CN108323155B

CN108323155B - Automatic assembly machine for electronic products and assembly manipulator thereof

Info

Publication number: CN108323155B
Application number: CN201810202110.4A
Authority: CN
Inventors: 章胜华; 宋亚龙
Original assignee: Shenzhen Sinvo Automatic Co Ltd
Current assignee: Shenzhen Sinvo Automatic Co Ltd
Priority date: 2018-03-12
Filing date: 2018-03-12
Publication date: 2024-04-12
Anticipated expiration: 2038-03-12
Also published as: CN108323155A

Abstract

The invention discloses an automatic electronic product assembling machine and an assembling manipulator thereof, wherein the automatic electronic product assembling machine comprises a driving mechanism, a sliding seat, a fine tuning mechanism, a CCD mechanism, a feeding mechanism, a first assembling manipulator and a second assembling manipulator, wherein the driving mechanism is arranged on a machine table and comprises a transverse assembly, a longitudinal assembly and a lifting assembly, wherein the longitudinal assembly is connected to the transverse assembly; the sliding seat is connected with the output end of the longitudinal assembly; two mounting stations are arranged on the sliding seat; the fine adjustment mechanism comprises two sets, and the two fine adjustment mechanisms are arranged at two mounting stations of the sliding seat; the lifting components comprise two sets, and the two lifting components are respectively arranged at two mounting stations of the sliding seat; the first assembly manipulator and the second assembly manipulator are respectively arranged at the outer sides of the two lifting assemblies and are respectively connected with the output ends of the two lifting assemblies; the CCD mechanism comprises an upper CCD assembly and a lower CCD assembly. The material alignment product assembly part is accurate, the assembly accuracy is high, and the assembly of various electronic components is realized.

Description

Automatic assembly machine for electronic products and assembly manipulator thereof

Technical Field

The invention relates to the field of mechanical automation, in particular to an electronic product automatic assembly machine and an assembly manipulator thereof.

Background

In recent years, intelligent electronic products, such as smart phones, notebook computers, IPAD and other products, are rapidly developed; the wide use of electronic products has become an indispensable tool in daily production and life of people; the electronic product generally uses a PCB as a function integrated carrier, various electronic components (such as a camera, an anti-disassembly patch, a gland, a flat cable, a connector and the like) are connected on the PCB, and various functions such as photographing, anti-disassembly marking, electric connection and the like are realized through the conduction with various functional templates in the PCB. Based on the above, in the production and assembly process of the electronic product, after the product is fixed, various electronic elements are assembled into the product; at present, most production enterprises manually complete assembly by adopting a production line, and as the number of parts of a single product is large, the shapes and the sizes of the parts are different, the assembly can be completed only by arranging a plurality of stations, the assembly line is long, the assembly efficiency is low, and the stability and the consistency are difficult to ensure on the assembly quality. Automatic assembly of electronic components is a future development trend, but because electronic components are small in size and different in shape, the technical difficulties existing in the process of automatic design are as follows: 1. the positioning and aligning difficulty in the assembly process is high; 2. the assembly accuracy is difficult to meet the requirement; 3. the commonality of equipment manipulator is poor, and the equipment of multiple electronic components can't be accomplished to single manipulator, leads to the manipulator of frequently changing in the actual equipment in-process, and complex operation just with high costs.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides an electronic product automatic assembly machine and an assembly manipulator thereof, wherein the electronic product automatic assembly machine has the functions of positioning and calibrating an upper CCD and a lower CCD, so that materials are accurately aligned to an assembly part of a product, the assembly accuracy is effectively ensured through fine adjustment of the relative positions of two assembly manipulators, and the assembly manipulators are integrated with vacuum adsorption and physical clamping into a whole at the same time to realize the carrying and assembly of various electronic components.

The technical scheme adopted by the invention is as follows: an automatic electronic product assembling machine comprises a driving mechanism, a sliding seat, a fine tuning mechanism, a CCD mechanism, a feeding mechanism, a first assembling manipulator and a second assembling manipulator, wherein the driving mechanism is arranged on a machine table and comprises a transverse assembly, a longitudinal assembly and a lifting assembly, wherein the longitudinal assembly and the lifting assembly are connected to the transverse assembly; the slide seat is connected with the output end of the longitudinal assembly and is driven by the transverse assembly and the longitudinal assembly to linearly move in a horizontal plane; two mounting stations are arranged on the sliding seat; the fine adjustment mechanism comprises two sets, wherein the two fine adjustment mechanisms are arranged at two mounting stations of the sliding seat, and output ends of the two fine adjustment mechanisms are respectively arranged along the longitudinal direction and the transverse direction; the lifting components comprise two sets, the two lifting components are respectively arranged at two mounting stations of the sliding seat and are respectively connected with the output ends of the two fine adjustment mechanisms, and the output ends of the two lifting components are downwards arranged; the first assembling manipulator and the second assembling manipulator are respectively arranged at the outer sides of the two lifting assemblies, are respectively connected with the output ends of the two lifting assemblies, and are driven by the lifting assemblies to move in a lifting manner; the two fine adjustment mechanisms drive the first assembly manipulator or the second assembly manipulator to move along a straight line through the lifting assembly so as to adjust the positions and relative angles of the first assembly manipulator and the second assembly manipulator; the feeding mechanism is arranged at the lower part of the sliding seat, and the materials to be assembled are output through the feeding mechanism; the CCD mechanism comprises an upper CCD component and a lower CCD component, wherein the upper CCD component is arranged on the sliding seat and moves along with the sliding seat so as to carry out photographing calibration on the position of a product to be assembled; the lower CCD component is arranged on the machine table; during assembly, after the upper CCD assembly photographs and marks the assembly position of a product placed on the support, the first assembly manipulator or the second assembly manipulator takes materials out of the feeding mechanism, moves to the lower CCD assembly to photograph and marks, and after the industrial personal computer receives position marking signals sent by the upper CCD assembly and the lower CCD assembly to align, the fine adjustment mechanism is controlled to adjust the position of the first assembly manipulator or the second assembly manipulator, and the first assembly manipulator or the second assembly manipulator assembles the materials onto the product.

Preferably, the transverse assembly comprises a transverse motor, a transverse linear module and a transverse sliding seat, wherein the transverse linear module is supported by a fixed support plate arranged on the machine table, a transverse screw rod arranged along the transverse direction is arranged in the transverse linear module, and a transverse screw rod seat is sleeved on the transverse screw rod; the transverse motor is arranged on one side of the transverse linear module, and an output shaft of the transverse motor is connected with the transverse screw rod and drives the transverse screw rod to rotate; the transverse sliding seat is slidably embedded on the transverse linear module and is connected with the transverse screw rod seat, and when the transverse screw rod rotates, the transverse screw rod seat drives the transverse sliding seat to linearly move along the transverse direction.

Preferably, the longitudinal assembly comprises a longitudinal motor and a longitudinal linear module, wherein the longitudinal linear module is arranged on the transverse sliding seat and moves along with the transverse sliding seat; a longitudinal screw rod extending along the longitudinal direction is arranged in the longitudinal linear module, and a longitudinal screw rod seat is sleeved on the longitudinal screw rod; the longitudinal motor is arranged on one side of the longitudinal linear module, and an output shaft of the longitudinal motor is connected with the longitudinal screw rod and drives the longitudinal screw rod to rotate; the sliding seat is slidably embedded on the longitudinal linear module and is connected with the longitudinal screw rod seat, and when the longitudinal screw rod rotates, the longitudinal screw rod seat drives the sliding seat to linearly move along the longitudinal direction.

Preferably, the sliding seat is of an L-shaped plate structure, the right side of the sliding seat is slidably connected to the longitudinal linear module, the front side wall of the sliding seat forms a mounting panel, and two mounting stations are arranged on the mounting panel; the fine adjustment mechanism comprises a transverse fine adjustment assembly and a longitudinal fine adjustment assembly, wherein the transverse fine adjustment mechanism comprises a transverse fine adjustment motor and a transverse fine adjustment sliding seat, and the transverse fine adjustment sliding seat is slidably connected to an installation station of the front side wall of the sliding seat; the transverse fine adjustment motor is connected to the left side of the sliding seat, and the output end of the transverse fine adjustment motor is connected with the transverse fine adjustment sliding seat so as to drive the transverse fine adjustment sliding seat to adjust the position along the transverse direction; the longitudinal fine adjustment assembly comprises a longitudinal fine adjustment motor and a longitudinal fine adjustment sliding seat, wherein the longitudinal fine adjustment motor is arranged on the rear side wall of the sliding seat, and an output shaft of the longitudinal fine adjustment motor penetrates through the sliding seat to extend to the front side of the sliding seat; the longitudinal fine adjustment sliding seat is slidably connected to the bottom plate of the sliding seat and is connected with an output shaft of a longitudinal fine adjustment motor, and the longitudinal fine adjustment motor drives the longitudinal fine adjustment sliding seat to adjust the position along the longitudinal direction.

Preferably, the lifting assembly comprises two sets, and the two lifting assemblies are respectively connected to the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat and respectively move along with the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat; the lifting assembly comprises a lifting motor and a lifting slide seat, wherein the lifting motor is vertically arranged on the front side wall of the transverse fine adjustment slide seat or the longitudinal fine adjustment slide seat, and the output end of the lifting motor is downwards arranged; the lifting slide seat is slidably connected to the front side wall of the transverse fine adjustment slide seat or the longitudinal fine adjustment slide seat along the vertical direction, and is connected with the output end of the lifting motor, and the lifting motor drives the lifting slide seat to move in a lifting manner.

Preferably, the front side wall of the lifting sliding seat is vertically connected with an assembling cylinder, the output end of the assembling cylinder is downward, and the output end of the assembling cylinder is sleeved with a connecting sheet; one end of the connecting sheet is fixed on the output end of the assembling cylinder, and the other end of the connecting sheet is connected with the first assembling manipulator or the second assembling manipulator; the assembling cylinder drives the first assembling manipulator or the second assembling manipulator to move up and down through the connecting sheet so as to assemble materials.

Preferably, the first assembling manipulator comprises a transmission assembly, a shaft arm, a pressure sensor, a material sucking assembly and a material clamping assembly, wherein the shaft arm is of a columnar structure, and an installation space is formed in the shaft arm; the pressure sensor is arranged in the installation space; the transmission assembly is arranged above the shaft arm, the upper end of the transmission assembly is connected with the connecting sheet, the lower end of the transmission assembly is connected with the pressure sensor, and the power of the connecting sheet is transmitted to the pressure sensor; the suction assembly is arranged at the lower part of the pressure sensor, penetrates through the shaft arm and extends to the lower end of the shaft arm, the upper end of the suction assembly is connected with the pressure sensor, and the pressure sensor drives the suction assembly to descend so as to approach and adsorb the camera seat; the clamping assembly is arranged on the outer side of the suction assembly, and clamps a camera positioned on the side part of the camera seat from one side of the lower end of the suction assembly;

The transmission assembly comprises a transmission seat, a transmission spring, a transmission rod and a pushing seat, wherein the transmission rod is slidably inserted into the top of the shaft arm, and the lower end of the transmission rod extends into the installation space; the transmission seat and the pushing seat are respectively connected with the top end and the bottom end of the transmission rod, the transmission seat is connected with the connecting sheet, and the pushing seat is connected with the upper part of the pressure sensor; the transmission spring is sleeved on the transmission rod; when the connecting sheet presses down the transmission seat, the transmission seat presses down the pressure sensor through the transmission rod and the pushing seat, and the pressure sensor presses down the material sucking component and is buffered through the transmission spring;

the material sucking component comprises a vacuum seat, a sliding rod, a reset spring and a vacuum suction head, wherein the sliding rod is vertically inserted into the installation space, is slidably arranged in the shaft arm in a penetrating manner and extends to the lower end of the shaft arm, and an air passage is arranged in the middle of the sliding rod; the vacuum seat is arranged at the upper end of the sliding rod, an air cavity is arranged in the vacuum seat, the air cavity is communicated with an air path in the middle of the sliding rod, and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide bar and is communicated with an air passage in the slide bar, and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat and the slide bar so as to adsorb the camera head seat; the reset spring is sleeved on the slide bar, and two ends of the reset spring are respectively connected with the bottom of the vacuum seat and the bottom of the installation space; the pressure sensor drives the vacuum suction head to be close to the camera head seat through the vacuum seat and the sliding rod, so that the vacuum suction head adsorbs and fixes the camera head seat, or the adsorbed camera head seat is put into a product, and the reset spring is compressed by the vacuum seat; when the vacuum suction head is used for installing the camera head seat into a product, the pressure of the vacuum suction head to the product is sensed by the pressure sensor during installation; after the vacuum suction head is sucked or installed into the camera head seat, the pressure sensor is reset by the rebound force provided by the reset spring;

The clamping assembly comprises a sleeve seat, a clamping cylinder, a compression bar, a poking piece, a supporting rod, a clamping spring, a transmission sleeve, a clamping jaw and a clamping jaw, wherein the sleeve seat is sleeved and fixed on the sliding rod, and one side of the sleeve seat extends to the side part of the sliding rod to form a supporting plane; the support plane is vertically provided with a clamping cylinder with a downward output end; the compression bar is vertically connected to the output end of the clamping cylinder, and the clamping cylinder drives the compression bar to move in a lifting manner; the supporting rod is vertically connected to the bottom of the sleeve seat and extends downwards; the clamping spring is sleeved on the supporting rod; the transmission sleeve is sleeved on the supporting rod in a sliding manner and is close to the lower end of the supporting rod; the upper end and the lower end of the clamping spring are respectively connected to the sleeve seat and the transmission sleeve; the corresponding two side walls of the transmission sleeve are respectively provided with a transmission groove; one end of the poking piece is arranged in the transmission groove and penetrates through the transmission groove to be rotatably connected to the side wall of the supporting rod, and one end of the poking piece is provided with a protruding part; the other end of the poking piece extends to the lower part of the pressing rod to form a supporting plane; the clamping jaws comprise two clamping jaws which are respectively and rotatably connected to the side wall of the lower end of the supporting rod, and springs are arranged between the inner side walls of the two clamping jaws and the outer wall of the supporting rod; the upper end of the clamping jaw is provided with a protruding part; in a natural state, the clamping spring downwards presses the transmission sleeve, and the bottom of the transmission sleeve downwards presses the convex parts of the clamping jaws, so that the two clamping jaws are clamped; when the material is taken and discharged, the material clamping cylinder drives the material clamping cylinder to press the supporting plane at the other end of the shifting sheet, the shifting sheet enables the transmission sleeve to slide upwards along the sliding rod through the protruding part at one end of the shifting sheet, the clamping spring is compressed, and the two clamping jaws are outwards opened through the thrust provided by the spring between the clamping jaws and the sliding rod under the condition that the lower pressure of the transmission sleeve disappears; when the clamping cylinder retracts upwards, the rebound force of the clamping spring pushes the transmission seat downwards, so that the two clamping jaws overcome the elasticity of the spring between the clamping jaw and the sliding rod to clamp the camera head seat.

Preferably, the second assembling manipulator comprises a transmission assembly, a shaft arm, a pressure sensor and a suction assembly, wherein the shaft arm is of a columnar structure, and an installation space is formed in the shaft arm; the pressure sensor is arranged in the installation space; the transmission assembly is arranged above the shaft arm, the upper end of the transmission assembly is connected with the connecting sheet, the lower end of the transmission assembly is connected with the pressure sensor, and the power of the connecting sheet is transmitted to the pressure sensor; the suction component is arranged at the lower part of the pressure sensor, penetrates through the shaft arm and extends to the lower end of the shaft arm, the upper end of the suction component is connected with the pressure sensor, and the pressure sensor drives the suction component to descend so as to approach and suck the anti-disassembly patch;

The material sucking component comprises a vacuum seat, a sliding rod, a reset spring and a vacuum suction head, wherein the sliding rod is vertically inserted into the installation space, is slidably arranged in the shaft arm in a penetrating manner and extends to the lower end of the shaft arm, and an air passage is arranged in the middle of the sliding rod; the vacuum seat is arranged at the upper end of the sliding rod, an air cavity is arranged in the vacuum seat, the air cavity is communicated with an air path in the middle of the sliding rod, and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide bar and is communicated with an air passage in the slide bar, and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat and the slide bar so as to suck the anti-disassembly patch; the reset spring is sleeved on the slide bar, and two ends of the reset spring are respectively connected with the bottom of the vacuum seat and the bottom of the installation space; the pressure sensor drives the vacuum suction head to approach the anti-disassembly patch through the vacuum seat and the sliding rod, so that the vacuum suction head can adsorb and fix the anti-disassembly patch or the adsorbed anti-disassembly patch is filled into a product, and the reset spring is compressed by the vacuum seat; when the anti-disassembly patch is installed in a product by the vacuum suction head, the pressure of the vacuum suction head to the product is sensed by the pressure sensor; after the vacuum suction head is sucked or assembled into the anti-disassembly patch, the pressure sensor is reset by the rebound force provided by the reset spring.

Preferably, the upper CCD assembly comprises a support plate, a bracket, an upper CCD assembly camera, an upper prism frame, an upper prism and an upper light source, wherein the support plate is fixedly arranged at the lower part of the sliding seat; one end of the bracket is fixedly connected to the support plate, and the other end extends leftwards; the upper CCD camera is fixedly arranged at the lower part of the other end of the bracket, and the lens of the upper CCD camera is arranged towards the horizontal direction; the upper prism frame is arranged on the right side wall of the support plate, and an upper prism is fixed in the upper prism frame; the upper light source is fixedly arranged at the lower part of the support plate and is arranged in a vertically corresponding manner with the upper prism; the upper light source emits light to irradiate the assembly position of the product, the light is reflected upwards, and the light enters the upper CCD camera after being refracted by the upper prism so as to be photographed and calibrated;

the lower CCD assembly comprises a supporting seat, a lens bracket, a lower CCD camera, a lower prism frame, a lower prism and a lower light source, wherein the supporting seat is fixedly arranged on the machine table; the lens bracket is vertically arranged on one side of the supporting seat; the lower CCD camera is fixedly arranged on the lens bracket, and the lens of the lower CCD camera is arranged towards the horizontal direction; the lower prism frame is fixedly arranged on the other side of the supporting seat, and a lower prism is fixedly arranged in the lower prism frame; the lower light source is arranged at the upper part of the lower prism frame; after the first assembly manipulator or the second assembly manipulator conveys the materials to the position above the lower light source, the lower light source irradiates the materials, light rays downwards reflect to enter the lower prism, are refracted by the lower prism, and enter the lower CCD camera for photographing calibration.

Preferably, the feeding mechanism comprises a material rack, a winding drum, a material roll, a material taking seat, a material stripping seat, a tensioning roller and a pull roller, wherein the material rack is fixedly arranged on the machine table; the winding drum is rotatably arranged on the side wall of the material rack; the material roll is wound on the winding drum, is a strip-shaped material, and is attached with at least two anti-disassembly patches to be assembled; the stripping seat is arranged on one side of the winding drum, the top surface of the stripping seat is a horizontal plane, the horizontal plane is level with the top of the material roll, and the bottom of the stripping seat is an inclined plane which is inclined downwards; the material taking seats are arranged at one side of the material stripping seats at intervals, and when the end heads of the material rolls penetrate through the material taking seats and the material stripping seats, the material stripping seats strip the anti-disassembly patches on the material rolls onto the material taking seats so as to be clamped by the second assembling mechanical arm; the tensioning roller is arranged at the lower part of the stripping seat, and the material belt of the material roll is wound on the pull roller arranged below the tensioning roller after being tensioned by the tensioning roller, and the pull roller is driven by a motor to rotate so as to pull the material roll out of the winding drum.

An automatic assembly manipulator for electronic products comprises a transmission assembly, a shaft arm, a pressure sensor, a material sucking assembly and a material clamping assembly, wherein the shaft arm is of a columnar structure, and an installation space is formed in the shaft arm; the pressure sensor is arranged in the installation space; the transmission assembly is arranged above the shaft arm, the upper end of the transmission assembly is connected with the connecting sheet, the lower end of the transmission assembly is connected with the pressure sensor, and the power of the connecting sheet is transmitted to the pressure sensor; the suction assembly is arranged at the lower part of the pressure sensor, penetrates through the shaft arm and extends to the lower end of the shaft arm, the upper end of the suction assembly is connected with the pressure sensor, and the pressure sensor drives the suction assembly to descend so as to approach and adsorb the camera seat; the clamping assembly is arranged on the outer side of the suction assembly, and clamps the camera positioned on the side of the camera seat from one side of the lower end of the suction assembly.

Preferably, the transmission assembly comprises a transmission seat, a transmission spring, a transmission rod and a pushing seat, wherein the transmission rod is slidably inserted into the top of the shaft arm, and the lower end of the transmission rod extends into the installation space; the transmission seat and the pushing seat are respectively connected with the top end and the bottom end of the transmission rod, the transmission seat is connected with the connecting sheet, and the pushing seat is connected with the upper part of the pressure sensor; the transmission spring is sleeved on the transmission rod; when the connecting sheet presses down the transmission seat, the transmission seat presses down the pressure sensor through the transmission rod and the pushing seat, and the pressure sensor presses down the material sucking component and is buffered through the transmission spring;

The invention has the beneficial effects that:

the invention improves and innovates aiming at the defects or shortcomings existing in the prior art, designs an electronic product automatic assembly machine and an assembly manipulator thereof, wherein the electronic product automatic assembly machine has the functions of positioning and calibrating upper and lower CCD, enabling materials to be accurately aligned to the assembly part of a product, effectively guaranteeing the assembly accuracy through fine adjustment of the relative positions of two assembly manipulators, and realizing carrying and assembly of various electronic components through the assembly manipulator integrating vacuum adsorption and physical clamping. The invention is applied to the field of automatic assembly of PCB boards of electronic products such as mobile phones, computers, IPAD (integrated circuit boards), and mainly solves the technical problem that various electronic components are automatically, accurately and efficiently assembled on the PCB board by a single machine on the premise of not disassembling and replacing a manipulator; specifically, the electronic components mainly comprise a single camera, a double camera, an anti-disassembly patch, a flexible flat cable, a gland and the like, and the electronic components which can be assembled by the invention are not limited to the above listed categories. The invention integrally comprises a driving mechanism, a fine tuning mechanism, a CCD mechanism, a feeding mechanism, a first assembling manipulator and a second assembling manipulator, wherein the driving mechanism realizes the linear driving of the assembling manipulator in three directions, and the fine tuning mechanism adjusts the respective positions or the relative angles of the two assembling manipulators by respectively driving the two assembling manipulators to move relatively linearly; the CCD component respectively performs shooting calibration on the product assembling position and the material, sends shooting place information to the industrial personal computer, and adjusts the positions of the two assembling manipulators through driving the fine adjustment mechanism after being analyzed by the industrial personal computer; the feeding mechanism is used for outputting sheet materials (such as anti-disassembly patches) attached to the material roll, and when the material roll moves, the anti-disassembly patches are automatically peeled off for being taken out by the assembly manipulator; specifically:

1. The driving mechanism and the fine adjustment mechanism are reasonably and compactly designed: the driving mechanism comprises a transverse component, a longitudinal component and a lifting component, and is different from the traditional driving device in that the driving mechanism comprises two sets of lifting components which are designed in split-charging mode with the transverse component and the longitudinal component; the output ends of the transverse component and the longitudinal component are connected with a sliding seat, and the sliding seat is used as an intermediate transmission part; two assembling stations are arranged on the sliding seat; the fine tuning mechanism comprises a transverse fine tuning component and a longitudinal fine tuning component which are respectively arranged at two assembly stations of a sliding seat, wherein longitudinal and transverse components of the two lifting components independent traditional driving devices are respectively connected with output ends of the transverse fine tuning component and the longitudinal fine tuning component; the output ends of the two lifting assemblies are connected with a first assembling manipulator and a second assembling manipulator; during assembly, the transverse assembly and the longitudinal assembly drive the two assembly manipulators to integrally and synchronously move so as to move the assembly manipulators in a large direction; simultaneously, the linear positions of the two assembly manipulators are respectively and independently adjusted through the transverse fine adjustment assembly and the longitudinal fine adjustment assembly, and when the two assembly manipulators adsorb two ends of a material (such as a flat cable) at the same time, the two assembly manipulators are respectively and longitudinally moved in the longitudinal and transverse directions independently, so that the relative angle adjustment of the two assembly manipulators is realized; the two lifting assemblies are independent of the transverse assembly and the longitudinal assembly and respectively drive the two assembling manipulators to lift and move independently so as to finish material taking or assembling operation;

2. The design of the CCD mechanism of the invention: the CCD mechanism comprises an upper CCD component and a lower CCD component which are respectively arranged on a sliding seat and a machine table, wherein the upper CCD component moves along with the sliding seat in a horizontal plane and is downwards aligned to an assembling position of a product for shooting calibration; the lower CCD component is arranged on the machine table, and after the assembling manipulator takes out the materials, the materials move to the upper side of the lower CCD component along with the sliding seat, and the materials are photographed and calibrated upwards through the lower CCD component; the two CCD components send shooting information to the industrial personal computer, and after the industrial personal computer performs alignment analysis, the driving mechanism or the fine adjustment mechanism is controlled to adjust the position or the angle of the assembly manipulator; because the assembly position or the material volume is smaller, the upper CCD component and the lower CCD component are respectively matched with a light source, and illumination is provided by the light source to be directly irradiated to the assembly position or the material so as to improve shooting quality; meanwhile, for reasonable and compact installation, the upper CCD component and the lower CCD component skillfully introduce the prism into the light path transmission, and light refraction is realized through the prism;

3. the invention relates to an assembly manipulator design: the assembling manipulator mainly completes two actions of taking and assembling, the materials taken or assembled by the assembling manipulator are various electronic components (such as cameras with hard characteristics, flexible flat cables, sheet flexible anti-disassembly patches, sheet hard cover plates and the like), and the electronic components need to control pressure in the process of being assembled on a PCB (printed circuit board) so as to avoid damaging the materials or the PCB during assembly; therefore, the assembly manipulator of the invention comprises a first assembly manipulator and a second assembly manipulator, and the two assembly manipulators can take materials independently or cooperatively (for example, when taking a flat cable, the two assembly manipulators are required to absorb two ends of the flat cable); the assembling manipulator is used for creatively designing an axle arm with an installation space inside as a manipulator main body structure; meanwhile, a pressure sensor is slidably arranged in the installation space, the pressure of the material or the PCB board during material taking or assembly of the assembly manipulator can be detected in real time through the pressure sensor, the upper limit pressure preset by the industrial personal computer is used as a stopping standard, and when the pressure transmitted by the pressure sensor exceeds the upper limit pressure during material taking or assembly, the industrial personal computer controls the driving mechanism to stop moving so as to avoid crushing the material or the product; the upper part of the pressure sensor is provided with a pushing seat, the pushing seat is arranged in the installation space, a transmission rod is vertically connected above the pushing seat, the transmission rod is slidably inserted on the shaft arm and extends to the upper part of the shaft arm, the top of the transmission rod is provided with a transmission seat, and a transmission spring is sleeved on the transmission rod between the transmission seat and the top of the shaft arm; the transmission seat is connected with the output end of the assembly cylinder through the connecting sheet, and when the assembly driving transmission seat descends, the transmission seat drives the pressure sensor to descend through the transmission rod and the pushing seat; the lower part of the pressure sensor is provided with a vacuum seat, the lower end of the vacuum seat is connected with a slide bar, an air cavity in the vacuum seat is communicated with an air passage in the slide bar, and the lower end of the slide bar is provided with a vacuum suction head; when the pressure sensor descends, the vacuum seat drives the sliding rod to descend, so that the vacuum suction head at the lower end of the sliding rod adsorbs flaky materials (such as an anti-disassembly patch, a cover plate, a flat cable and the like) and buffers the flaky materials through the transmission spring; meanwhile, after material taking or assembly is completed, when downward pressure of an assembly cylinder disappears, the pressure sensor is jacked up under the action of a reset spring sleeved on a sliding rod between the vacuum seat and the bottom of the installation space, so that reset is realized; in addition, a clamping component is arranged on one side close to the lower end of the sliding rod, the clamping component can be used for taking and placing hard massive or heavier materials (such as a single camera, a double camera, a cover plate and the like), the clamping component and the suction component independently act, interference cannot occur between the clamping component and the suction component, the clamping component or the suction component can be selected according to actual material conditions to take and place materials, and meanwhile, the clamping component and the suction component can also cooperatively act, for example, when a wire is connected to one side of the camera, the camera can be clamped through the clamping component, and meanwhile, the wire is adsorbed through a vacuum suction head; the clamping assembly is connected to one side of the sliding rod through a sleeve seat, a clamping cylinder is vertically arranged on the outer side of the sleeve seat, the output end of the clamping cylinder is arranged downwards, and a compression bar is connected with the clamping cylinder; the lower part of the sleeve seat is also vertically provided with a supporting rod, the lower part of the supporting rod is slidably sleeved with a transmission sleeve, and a clamping spring is connected between the top of the transmission sleeve and the bottom of the sleeve seat; the corresponding two sides of the transmission sleeve are provided with transmission grooves, and the transmission grooves are rotatably provided with poking sheets which extend outwards to the lower part of the compression bar; the lower end of the supporting rod is rotatably provided with two clamping jaws, and a spring is connected between the two clamping jaws and the supporting rod; in a natural state, the clamping spring presses down the transmission sleeve to enable the two clamping jaws to overcome the spring and open outwards; when the clamping is needed, the clamping cylinder drives the outer side of the shifting piece to press downwards through the pressing rod, the transmission sleeve is jacked on the protruding part on the inner side of the shifting piece, and after the downward pressure of the clamping spring is eliminated, the two clamping jaws are driven by the spring between the clamping jaws and the supporting rod to clamp inwards.

Drawings

Fig. 1 is a schematic perspective view of embodiment 1 of the present invention.

Fig. 2 is a second perspective view of embodiment 1 of the present invention.

Fig. 3 is a third perspective view of embodiment 1 of the present invention.

Fig. 4 is an enlarged schematic view of the structure at a in fig. 1.

Fig. 5 is an enlarged schematic view of the structure at B in fig. 3.

Fig. 6 is an enlarged schematic view of the structure at C in fig. 3.

Fig. 7 is a schematic perspective view of the first assembly robot in fig. 1.

Fig. 8 is a schematic perspective view of a second assembly robot in fig. 1.

Fig. 9 is a schematic perspective view of an assembly robot according to embodiment 2 of the present invention.

Fig. 10 is a schematic diagram showing a second perspective structure of the assembly robot according to embodiment 2 of the present invention.

Fig. 11 is a schematic perspective view of an assembly robot according to embodiment 3 of the present invention.

Fig. 12 is a schematic diagram showing a second perspective structure of the assembly robot according to embodiment 3 of the present invention.

Fig. 13 is a three-dimensional schematic diagram of an assembly robot according to embodiment 3 of the present invention.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

example 1: as shown in fig. 1 to 8, the technical scheme adopted in embodiment 1 of the present invention is as follows: an automatic electronic product assembling machine comprises a driving mechanism, a sliding seat 6, a fine tuning mechanism, a CCD mechanism, a feeding mechanism 17, a first assembling manipulator 7 and a second assembling manipulator 8, wherein the driving mechanism is arranged on a machine table 1 and comprises a transverse assembly, a longitudinal assembly and a lifting assembly, wherein the longitudinal assembly is connected to the transverse assembly; the slide seat 6 is connected with the output end of the longitudinal assembly and is driven by the transverse assembly and the longitudinal assembly to linearly move in a horizontal plane; two mounting stations are arranged on the slide seat 6; the fine adjustment mechanism comprises two sets, wherein the two fine adjustment mechanisms are arranged at two mounting stations of the sliding seat 6, and the output ends of the two fine adjustment mechanisms are respectively arranged along the longitudinal direction and the transverse direction; the lifting components comprise two sets, the two lifting components are respectively arranged at two mounting stations of the sliding seat 6 and are respectively connected with the output ends of the two fine adjustment mechanisms, and the output ends of the two lifting components are downwards arranged; the first assembling manipulator 7 and the second assembling manipulator 8 are respectively arranged at the outer sides of the two lifting assemblies, are respectively connected with the output ends of the two lifting assemblies, and are driven by the lifting assemblies to move up and down; the two fine adjustment mechanisms drive the first assembly manipulator 7 or the second assembly manipulator 8 to move along a straight line through the lifting assembly so as to adjust the positions and relative angles of the first assembly manipulator 7 and the second assembly manipulator 8; the feeding mechanism 17 is arranged at the lower part of the sliding seat 6, and the materials to be assembled are output through the feeding mechanism 17; the CCD mechanism comprises an upper CCD assembly 15 and a lower CCD assembly 16, wherein the upper CCD assembly 15 assembly is arranged on the sliding seat 6 and moves along with the sliding seat 6 so as to carry out photographing calibration on the position to be assembled of the product 18; the lower CCD assembly 16 is arranged on the machine 1; during assembly, after the upper CCD assembly 15 photographs and marks the assembly position of a product 18 placed on a support, the first assembly manipulator 7 or the second assembly manipulator 8 takes materials out of the feeding mechanism 17, moves to the lower CCD assembly 16 to photograph and mark, and after the industrial personal computer receives position marking signals sent by the upper CCD assembly 15 and the lower CCD assembly 16 to align, the fine adjustment mechanism is controlled to adjust the position of the first assembly manipulator 7 or the second assembly manipulator 8, and the first assembly manipulator 7 or the second assembly manipulator 8 assembles the materials onto the product 18.

The transverse assembly comprises a transverse motor 2, a transverse linear module 3 and a transverse sliding seat, wherein the transverse linear module 3 is supported by a fixed support plate arranged on the machine table 1, a transverse screw rod arranged along the transverse direction is arranged in the transverse linear module 3, and a transverse screw rod seat is sleeved on the transverse screw rod; the transverse motor 2 is arranged at one side of the transverse linear module 3, and an output shaft of the transverse motor 2 is connected with the transverse screw rod and drives the transverse screw rod to rotate; the transverse sliding seat is slidably embedded on the transverse linear module 3 and is connected with the transverse screw rod seat, and when the transverse screw rod rotates, the transverse screw rod seat drives the transverse sliding seat to linearly move along the transverse direction.

The longitudinal assembly comprises a longitudinal motor 4 and a longitudinal linear module 5, wherein the longitudinal linear module 5 is arranged on the transverse sliding seat and moves along with the transverse sliding seat; a longitudinal screw rod extending along the longitudinal direction is arranged in the longitudinal linear module 5, and a longitudinal screw rod seat is sleeved on the longitudinal screw rod; the longitudinal motor 4 is arranged at one side of the longitudinal linear module 5, and an output shaft of the longitudinal motor 4 is connected with the longitudinal screw rod and drives the longitudinal screw rod to rotate; the sliding seat 6 is slidably embedded on the longitudinal linear module 5 and is connected with a longitudinal screw rod seat, and when the longitudinal screw rod rotates, the longitudinal screw rod seat drives the sliding seat 6 to linearly move along the longitudinal direction.

The sliding seat 6 is of an L-shaped plate structure, the right side of the sliding seat 6 is slidably connected to the longitudinal linear module 5, the front side wall of the sliding seat 6 forms a mounting panel, and two mounting stations are arranged on the mounting panel; the fine adjustment mechanism comprises a transverse fine adjustment assembly 13 and a longitudinal fine adjustment assembly 14, wherein the transverse fine adjustment assembly 13 comprises a transverse fine adjustment motor and a transverse fine adjustment sliding seat, and the transverse fine adjustment sliding seat is slidably connected at a mounting station of the front side wall of the sliding seat 6; the transverse fine adjustment motor is connected to the left side of the sliding seat 6, and the output end of the transverse fine adjustment motor is connected with the transverse fine adjustment sliding seat so as to drive the transverse fine adjustment sliding seat to adjust the position along the transverse direction; the longitudinal fine adjustment assembly 14 comprises a longitudinal fine adjustment motor and a longitudinal fine adjustment slide seat, wherein the longitudinal fine adjustment motor is arranged on the rear side wall of the slide seat 6, and an output shaft of the longitudinal fine adjustment motor penetrates through the slide seat 6 to extend to the front side of the slide seat 6; the longitudinal fine adjustment slide is slidably connected to the bottom plate of the slide 6 and connected to the output shaft of the longitudinal fine adjustment motor, which drives the longitudinal fine adjustment slide to adjust its position in the longitudinal direction.

The lifting components comprise two sets, and the two lifting components are respectively connected to the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat and respectively move along with the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat; the lifting assembly comprises a lifting motor 9 and a lifting slide seat 10, wherein the lifting motor 9 is vertically arranged on the front side wall of the transverse fine adjustment slide seat or the longitudinal fine adjustment slide seat, and the output end of the lifting motor 9 is downwards arranged; the lifting slide seat 10 is slidably connected to the front side wall of the transverse fine adjustment slide seat or the longitudinal fine adjustment slide seat along the vertical direction, the lifting slide seat 10 is connected with the output end of the lifting motor 9, and the lifting motor 9 drives the lifting slide seat 10 to move up and down.

An assembling cylinder 11 is vertically connected to the front side wall of the lifting sliding seat 10, the output end of the assembling cylinder 11 is arranged downwards, and a connecting sheet 12 is sleeved on the output end of the assembling cylinder 11; one end of the connecting sheet 12 is fixed on the output end of the assembling cylinder 11, and the other end is connected with the first assembling manipulator 7 or the second assembling manipulator 8; the assembling cylinder 11 drives the first assembling robot 7 or the second assembling robot 8 to move up and down through the connecting sheet 12 so as to assemble materials.

The first assembling manipulator 7 comprises a transmission component, a shaft arm 04, a pressure sensor 06, a material sucking component and a material clamping component, wherein the shaft arm 04 is of a columnar structure, and an installation space I is formed in the shaft arm 04; the pressure sensor 06 is arranged in the installation space I; the transmission assembly is arranged above the shaft arm 04, the upper end of the transmission assembly is connected with the connecting sheet 12, the lower end of the transmission assembly is connected with the pressure sensor 06, and the power of the connecting sheet 12 is transmitted to the pressure sensor 06; the suction component is arranged at the lower part of the pressure sensor 06, penetrates through the shaft arm 04 and extends to the lower end of the shaft arm 04, the upper end of the suction component is connected with the pressure sensor 06, and the pressure sensor 06 drives the suction component to descend so as to approach and adsorb the camera head seat a; the clamping assembly is arranged on the outer side of the suction assembly, and clamps a camera b positioned on the side part of the camera seat a from one side of the lower end of the suction assembly;

The transmission assembly comprises a transmission seat 01, a transmission spring 02, a transmission rod 03 and a pushing seat 05, wherein the transmission rod 03 is slidably inserted into the top of the shaft arm 04, and the lower end of the transmission rod 03 extends into the installation space I; the transmission seat 01 and the pushing seat 05 are respectively connected with the top end and the bottom end of the transmission rod 03, the transmission seat 01 is connected with the connecting sheet 12, and the pushing seat 05 is connected with the upper part of the pressure sensor 06; the transmission spring 02 is sleeved on the transmission rod 03; when the connecting sheet 12 presses down the transmission seat 01, the transmission seat 01 presses down the pressure sensor 06 through the transmission rod 03 and the pushing seat 05, the pressure sensor 06 presses down the material sucking component and is buffered through the transmission spring 02;

the material sucking component comprises a vacuum seat 07, a slide bar 08, a reset spring 09 and a vacuum suction head, wherein the slide bar 08 is vertically inserted in an installation space I, the slide bar 08 is slidably penetrated in the shaft arm 04 and extends to the lower end of the shaft arm 04, and an air passage is arranged in the middle of the slide bar 08; the vacuum seat 07 is arranged at the upper end of the slide rod 08, an air cavity is arranged in the vacuum seat 07 and is communicated with an air path in the middle of the slide rod 08, and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide rod 08 and is communicated with an air passage in the slide rod 08, and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat 07 and the slide rod 08 so as to adsorb the camera head seat a; the reset spring 09 is sleeved on the slide rod 08, and two ends of the reset spring 09 are respectively connected to the bottoms of the vacuum seat 07 and the installation space I; the pressure sensor 06 drives the vacuum suction head to be close to the camera head seat a through the vacuum seat 07 and the slide bar 08, so that the vacuum suction head can absorb and fix the camera head seat a or the absorbed camera head seat a is put into a product 18, and the reset spring 09 is compressed by the vacuum seat 07; when the vacuum suction head is used for installing the camera head seat a into the product 18, the pressure of the vacuum suction head to the product 18 during installation is sensed by the pressure sensor 06; after the vacuum suction head is sucked or installed into the camera head seat a, the pressure sensor 06 is reset by the rebound force provided by the reset spring 09;

The clamping assembly comprises a sleeve seat 010, a clamping cylinder 011, a compression bar 012, a poking plate 013, a supporting rod 014, a clamping spring 015, a transmission sleeve 016, a clamping jaw 017 and clamping jaws, wherein the sleeve seat 010 is sleeved and fixed on a sliding rod 08, and one side of the sleeve seat 010 extends to the side part of the sliding rod 08 to form a supporting plane; the supporting plane is vertically provided with a clamping cylinder 011 with a downward output end; the compression bar 012 is vertically connected to the output end of the clamping cylinder 011, and the clamping cylinder 011 drives the compression bar 012 to move up and down; the strut 014 is vertically connected to the bottom of the sleeve 010 and extends downward; the clamping spring 015 is sleeved on the supporting rod 014; the driving sleeve 016 is slidably sleeved on the supporting rod 014 and is close to the lower end of the supporting rod 014; the upper and lower ends of the clamping spring 015 are respectively connected to the sleeve seat 010 and the transmission sleeve 016; the corresponding two side walls of the transmission sleeve 016 are respectively provided with a transmission groove II; one end of the poking plate 013 is arranged in the transmission groove II and rotatably connected to the side wall of the supporting rod 014 through the transmission groove II, and one end of the poking plate 013 is provided with a protruding part; the other end of the poking plate 013 extends to the lower part of the pressing rod 012 to form a supporting plane; the two clamping jaws 017 are respectively and rotatably connected to the side walls of the lower ends of the supporting rods 014, and springs are arranged between the inner side walls of the two clamping jaws 017 and the outer walls of the supporting rods 014; the upper end of the clamping jaw 017 is provided with a protruding part; in a natural state, the clamping spring 015 downwards presses the transmission sleeve 016, and the bottom of the transmission sleeve 016 downwards presses the protruding parts of the clamping jaws 017, so that the two clamping jaws 017 are clamped; when the material is taken and discharged, the material clamping cylinder 011 drives the material clamping cylinder 011 to press down the supporting plane at the other end of the poking plate 013, the poking plate 013 enables the transmission sleeve 016 to slide upwards along the sliding rod 08 through the protruding part at one end of the poking plate, the clamping spring 015 is compressed, and the two clamping jaws 017 are outwards opened through the thrust provided by the spring between the clamping jaws and the sliding rod 08 under the condition that the downward pressure of the transmission sleeve 016 is lost; when the clamping cylinder 011 is retracted upwards, the rebound force of the clamping spring 015 pushes the transmission seat 01 downwards, so that the two clamping jaws 017 overcome the elastic force of the spring between the clamping jaws 017 and the sliding rod 08 to clamp the camera seat a.

The second assembling manipulator 8 comprises a transmission component, a shaft arm 04, a pressure sensor 06 and a suction component, wherein the shaft arm 04 is of a columnar structure, and an installation space I is formed in the shaft arm 04; the pressure sensor 06 is arranged in the installation space I; the transmission assembly is arranged above the shaft arm 04, the upper end of the transmission assembly is connected with the connecting sheet 12, the lower end of the transmission assembly is connected with the pressure sensor 06, and the power of the connecting sheet 12 is transmitted to the pressure sensor 06; the suction component is arranged at the lower part of the pressure sensor 06, penetrates through the shaft arm 04 and extends to the lower end of the shaft arm 04, the upper end of the suction component is connected with the pressure sensor 06, and the pressure sensor 06 drives the suction component to descend so as to approach and suck the anti-disassembly patch 177;

The material sucking component comprises a vacuum seat 07, a slide bar 08, a reset spring 09 and a vacuum suction head, wherein the slide bar 08 is vertically inserted in an installation space I, the slide bar 08 is slidably penetrated in the shaft arm 04 and extends to the lower end of the shaft arm 04, and an air passage is arranged in the middle of the slide bar 08; the vacuum seat 07 is arranged at the upper end of the slide rod 08, an air cavity is arranged in the vacuum seat 07 and is communicated with an air path in the middle of the slide rod 08, and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide rod 08 and is communicated with an air passage in the slide rod 08, and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat 07 and the slide rod 08 so as to suck the anti-disassembly patch 177; the reset spring 09 is sleeved on the slide rod 08, and two ends of the reset spring 09 are respectively connected to the bottoms of the vacuum seat 07 and the installation space I; the pressure sensor 06 drives the vacuum suction head to approach the anti-disassembly patch 177 through the vacuum seat 07 and the slide bar 08, so that the vacuum suction head can adsorb and fix the anti-disassembly patch 177 or the adsorbed anti-disassembly patch 177 is put into a product 18, and the reset spring 09 is compressed by the vacuum seat 07; when the vacuum suction head loads the anti-disassembly patch 177 into the product 18, the pressure of the vacuum suction head to the product 18 during loading is sensed by the pressure sensor 06; after the vacuum suction head is sucked or assembled into the anti-disassembling patch 177, the pressure sensor 06 is reset by the rebound force provided by the reset spring 09.

The upper CCD assembly 15 comprises a support plate 151, a bracket 152, an upper CCD camera 153, an upper prism holder 154, an upper prism 155 and an upper light source 156, wherein the support plate 151 is fixedly arranged at the lower part of the sliding seat 6; one end of the bracket 152 is fixedly connected to the bracket 151, and the other end extends leftwards; the upper CCD camera 153 is fixedly arranged at the lower part of the other end of the bracket 152, and the lens of the upper CCD camera 153 is arranged towards the horizontal direction; the upper prism holder 154 is disposed on the right side wall of the support plate 151, and an upper prism 155 is fixed in the upper prism holder 154; the upper light source 156 is fixedly disposed at the lower portion of the support plate 151 and vertically corresponds to the upper prism 155; the upper light source 156 emits light to irradiate the assembly position of the product 18, the light is reflected upwards, and the light is refracted by the upper prism 155 and enters the upper CCD camera 153 so as to be photographed and calibrated;

the lower CCD assembly 16 includes a support base 161, a lens holder 162, a lower CCD camera 163, a lower prism holder 164, a lower prism 165, and a lower light source 166, wherein the support base 161 is fixedly disposed on the machine 1; the lens bracket 162 is vertically arranged at one side of the supporting seat 161; the lower CCD camera 163 is fixedly arranged on the lens bracket 162, and the lens of the lower CCD camera 163 is arranged towards the horizontal direction; the lower prism frame 164 is fixedly arranged at the other side of the supporting seat 161, and a lower prism 165 is fixedly arranged in the lower prism frame 164; the lower light source 166 is disposed on the upper part of the lower prism frame 164; after the first assembling manipulator 7 or the second assembling manipulator 8 conveys the material to the position above the lower light source 166, the lower light source 166 irradiates the material, light is reflected downwards to enter the lower prism 165, and after being refracted by the lower prism 165, the light enters the lower CCD camera 163 for photographing calibration.

The feeding mechanism 17 comprises a material frame 171, a winding drum 172, a material roll 173, a material taking seat 174, a material stripping seat 175, a tensioning roller 176 and a pull roller 178, wherein the material frame 171 is fixedly arranged on the machine table 1; the reel 172 is rotatably disposed on a side wall of the material frame 171; the roll 173 is wound on the reel 172, the roll 173 is a strip material, and at least two anti-disassembly patches 177 to be assembled are attached to the roll 173; the stripping seat 175 is disposed at one side of the drum 172, the top surface of the stripping seat 175 is a horizontal plane, the horizontal plane is level with the top of the roll 173, and the bottom of the stripping seat 175 is an inclined plane which is inclined downwards; the material taking seat 174 is arranged at one side of the material taking seat 175 at intervals, and when the end of the material roll 173 passes through the material taking seat 174 and the material taking seat 175, the material taking seat 175 strips the anti-disassembly patch 177 on the material roll 173 onto the material taking seat 174 so as to be clamped by the second assembly manipulator 8; the tension roller 176 is disposed below the stripping seat 175, the web of the roll 173 is wound around the pull roller 178 disposed below the tension roller 176 after being tensioned by the tension roller 176, and the pull roller 178 is driven by a motor to rotate so as to pull the roll 173 from the reel 172.

An automatic assembly manipulator for electronic products comprises a transmission assembly, a shaft arm 04, a pressure sensor 06, a material sucking assembly and a material clamping assembly, wherein the shaft arm 04 is of a columnar structure, and an installation space I is formed in the shaft arm 04; the pressure sensor 06 is arranged in the installation space I; the transmission assembly is arranged above the shaft arm 04, the upper end of the transmission assembly is connected with the connecting sheet 12, the lower end of the transmission assembly is connected with the pressure sensor 06, and the power of the connecting sheet 12 is transmitted to the pressure sensor 06; the suction component is arranged at the lower part of the pressure sensor 06, penetrates through the shaft arm 04 and extends to the lower end of the shaft arm 04, the upper end of the suction component is connected with the pressure sensor 06, and the pressure sensor 06 drives the suction component to descend so as to approach and adsorb the camera head seat a; the clamping assembly is arranged on the outer side of the suction assembly, and clamps the camera b positioned on the side part of the camera seat a from one side of the lower end of the suction assembly.

Furthermore, the invention designs the electronic product automatic assembly machine and the assembly manipulator thereof, which have the functions of positioning and calibrating the upper CCD and the lower CCD, so that materials are accurately aligned to the assembly part of the product, the assembly accuracy is effectively ensured through fine adjustment of the relative positions of the two assembly manipulators, and the assembly manipulators integrating vacuum adsorption and physical clamping into a whole are used for carrying and assembling various electronic components. The invention is applied to the field of automatic assembly of PCB boards of electronic products such as mobile phones, computers, IPAD (integrated circuit boards), and mainly solves the technical problem that various electronic components are automatically, accurately and efficiently assembled on the PCB board by a single machine on the premise of not disassembling and replacing a manipulator; specifically, the electronic components mainly comprise a single camera, a double camera, an anti-disassembly patch, a flexible flat cable, a gland and the like, and the electronic components which can be assembled by the invention are not limited to the above listed categories. The invention integrally comprises a driving mechanism, a fine tuning mechanism, a CCD mechanism, a feeding mechanism, a first assembling manipulator and a second assembling manipulator, wherein the driving mechanism realizes the linear driving of the assembling manipulator in three directions, and the fine tuning mechanism adjusts the respective positions or the relative angles of the two assembling manipulators by respectively driving the two assembling manipulators to move relatively linearly; the CCD component respectively performs shooting calibration on the product assembling position and the material, sends shooting place information to the industrial personal computer, and adjusts the positions of the two assembling manipulators through driving the fine adjustment mechanism after being analyzed by the industrial personal computer; the feeding mechanism is used for outputting sheet materials (such as anti-disassembly patches) attached to the material roll, and when the material roll moves, the anti-disassembly patches are automatically peeled off for being taken out by the assembly manipulator; specifically: 1. the driving mechanism and the fine adjustment mechanism are reasonably and compactly designed: the driving mechanism comprises a transverse component, a longitudinal component and a lifting component, and is different from the traditional driving device in that the driving mechanism comprises two sets of lifting components which are designed in split-charging mode with the transverse component and the longitudinal component; the output ends of the transverse component and the longitudinal component are connected with a sliding seat, and the sliding seat is used as an intermediate transmission part; two assembling stations are arranged on the sliding seat; the fine tuning mechanism comprises a transverse fine tuning component and a longitudinal fine tuning component which are respectively arranged at two assembly stations of a sliding seat, wherein longitudinal and transverse components of the two lifting components independent traditional driving devices are respectively connected with output ends of the transverse fine tuning component and the longitudinal fine tuning component; the output ends of the two lifting assemblies are connected with a first assembling manipulator and a second assembling manipulator; during assembly, the transverse assembly and the longitudinal assembly drive the two assembly manipulators to integrally and synchronously move so as to move the assembly manipulators in a large direction; simultaneously, the linear positions of the two assembly manipulators are respectively and independently adjusted through the transverse fine adjustment assembly and the longitudinal fine adjustment assembly, and when the two assembly manipulators adsorb two ends of a material (such as a flat cable) at the same time, the two assembly manipulators are respectively and longitudinally moved in the longitudinal and transverse directions independently, so that the relative angle adjustment of the two assembly manipulators is realized; the two lifting assemblies are independent of the transverse assembly and the longitudinal assembly and respectively drive the two assembling manipulators to lift and move independently so as to finish material taking or assembling operation; 2. the design of the CCD mechanism of the invention: the CCD mechanism comprises an upper CCD component and a lower CCD component which are respectively arranged on a sliding seat and a machine table, wherein the upper CCD component moves along with the sliding seat in a horizontal plane and is downwards aligned to an assembling position of a product for shooting calibration; the lower CCD component is arranged on the machine table, and after the assembling manipulator takes out the materials, the materials move to the upper side of the lower CCD component along with the sliding seat, and the materials are photographed and calibrated upwards through the lower CCD component; the two CCD components send shooting information to the industrial personal computer, and after the industrial personal computer performs alignment analysis, the driving mechanism or the fine adjustment mechanism is controlled to adjust the position or the angle of the assembly manipulator; because the assembly position or the material volume is smaller, the upper CCD component and the lower CCD component are respectively matched with a light source, and illumination is provided by the light source to be directly irradiated to the assembly position or the material so as to improve shooting quality; meanwhile, for reasonable and compact installation, the upper CCD component and the lower CCD component skillfully introduce the prism into the light path transmission, and light refraction is realized through the prism; 3. the invention relates to an assembly manipulator design: the assembling manipulator mainly completes two actions of taking and assembling, the materials taken or assembled by the assembling manipulator are various electronic components (such as cameras with hard characteristics, flexible flat cables, sheet flexible anti-disassembly patches, sheet hard cover plates and the like), and the electronic components need to control pressure in the process of being assembled on a PCB (printed circuit board) so as to avoid damaging the materials or the PCB during assembly; therefore, the assembly manipulator of the invention comprises a first assembly manipulator and a second assembly manipulator, and the two assembly manipulators can take materials independently or cooperatively (for example, when taking a flat cable, the two assembly manipulators are required to absorb two ends of the flat cable); the assembling manipulator is used for creatively designing an axle arm with an installation space inside as a manipulator main body structure; meanwhile, a pressure sensor is slidably arranged in the installation space, the pressure of the material or the PCB board during material taking or assembly of the assembly manipulator can be detected in real time through the pressure sensor, the upper limit pressure preset by the industrial personal computer is used as a stopping standard, and when the pressure transmitted by the pressure sensor exceeds the upper limit pressure during material taking or assembly, the industrial personal computer controls the driving mechanism to stop moving so as to avoid crushing the material or the product; the upper part of the pressure sensor is provided with a pushing seat, the pushing seat is arranged in the installation space, a transmission rod is vertically connected above the pushing seat, the transmission rod is slidably inserted on the shaft arm and extends to the upper part of the shaft arm, the top of the transmission rod is provided with a transmission seat, and a transmission spring is sleeved on the transmission rod between the transmission seat and the top of the shaft arm; the transmission seat is connected with the output end of the assembly cylinder through the connecting sheet, and when the assembly driving transmission seat descends, the transmission seat drives the pressure sensor to descend through the transmission rod and the pushing seat; the lower part of the pressure sensor is provided with a vacuum seat, the lower end of the vacuum seat is connected with a slide bar, an air cavity in the vacuum seat is communicated with an air passage in the slide bar, and the lower end of the slide bar is provided with a vacuum suction head; when the pressure sensor descends, the vacuum seat drives the sliding rod to descend, so that the vacuum suction head at the lower end of the sliding rod adsorbs flaky materials (such as an anti-disassembly patch, a cover plate, a flat cable and the like) and buffers the flaky materials through the transmission spring; meanwhile, after material taking or assembly is completed, when downward pressure of an assembly cylinder disappears, the pressure sensor is jacked up under the action of a reset spring sleeved on a sliding rod between the vacuum seat and the bottom of the installation space, so that reset is realized; in addition, a clamping component is arranged on one side close to the lower end of the sliding rod, the clamping component can be used for taking and placing hard massive or heavier materials (such as a single camera, a double camera, a cover plate and the like), the clamping component and the suction component independently act, interference cannot occur between the clamping component and the suction component, the clamping component or the suction component can be selected according to actual material conditions to take and place materials, and meanwhile, the clamping component and the suction component can also cooperatively act, for example, when a wire is connected to one side of the camera, the camera can be clamped through the clamping component, and meanwhile, the wire is adsorbed through a vacuum suction head; the clamping assembly is connected to one side of the sliding rod through a sleeve seat, a clamping cylinder is vertically arranged on the outer side of the sleeve seat, the output end of the clamping cylinder is arranged downwards, and a compression bar is connected with the clamping cylinder; the lower part of the sleeve seat is also vertically provided with a supporting rod, the lower part of the supporting rod is slidably sleeved with a transmission sleeve, and a clamping spring is connected between the top of the transmission sleeve and the bottom of the sleeve seat; the corresponding two sides of the transmission sleeve are provided with transmission grooves, and the transmission grooves are rotatably provided with poking sheets which extend outwards to the lower part of the compression bar; the lower end of the supporting rod is rotatably provided with two clamping jaws, and a spring is connected between the two clamping jaws and the supporting rod; in a natural state, the clamping spring presses down the transmission sleeve to enable the two clamping jaws to overcome the spring and open outwards; when the clamping is needed, the clamping cylinder drives the outer side of the shifting piece to press downwards through the pressing rod, the transmission sleeve is jacked on the protruding part on the inner side of the shifting piece, and after the downward pressure of the clamping spring is eliminated, the two clamping jaws are driven by the spring between the clamping jaws and the supporting rod to clamp inwards.

Example 2: as shown in fig. 9 and fig. 10, a schematic perspective view of an assembly manipulator according to embodiment 2 of the present invention is shown, where the present embodiment can implement picking, placing and assembling of hard sheet materials such as a cover plate c; the shaft arm, the transmission assembly, the pressure sensor and the suction assembly of the embodiment are the same as those of the embodiment 1; the vacuum adsorption of the materials can be realized through the vacuum adsorption head 018 arranged at the lower end of the slide bar, and the real-time sensing of the pressure during material taking or assembly is realized through the utilization of the pressure sensor; unlike embodiment 1, in this embodiment, the clamping component is directly disposed on the slide rod, specifically: the transmission sleeve 016 of the embodiment is directly sleeved at the lower part close to the sliding rod 08, so that the supporting rod 014 in the embodiment 1 is omitted, and the structural design is simpler and more convenient than that of the embodiment 1; other structures and clamping principles of the clamping assembly are the same as those of the embodiment; meanwhile, the clamping spring 015 of the embodiment is also directly sleeved on the slide rod 08, and the upper and lower ends of the clamping spring 015 are respectively connected with the bottom of the sleeve seat and the top of the transmission sleeve; in addition, in this embodiment, two clamping jaws 017 may be directly disposed on the side wall of the lower end of the sliding rod 08.

Example 3: as shown in fig. 11 to 13, which are schematic perspective views of an assembly manipulator according to embodiment 3 of the present invention, the assembly manipulator according to the present embodiment is mainly used for picking and placing or assembling a dual camera, and the dual camera includes a first camera d and a second camera e; the shaft arm, the transmission assembly, the pressure sensor and the suction assembly of the embodiment are the same as those of the embodiment 1, and the first camera d is adsorbed by the vacuum suction head at the lower end of the slide rod 08; unlike embodiment 1, the sleeve seat 010 of the clamping assembly of this embodiment is not fixedly connected to the slide bar 08, but is fixedly connected to the lifting slide 10 of the lifting assembly, extends to the side of the slide bar 08, and synchronizes the movement of the slide bar 08; the arrangement of the clamping cylinder 011, the compression bar 012, the poking plate 013, the supporting bar 014, the clamping spring 015 and the transmission sleeve 016-level clamping jaw of the clamping assembly is the same as that of the embodiment 1; unlike embodiment 1, the middle part of the strut 014 of this embodiment is provided with an air path, the upper end side part of the strut 014 is provided with a vacuum connector 019 so as to be connected with an external vacuum generating device, and the lower end of the strut 014 is provided with a vacuum suction base 020, and the vacuum generating device makes the lower part of the vacuum suction base 020 generate negative pressure; when the second camera e is taken and placed or assembled, the two clamping jaws 017 clamp from two sides of the second camera e, and meanwhile, the vacuum suction seat 020 sucks the top of the second camera e; the structural design can clamp or adsorb materials more firmly, and can be used for picking up, placing or assembling materials with larger mass; in addition, the clamping assembly and the sucking assembly of the embodiment cooperate with each other, and the first camera d and the second camera e are connected through the flat cable, so that the clamping assembly and the sucking assembly clamp or adsorb and fix the first camera d and the second camera e synchronously during material taking or assembly.

The examples of the present invention are presented only to describe specific embodiments thereof and are not intended to limit the scope of the invention. Certain modifications may be made by those skilled in the art in light of the teachings of this embodiment, and all equivalent changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. An automatic kludge of electronic product which characterized in that: the device comprises a driving mechanism, a sliding seat (6), a fine adjustment mechanism, a CCD mechanism, a feeding mechanism (17), a first assembling manipulator (7) and a second assembling manipulator (8), wherein the driving mechanism is arranged on a machine table (1) and comprises a transverse assembly, a longitudinal assembly and a lifting assembly, wherein the longitudinal assembly is connected to the transverse assembly; the slide seat (6) is connected with the output end of the longitudinal assembly and is driven by the transverse assembly and the longitudinal assembly to linearly move in a horizontal plane; two mounting stations are arranged on the sliding seat (6); the fine adjustment mechanism comprises two sets, the two fine adjustment mechanisms are arranged at two mounting stations of the sliding seat (6), and the output ends of the two fine adjustment mechanisms are respectively arranged along the longitudinal direction and the transverse direction; the lifting components comprise two sets, the two lifting components are respectively arranged at two mounting stations of the sliding seat (6) and are respectively connected with the output ends of the two fine adjustment mechanisms, and the output ends of the two lifting components are downwards arranged; the first assembling manipulator (7) and the second assembling manipulator (8) are respectively arranged at the outer sides of the two lifting assemblies, are respectively connected with the output ends of the two lifting assemblies, and are driven by the lifting assemblies to move in a lifting manner; the two fine adjustment mechanisms drive the first assembly manipulator (7) or the second assembly manipulator (8) to move along a straight line through the lifting assembly so as to adjust the positions and relative angles of the first assembly manipulator (7) and the second assembly manipulator (8); the feeding mechanism (17) is arranged at the lower part of the sliding seat (6), and the materials to be assembled are output through the feeding mechanism (17); the CCD mechanism comprises an upper CCD assembly (15) and a lower CCD assembly (16), wherein the upper CCD assembly (15) assembly is arranged on the sliding seat (6) and moves along with the sliding seat (6) so as to carry out photographing calibration on the position to be assembled of the product (18); the lower CCD component (16) is arranged on the machine table (1); during assembly, after the upper CCD assembly (15) shoots and calibrates the assembly position of a product (18) placed on the support, the first assembly manipulator (7) or the second assembly manipulator (8) takes materials out of the feeding mechanism (17) and moves to the lower CCD assembly (16) to shoot and calibrate, and after the industrial personal computer receives position calibration signals sent by the upper CCD assembly (15) and the lower CCD assembly (16) to align, the fine adjustment mechanism is controlled to adjust the position of the first assembly manipulator (7) or the second assembly manipulator (8), and the first assembly manipulator (7) or the second assembly manipulator (8) assembles the materials onto the product (18).

2. An electronic product automated assembly machine as set forth in claim 1 wherein: the transverse assembly comprises a transverse motor (2), a transverse linear module (3) and a transverse sliding seat, wherein the transverse linear module (3) is supported by a fixed support plate arranged on the machine table (1), a transverse screw rod arranged along the transverse direction is arranged in the transverse linear module (3), and a transverse screw rod seat is sleeved on the transverse screw rod; the transverse motor (2) is arranged at one side of the transverse linear module (3), and an output shaft of the transverse motor (2) is connected with the transverse screw rod and drives the transverse screw rod to rotate; the transverse sliding seat is slidably embedded on the transverse linear module (3) and is connected with the transverse screw rod seat, and when the transverse screw rod rotates, the transverse screw rod seat drives the transverse sliding seat to linearly move along the transverse direction.

3. An electronic product automated assembly machine as set forth in claim 2 wherein: the longitudinal assembly comprises a longitudinal motor (4) and a longitudinal linear module (5), wherein the longitudinal linear module (5) is arranged on the transverse sliding seat and moves along with the transverse sliding seat; a longitudinal screw rod extending along the longitudinal direction is arranged in the longitudinal linear module (5), and a longitudinal screw rod seat is sleeved on the longitudinal screw rod; the longitudinal motor (4) is arranged at one side of the longitudinal linear module (5), and an output shaft of the longitudinal motor (4) is connected with the longitudinal screw rod and drives the longitudinal screw rod to rotate; the sliding seat (6) is slidably embedded on the longitudinal linear module (5) and is connected with the longitudinal screw rod seat, and when the longitudinal screw rod rotates, the longitudinal screw rod seat drives the sliding seat (6) to linearly move along the longitudinal direction.

4. An electronic product automated assembling machine according to claim 3, wherein: the sliding seat (6) is of an L-shaped plate structure, the right side of the sliding seat is slidably connected to the longitudinal linear module (5), the front side wall of the sliding seat (6) forms a mounting panel, and two mounting stations are arranged on the mounting panel; the fine adjustment mechanism comprises a transverse fine adjustment assembly (13) and a longitudinal fine adjustment assembly (14), wherein the transverse fine adjustment assembly (13) comprises a transverse fine adjustment motor and a transverse fine adjustment sliding seat, and the transverse fine adjustment sliding seat is slidably connected to a mounting station of the front side wall of the sliding seat (6); the transverse fine adjustment motor is connected to the left side of the sliding seat (6), and the output end of the transverse fine adjustment motor is connected with the transverse fine adjustment sliding seat so as to drive the transverse fine adjustment sliding seat to adjust the position along the transverse direction; the longitudinal fine adjustment assembly (14) comprises a longitudinal fine adjustment motor and a longitudinal fine adjustment sliding seat, wherein the longitudinal fine adjustment motor is arranged on the rear side wall of the sliding seat (6), and an output shaft of the longitudinal fine adjustment motor penetrates through the sliding seat (6) to extend to the front side of the sliding seat (6); the longitudinal fine adjustment sliding seat is slidably connected to the bottom plate of the sliding seat (6) and is connected with an output shaft of a longitudinal fine adjustment motor, and the longitudinal fine adjustment motor drives the longitudinal fine adjustment sliding seat to adjust the position along the longitudinal direction.

5. An electronic product automated assembling machine according to claim 4, wherein: the lifting components comprise two sets, and the two lifting components are respectively connected to the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat and respectively move along with the transverse fine adjustment sliding seat and the longitudinal fine adjustment sliding seat; the lifting assembly comprises a lifting motor (9) and a lifting slide seat (10), wherein the lifting motor (9) is vertically arranged on the front side wall of the transverse fine adjustment slide seat or the longitudinal fine adjustment slide seat, and the output end of the lifting motor (9) is downwards arranged; the lifting slide seat (10) is slidably connected to the front side wall of the transverse fine adjustment slide seat or the front side wall of the longitudinal fine adjustment slide seat along the vertical direction, the lifting slide seat (10) is connected with the output end of the lifting motor (9), and the lifting motor (9) drives the lifting slide seat (10) to move in a lifting mode.

6. An automated electronic product assembly machine according to claim 5, wherein: an assembling cylinder (11) is vertically connected to the front side wall of the lifting sliding seat (10), the output end of the assembling cylinder (11) is arranged downwards, and a connecting sheet (12) is sleeved on the output end of the assembling cylinder (11); one end of the connecting sheet (12) is fixed on the output end of the assembling cylinder (11), and the other end is connected with the first assembling manipulator (7) or the second assembling manipulator (8); the assembling cylinder (11) drives the first assembling manipulator (7) or the second assembling manipulator (8) to move up and down through the connecting sheet (12) so as to assemble materials.

7. An automated electronic product assembly machine as set forth in claim 6 wherein: the first assembling manipulator (7) comprises a transmission assembly, a shaft arm (04), a pressure sensor (06), a material sucking assembly and a material clamping assembly, wherein the shaft arm (04) is of a columnar structure, and an installation space (I) is formed in the shaft arm (04); the pressure sensor (06) is arranged in the installation space (I); the transmission assembly is arranged above the shaft arm (04), the upper end of the transmission assembly is connected with the connecting sheet (12), the lower end of the transmission assembly is connected with the pressure sensor (06), and the power of the connecting sheet (12) is transmitted to the pressure sensor (06); the suction component is arranged at the lower part of the pressure sensor (06), penetrates through the shaft arm (04) and extends to the lower end of the shaft arm (04), the upper end of the suction component is connected with the pressure sensor (06), and the pressure sensor (06) drives the suction component to descend so as to be close to and adsorb the camera seat (a); the clamping assembly is arranged on the outer side of the suction assembly, and clamps a camera (b) positioned on the side part of the camera seat (a) from one side of the lower end of the suction assembly;

the transmission assembly comprises a transmission seat (01), a transmission spring (02), a transmission rod (03) and a pushing seat (05), wherein the transmission rod (03) is slidably inserted into the top of the shaft arm (04), and the lower end of the transmission rod (03) extends into the installation space (I); the transmission seat (01) and the pushing seat (05) are respectively connected with the top end and the bottom end of the transmission rod (03), the transmission seat (01) is connected with the connecting sheet (12), and the pushing seat (05) is connected with the upper part of the pressure sensor (06); the transmission spring (02) is sleeved on the transmission rod (03); when the connecting sheet (12) presses down the transmission seat (01), the transmission seat (01) presses down the pressure sensor (06) through the transmission rod (03) and the pushing seat (05), and the pressure sensor (06) presses down the material sucking component and is buffered through the transmission spring (02);

The material sucking component comprises a vacuum seat (07), a slide bar (08), a reset spring (09) and a vacuum suction head, wherein the slide bar (08) is vertically inserted into an installation space (I), the slide bar (08) is slidably penetrated into the shaft arm (04) and extends to the lower end of the shaft arm (04), and an air passage is arranged in the middle of the slide bar (08); the vacuum seat (07) is arranged at the upper end of the slide bar (08), an air cavity is arranged in the vacuum seat (07), the air cavity is communicated with an air path in the middle of the slide bar (08), and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide rod (08) and is communicated with an air passage in the slide rod (08), and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat (07) and the slide rod (08) so as to adsorb the camera head seat (a); the reset spring (09) is sleeved on the slide rod (08), and two ends of the reset spring (09) are respectively connected to the bottoms of the vacuum seat (07) and the installation space (I); the pressure sensor (06) drives the vacuum suction head to approach the camera head seat (a) through the vacuum seat (07) and the sliding rod (08), so that the vacuum suction head can adsorb and fix the camera head seat (a), or the adsorbed camera head seat (a) is arranged in a product (18), and the reset spring (09) is compressed by the vacuum seat (07); when the vacuum suction head is used for installing the camera head seat (a) into the product (18), the pressure of the vacuum suction head to the product (18) during installation is sensed by the pressure sensor (06); after the vacuum suction head is sucked or put into the camera head seat (a), the rebound force provided by the reset spring (09) enables the pressure sensor (06) to reset;

The clamping assembly comprises a sleeve seat (010), a clamping cylinder (011), a compression bar (012), a poking plate (013), a supporting rod (014), a clamping spring (015), a transmission sleeve (016), a clamping jaw (017) and clamping jaws, wherein the sleeve seat (010) is sleeved and fixed on a sliding rod (08), and one side of the sleeve seat (010) extends to the side part of the sliding rod (08) to form a supporting plane; a clamping cylinder (011) with a downward output end is vertically arranged on the supporting plane; the compression bar (012) is vertically connected to the output end of the clamping cylinder (011), and the clamping cylinder (011) drives the compression bar (012) to move up and down; the supporting rod (014) is vertically connected to the bottom of the sleeve seat (010) and extends downwards; the clamping spring (015) is sleeved on the supporting rod (014); the transmission sleeve (016) is slidably sleeved on the supporting rod (014) and is close to the lower end of the supporting rod (014); the upper end and the lower end of the clamping spring (015) are respectively connected to the sleeve seat (010) and the transmission sleeve (016); the two corresponding side walls of the transmission sleeve (016) are respectively provided with a transmission groove (II); one end of the poking piece (013) is arranged in the transmission groove (II) and penetrates through the transmission groove (II) to be rotatably connected to the side wall of the supporting rod (014), and one end of the poking piece (013) is provided with a protruding part; the other end of the poking piece (013) extends to the lower part of the pressing rod (012) to form a supporting plane; the clamping jaws (017) comprise two clamping jaws (017) which are respectively and rotatably connected to the side walls of the lower ends of the supporting rods (014), and springs are arranged between the inner side walls of the two clamping jaws (017) and the outer walls of the supporting rods (014); the upper end of the clamping jaw (017) is provided with a protruding part; in a natural state, the clamping spring (015) downwards presses the transmission sleeve (016), and the bottom of the transmission sleeve (016) downwards presses the protruding part of the clamping jaw (017) to clamp the two clamping jaws (017); when the material is taken and discharged, the material clamping cylinder (011) drives the material clamping cylinder (011) to press down the supporting plane at the other end of the poking plate (013), the poking plate (013) enables the transmission sleeve (016) to slide upwards along the sliding rod (08) through the protruding part at one end of the poking plate, the clamping spring (015) is compressed, and the two clamping jaws (017) are outwards opened through the thrust provided by the spring between the clamping jaws and the sliding rod (08) under the condition that the downward pressure of the transmission sleeve (016) disappears; when the clamping cylinder (011) is retracted upwards, the rebound force of the clamping spring (015) pushes the transmission seat (01) downwards, so that the two clamping jaws (017) overcome the elasticity of the spring between the clamping jaws and the sliding rod (08) to clamp the camera head seat (a).

8. An automated electronic product assembly machine as set forth in claim 7 wherein: the second assembling manipulator (8) comprises a transmission assembly, a shaft arm (04), a pressure sensor (06) and a suction assembly, wherein the shaft arm (04) is of a columnar structure, and an installation space (I) is formed in the shaft arm (04); the pressure sensor (06) is arranged in the installation space (I); the transmission assembly is arranged above the shaft arm (04), the upper end of the transmission assembly is connected with the connecting sheet (12), the lower end of the transmission assembly is connected with the pressure sensor (06), and the power of the connecting sheet (12) is transmitted to the pressure sensor (06); the suction component is arranged at the lower part of the pressure sensor (06), penetrates through the shaft arm (04) and extends to the lower end of the shaft arm (04), the upper end of the suction component is connected with the pressure sensor (06), and the pressure sensor (06) drives the suction component to descend so as to approach and suck the anti-disassembly patch (177);

The material sucking component comprises a vacuum seat (07), a slide bar (08), a reset spring (09) and a vacuum suction head, wherein the slide bar (08) is vertically inserted into an installation space (I), the slide bar (08) is slidably penetrated into the shaft arm (04) and extends to the lower end of the shaft arm (04), and an air passage is arranged in the middle of the slide bar (08); the vacuum seat (07) is arranged at the upper end of the slide bar (08), an air cavity is arranged in the vacuum seat (07), the air cavity is communicated with an air path in the middle of the slide bar (08), and one side of the air cavity is connected with an external vacuum generating device; the vacuum suction head is arranged at the lower end of the slide rod (08) and is communicated with an air passage in the slide rod (08), and the vacuum generating device generates negative pressure at the vacuum suction head through the vacuum seat (07) and the slide rod (08) so as to suck the anti-disassembly patch (177); the reset spring (09) is sleeved on the slide rod (08), and two ends of the reset spring (09) are respectively connected to the bottoms of the vacuum seat (07) and the installation space (I); the pressure sensor (06) drives the vacuum suction head to approach the anti-disassembly patch (177) through the vacuum seat (07) and the sliding rod (08), so that the vacuum suction head can adsorb and fix the anti-disassembly patch (177) or the adsorbed anti-disassembly patch (177) is arranged in a product (18), and the reset spring (09) is compressed by the vacuum seat (07); when the anti-disassembly patch (177) is arranged in the product (18) by the vacuum suction head, the pressure of the vacuum suction head to the product (18) during the assembly is sensed by the pressure sensor (06); after the vacuum suction head is sucked or assembled into the anti-disassembly patch (177), the rebound force provided by the reset spring (09) enables the pressure sensor (06) to reset.

9. An automated electronic product assembly machine as set forth in claim 8 wherein: the upper CCD assembly (15) comprises a support plate (151), a bracket (152), an upper CCD camera (153), an upper prism holder (154), an upper prism (155) and an upper light source (156), wherein the support plate (151) is fixedly arranged at the lower part of the sliding seat (6); one end of the bracket (152) is fixedly connected to the support plate (151), and the other end extends leftwards; the upper CCD camera (153) is fixedly arranged at the lower part of the other end of the bracket (152), and the lens of the upper CCD camera (153) is arranged towards the horizontal direction; the upper prism frame (154) is arranged on the right side wall of the support plate (151), and an upper prism (155) is fixed in the upper prism frame (154); the upper light source (156) is fixedly arranged at the lower part of the support plate (151) and is arranged in a vertically corresponding manner with the upper prism (155); the upper light source (156) emits light to irradiate the assembly position of the product (18), the light is reflected upwards, and the light enters the upper CCD camera (153) after being refracted by the upper prism (155) so as to be photographed and calibrated;

the lower CCD assembly (16) comprises a supporting seat (161), a lens bracket (162), a lower CCD camera (163), a lower prism bracket (164), a lower prism (165) and a lower light source (166), wherein the supporting seat (161) is fixedly arranged on the machine table (1); the lens bracket (162) is vertically arranged at one side of the supporting seat (161); the lower CCD camera (163) is fixedly arranged on the lens bracket (162), and the lens of the lower CCD camera (163) is arranged towards the horizontal direction; the lower prism frame (164) is fixedly arranged on the other side of the supporting seat (161), and a lower prism (165) is fixedly arranged in the lower prism frame (164); the lower light source (166) is arranged at the upper part of the lower prism frame (164); after the first assembly manipulator (7) or the second assembly manipulator (8) conveys the material to the position above the lower light source (166), the lower light source (166) irradiates the material, light rays downwards reflect and enter the lower prism (165), and after being refracted by the lower prism (165), the light rays enter the lower CCD camera (163) for photographing calibration.

10. An automated electronic product assembling machine according to claim 9, wherein: the feeding mechanism (17) comprises a material rack (171), a winding drum (172), a material roll (173), a material taking seat (174), a material stripping seat (175), a tensioning roller (176) and a pull roller (178), wherein the material rack (171) is fixedly arranged on the machine table (1); the winding drum (172) is rotatably arranged on the side wall of the material rack (171); the material roll (173) is wound on the winding drum (172), the material roll (173) is a strip material, and at least two anti-disassembly patches (177) to be assembled are attached to the material roll (173); the stripping seat (175) is arranged on one side of the winding drum (172), the top surface of the stripping seat (175) is a horizontal plane, the horizontal plane is level with the top of the material roll (173), and the bottom of the stripping seat (175) is an inclined plane which is inclined downwards; the material taking seats (174) are arranged at one side of the material taking seat (175) at intervals, when the end head of the material roll (173) passes through the material taking seat (174) and the material taking seat (175), the material taking seat (175) strips the anti-disassembly patch (177) on the material roll (173) onto the material taking seat (174) so as to facilitate the clamping of the second assembly manipulator (8); the tensioning roller (176) is arranged at the lower part of the stripping seat (175), the material belt of the material roll (173) is tensioned by the tensioning roller (176) and then wound on the pulling roller (178) arranged below the tensioning roller (176), and the pulling roller (178) is driven by a motor to rotate so as to pull the material roll (173) out of the winding drum (172).

11. An assembly manipulator for use in the automated electronic product assembly machine of claim 1, comprising: the device comprises a transmission assembly, a shaft arm (04), a pressure sensor (06), a material sucking assembly and a material clamping assembly, wherein the shaft arm (04) is of a columnar structure, and an installation space (I) is formed in the shaft arm (04); the pressure sensor (06) is arranged in the installation space (I); the transmission assembly is arranged above the shaft arm (04), the upper end of the transmission assembly is connected with the connecting sheet (12), the lower end of the transmission assembly is connected with the pressure sensor (06), and the power of the connecting sheet (12) is transmitted to the pressure sensor (06); the suction component is arranged at the lower part of the pressure sensor (06), penetrates through the shaft arm (04) and extends to the lower end of the shaft arm (04), the upper end of the suction component is connected with the pressure sensor (06), and the pressure sensor (06) drives the suction component to descend so as to be close to and adsorb the camera seat (a); the clamping assembly is arranged on the outer side of the suction assembly, and clamps the camera (b) positioned on the side part of the camera seat (a) from one side of the lower end of the suction assembly.

12. An assembly manipulator for an automated electronic product assembly machine according to claim 11, wherein: the transmission assembly comprises a transmission seat (01), a transmission spring (02), a transmission rod (03) and a pushing seat (05), wherein the transmission rod (03) is slidably inserted into the top of the shaft arm (04), and the lower end of the transmission rod (03) extends into the installation space (I); the transmission seat (01) and the pushing seat (05) are respectively connected with the top end and the bottom end of the transmission rod (03), the transmission seat (01) is connected with the connecting sheet (12), and the pushing seat (05) is connected with the upper part of the pressure sensor (06); the transmission spring (02) is sleeved on the transmission rod (03); when the connecting sheet (12) presses down the transmission seat (01), the transmission seat (01) presses down the pressure sensor (06) through the transmission rod (03) and the pushing seat (05), and the pressure sensor (06) presses down the material sucking component and is buffered through the transmission spring (02);