioning mechanism may also adopt other configurations, as long as it can achieve the positioning of the first workpiece, and this is not limited here.

[0077] Referring to Figures 2 and 10 , the first visual positioning mechanism 15 is vertically positioned below the first positioning platform 11. The placement platform 111 has a light-transmitting aperture 1111. After the first transport assembly 133 of the first transport mechanism 13 transports the first carrier 12 from the loading platform 16 to the first positioning platform 11 to absorb the first workpiece, that is, after the first workpiece is absorbed by the first carrier 12, the first visual positioning mechanism 15 can obtain the coordinates of the first workpiece in the first coordinate system through the light-transmitting aperture 1111.

[0078] It should be noted that the first three-axis linear module 151 of the first visual positioning mechanism 15 is capable of driving the first camera 152 to move in the aforementioned horizontal and vertical directions. When the first transport mechanism 13 transports the first carrier 12 to absorb the first workpiece, its first suction portion 122 and first positioning mark 123 face downward to the first workpiece, thereby absorbing the first workpiece.

[0079] In some embodiments, referring again to Figure 1 , a conveying mechanism 23 can sequentially transport a second carrier 22 to shaping station B and the aforementioned assembly station A. The second carrier 22 is provided with a curved shaping surface, and a second transport mechanism 24 can press a second workpiece onto the second carrier 22 in shaping station B, where it is shaped into a curved surface. Thus, when the second workpiece is a sheet of glass, the second transport mechanism 24 can transport the flat sheet of glass to shaping station B and press it down onto the second carrier 22. The curved shaping surface of the second carrier 22 can then shape the glass sheet into a curved surface. When the curved glass is assembled with the rigid frame, a curved in-vehicle display is formed.

[0080] In some specific embodiments, the second transport mechanism 24 is mounted above the conveying mechanism 23 to facilitate downward pressing of the second workpiece located at the shaping station B. Further, referring to FIG3 , the second transport mechanism 24 includes a third three-axis linear module 241 and a second transport assembly 242. The third three-axis linear module 241 is capable of driving the second transport assembly 242 to move in three mutually perpendicular directions. For example, the third three-axis linear module 241 is capable of driving the second transport assembly 242 to move in the horizontal direction, the vertical direction, and a direction perpendicular to both the horizontal and vertical directions, thereby pressing the second workpiece downward into the second carrier 22 located at the shaping station B. After the shaping of the second workpiece is completed, the second visual positioning mechanism 25 is capable of obtaining the coordinate values ​​of the second workpiece in the second coordinate system. The controller compares and analyzes the coordinate values ​​of the second workpiece with the coordinate values ​​of the first workpiece to determine whether there is a positional deviation of the second workpiece relative to the first workpiece. If there is a positional deviation between the second workpiece and the first workpiece, the second transport mechanism 24 is controlled to move the second workpiece and press again until the second workpiece is aligned with the first workpiece.

[0081] In some embodiments, with continued reference to FIG. 1 , the assembly apparatus 100 further includes a glue dispensing station C and an inspection station D. The conveying mechanism 23 can sequentially convey the second carrier 22 to the shaping station B, the glue dispensing station C, the inspection station D, and the assembly station A. The assembly apparatus 100 further includes a glue dispensing device and an inspection device. The glue dispensing device is used to dispense glue to the second workpiece on the second carrier 22 at the glue dispensing station C, and the inspection device is used to inspect the quality of the glue dispensed on the second workpiece on the second carrier 22 at the inspection station D. Thus, after the first carrier 12 and the second carrier 22 are molded together, the second workpiece can be bonded to the first workpiece via glue, facilitating the mutual fixation of the first and second workpieces.

[0082] Further, referring to Figure 11, the assembly equipment 100 also includes a pressure holding station E, a curing station F and a disassembly station G. The conveying mechanism 23 can convey the mold carrier after the mold is closed at the assembly station A to the pressure holding station E, the curing station F and the disassembly station G. After the pressure is maintained at the pressure holding station E and the curing is performed at the curing station F, the second workpiece can be stably assembled with the first workpiece. Referring to Figure 12, after the first carrier 12 and the second carrier 22 are closed, they are locked by a locking mechanism 40 (screw assembly or snap assembly). The locking mechanism 40 can be unlocked at the disassembly station G to unload the assembled first workpiece and the second workpiece. Finally, the first carrier 12 is transported to the loading platform 16 by the manipulator 30 or other mechanism for adsorbing the new first workpiece, and the second carrier 22 is refluxed for carrying the new second workpiece.

[0083] Using the assembly device 100 provided in the embodiment of the present application, the process of assembling the first workpiece and the second workpiece is as follows:

[0084] The first workpiece is loaded onto the placement table 111 of the first positioning platform 11. Multiple positioning components 112 simultaneously position the first workpiece. At the same time, the first carrier 12 is on the loading platform 16, and its pin sleeve 125 cooperates with the first positioning pin 161 of the loading platform 16 for positioning. The first conveying component 133 grabs the first carrier 12 and transports it to the first positioning platform 11 to adsorb the first workpiece. The first visual positioning mechanism 15 obtains the position of the first workpiece and the first positioning mark 123, and determines the position of the first workpiece on the first carrier 12. The first conveying mechanism 13 transports the first carrier 12 with the first workpiece adsorbed to the buffer platform 14, waiting for mold closing with the second carrier 22.

[0085] The second workpiece is loaded onto the second positioning platform 21. The second handling mechanism 24 grabs the second workpiece, while the conveying mechanism 23 transports the second carrier 22 to the shaping station B. The second handling mechanism 24 presses the second workpiece down onto the shaping surface of the second carrier 22, shaping the second workpiece from 2D to 3D. The second visual positioning mechanism 25 detects the position of the second workpiece and the second positioning marker 223. The controller compares and analyzes the coordinates of the second workpiece with those of the first workpiece to determine whether there is a positional deviation between the second workpiece and the first. Based on the difference between the two coordinate systems, the controller can also calculate the specific deviation of the second workpiece relative to the first. The second handling mechanism 24 then accurately adjusts the position of the second workpiece based on this deviation until the second workpiece is aligned with the first. Generally, if the position of the second workpiece is still out of range after three adjustments, it is discarded. If the position is correct, the second suction unit 222 applies vacuum suction to the second workpiece to fix the position of the second workpiece and the second positioning marker 223.

[0086] The conveying mechanism 23 conveys the second carrier 22 to the glue dispensing station C, and the glue dispensing device dispenses glue on the second workpiece. The conveying mechanism 23 conveys the second carrier 22 to the inspection station D, and the inspection device inspects the glue dispensing quality. The conveying mechanism 23 conveys the second carrier 22 to the assembly station A, and the robot 30 grabs the first carrier 12 located on the buffer platform 14 and molds it with the second carrier 22 to form a molded carrier. Among them, when the first carrier 12 and the second carrier 22 are molded together, the second positioning pin 225 of the second carrier 22 is inserted into the pin sleeve 125 of the first carrier 12, and the locking mechanism 40 locks the first carrier 12 and the second carrier 22. When the first carrier 12 and the second carrier 22 are molded together to form a molded carrier, the positions of the second workpiece and the first workpiece are precisely aligned, and the second workpiece is glued to the first workpiece, thereby realizing the precise assembly of the second workpiece and the first workpiece.

[0087] The conveying mechanism 23 can convey the mold carrier after the mold is closed at the assembly station A to the pressure holding station E, the curing station F and the disassembly station G. After the pressure is maintained at the pressure holding station E and the curing is performed at the curing station F, the second workpiece can be stably assembled with the first workpiece. After the first carrier 12 and the second carrier 22 are closed, they are locked by the locking mechanism 40 (screw assembly or snap assembly). The locking mechanism 40 can be unlocked at the disassembly station G to unload the assembled first workpiece and the second workpiece. Finally, the first carrier 12 is transported to the loading platform 16 by the manipulator 30 or other mechanism for adsorbing the new first workpiece, and the second carrier 22 is refluxed to carry the new second workpiece.

[0088] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An assembly device, characterized in that: include: A first loading device (10) comprises a first positioning platform (11), a first carrier (12) and a first transport mechanism (13); the first positioning platform (11) is used to position a first workpiece, and the first carrier (12) has a first positioning mark (123); the first transport mechanism (13) is capable of transporting the first carrier (12) to the first positioning platform (11) to adsorb the first workpiece; The second loading device (20) comprises a second positioning platform (21), a second carrier (22), a conveying mechanism (23) and a second transporting mechanism (24); the second positioning platform (21) is used to position the second workpiece, and the second carrier (22) has a second positioning mark (223); the second transporting mechanism (24) can transport the second workpiece to the second carrier (22) and adjust the position of the second workpiece relative to the second positioning mark (223) according to the positional relationship between the first workpiece and the first positioning mark (123); the conveying mechanism (23) can transport the second carrier (22) to the assembly station (A); The robot (30) is used to transport the first carrier (12) that absorbs the first workpiece to the assembly station (A) to mate with the second carrier (22) so that the second workpiece is aligned with the first workpiece and assembled.

2. The assembly device according to claim 1, characterized in that: The first carrier (12) has a first carrying surface (121), the first carrying surface (121) is provided with a first adsorption portion (122) and the first positioning mark (123), and the first adsorption portion (122) is capable of adsorbing the first workpiece.

3. The assembly equipment according to claim 1, characterized in that: The second carrier (22) has a second carrying surface (221), the second carrying surface (221) is provided with a second adsorption portion (222) and the second positioning mark (223), and the second adsorption portion (222) is capable of adsorbing the second workpiece.

4. The assembly device according to claim 2 or 3, characterized in that: The positioning mark is a convex column convexly arranged on the corresponding bearing surface.

5. The assembly device according to claim 1, characterized in that: The first loading device (10) further comprises a first visual positioning mechanism (15), wherein the first visual positioning mechanism (15) is used to construct a coordinate system with the first positioning mark (123) as a reference point to obtain first position information of the first workpiece; The second loading device (20) further comprises a second visual positioning mechanism (25), wherein the second visual positioning mechanism (25) is used to construct a coordinate system with the second positioning mark (223) as a reference point to obtain second position information of the second workpiece; The assembly equipment also includes a controller, which can control the second transport mechanism (24) to adjust the position of the second workpiece relative to the second positioning mark (223) based on the relationship between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

6. The assembly device according to claim 5, characterized in that: The first visual positioning mechanism (15) comprises a first three-axis linear module (151) and a first camera (152); the first three-axis linear module (151) can drive the first camera (152) to move in three mutually perpendicular directions.

7. The assembly device according to claim 5, characterized in that: The second visual positioning mechanism (25) comprises a second three-axis linear module (251) and a second camera (252); the second three-axis linear module (251) can drive the second camera (252) to move in three mutually perpendicular directions.

8. The assembly device according to claim 1, characterized in that: The first positioning platform (11) comprises a placement table (111) and a positioning mechanism, the placement table (111) being used to place the first workpiece, and the positioning mechanism being used to position the first workpiece on the placement table (111).

9. The assembly device according to claim 8, characterized in that: The positioning mechanism comprises a plurality of positioning components (112), and the plurality of positioning components (112) are arranged around the placement platform (111); Each of the positioning components (112) comprises a driving member (1121), a positioning column (1122) and an elastic member (1123), wherein the positioning column (1122) is connected to the driving member (1121), and the elastic member (1123) The driving member (1121) is connected to the positioning column (1122), and can drive the positioning column (1122) to approach or move away from the first workpiece; when the positioning column (1122) approaches the first workpiece, the elastic member (1123) abuts against the first workpiece and is compressed until the positioning column (1122) abuts against the first workpiece.

10. The assembly device according to claim 8, characterized in that The placement table (111) has a light-transmitting hole (1111); the first loading device (10) further comprises a first visual positioning mechanism (15), the first visual positioning mechanism (15) being used to construct a coordinate system with the first positioning mark (123) as a reference point to obtain first position information of the first workpiece; When the first transport mechanism (13) transports the first carrier (12) to the first positioning platform (11) to absorb the first workpiece, the first visual positioning mechanism (15) can obtain first position information of the first workpiece through the light-transmitting hole (1111).

11. The assembly device according to claim 1, characterized in that: The first loading device (10) further comprises a buffer platform (14) and a loading platform (16) for carrying the first carrier (12); the first transport mechanism (13) is capable of placing the first carrier (12) adsorbing the first workpiece on the buffer platform (14), and the manipulator (30) is capable of grabbing the first carrier (12) from the buffer platform (14); The loading platform (16), the first positioning platform (11) and the buffer platform (14) are arranged in sequence in the horizontal direction.

12. The assembly device according to claim 11, characterized in that The first transport mechanism (13) comprises a horizontal moving component (131), a vertical moving component (132) and a first transport component (133); the vertical moving component (132) is fixedly mounted on the horizontal moving component (131); the first transport component (133) is connected to the vertical moving component (132); the horizontal moving component (131) can drive the first transport component (133) to move between the loading platform (16), the first positioning platform (11) and the buffer platform (14) through the vertical moving component (132); the vertical moving component (132) can drive the first transport component (133) to move in the vertical direction.

13. The assembly device according to claim 11, characterized in that The first carrier (12) comprises a pin sleeve (125), and the loading platform (16) is provided with a first positioning pin (161). When the first carrier (12) is on the loading platform (16), the pin sleeve (125) cooperates with the first positioning pin (161).

14. The assembly device according to claim 1, characterized in that The first carrier (12) includes a pin sleeve (125), and the second carrier (22) includes a second positioning pin (225); When the first carrier (12) and the second carrier (22) are molded together, the pin sleeve (125) of the first carrier (12) cooperates with the second positioning pin (225) of the second carrier (22).

15. The assembly device according to claim 1, characterized in that When the first carrier (12) and the second carrier (22) are molded together, the first positioning mark (123) and the second positioning mark (223) are aligned.

16. The assembly device according to claim 15, characterized in that The first positioning mark (123) and the second positioning mark (223) are both multiple and equal in number. When the first carrier (12) and the second carrier (22) are molded together, the first positioning mark (123) and the second positioning mark (223) are aligned one by one.

17. The assembly device according to claim 1, characterized in that The second transport mechanism (24) comprises a third three-axis linear module (241) and a second transport component (242), wherein the third three-axis linear module (241) can drive the second transport component (242) to move in three mutually perpendicular directions to transport the second workpiece to the second carrier (22), and adjust the position of the second workpiece relative to the second positioning mark (223) according to the positional relationship between the first workpiece and the first positioning mark (123).

18. The assembly device according to claim 1, characterized in that The conveying mechanism (23) is capable of conveying the second carrier (22) to the shaping station (B) and the assembly station (A) in sequence; The second carrier (22) is provided with a shaping curved surface, and the second transport mechanism (24) can press the second workpiece onto the second carrier (22) located at the shaping station (B) and shape it through the shaping curved surface.

19. The assembly device according to claim 18, characterized in that The conveying mechanism (23) is capable of conveying the second carrier (22) to the shaping station (B), the glue dispensing station (C), the inspection station (D) and the assembly station (A) in sequence; The assembly equipment also includes a glue dispensing device and a detection device, wherein the glue dispensing device is used to dispense glue to the second workpiece on the second carrier (22) located at the glue dispensing station (C), and the detection device is used to detect the glue dispensing quality of the second workpiece on the second carrier (22) located at the detection station (D).

20. The assembly device according to claim 18, characterized in that The conveying mechanism (23) can convey the mold carrier formed after mold closing at the assembly station (A) to the pressure holding station (E), the curing station (F) and the disassembly station (G).

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