CN109291074A - Automated workpiece joining apparatus and automated workpiece joining method - Google Patents
Automated workpiece joining apparatus and automated workpiece joining method Download PDFInfo
- Publication number
- CN109291074A CN109291074A CN201710799440.1A CN201710799440A CN109291074A CN 109291074 A CN109291074 A CN 109291074A CN 201710799440 A CN201710799440 A CN 201710799440A CN 109291074 A CN109291074 A CN 109291074A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- mechanical arm
- automation
- posture
- photographic device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 46
- 239000003292 glue Substances 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims description 58
- 238000004026 adhesive bonding Methods 0.000 claims description 14
- 238000003475 lamination Methods 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 15
- 238000011161 development Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention provides an automatic workpiece jointing device and an automatic workpiece jointing method. The automatic workpiece jointing equipment comprises a camera device, a dispensing unit, a mechanical arm and a processing unit. The image pickup device acquires an image of a workpiece to be processed; the dispensing unit is arranged adjacent to the camera device; the mechanical arm is arranged around the camera device and is suitable for picking up a workpiece; the processing unit is electrically coupled with the camera device, the dispensing unit and the mechanical arm, wherein after the processing unit controls the mechanical arm to pick up the workpiece, the mechanical arm moves the workpiece to an image acquisition position adjacent to the camera device so that the camera device can acquire an attitude image of the workpiece, the processing unit corrects the attitude of the workpiece according to the attitude image, and the mechanical arm moves the workpiece to the dispensing unit and applies glue to the workpiece so as to attach the two workpieces.
Description
Technical field
The present invention relates to a kind of automation equipment and automatic method more particularly to a kind of automation workpiece engagement equipment and
Automate workpiece joint method.
Background technique
With the development of science and technology the equipment that actively development automates, in the hope of conventional assembling flow path is taken using machinery
Generation, and saved manpower is more effectively put into research and development.
For example, in order to reduce parts use and electronic device overall aesthetics, to reduce on workpiece
Holes quantity, therefore the assembling of workpiece can choose and is combined with gluing.
The aforementioned engagement step that two workpiece are bonded together using glue includes at least the dispensing on the binding face of workpiece,
And make to make two binding faces close to fitting after the binding face of workpiece is facing.The two steps are usually to utilize manual type
It carries out.
It needs to apply for a large amount of operator in the way of manually being engaged.In addition, the position of gluing is formal on workpiece
The experience of operator is closed, because glue sites will will affect the aesthetics after workpiece engages, and can or can not excessive glue and then shadow
Ring the misgivings such as other assemblies in workpiece.Also, be also possible to because operator divert one's attention, tired or other reasons, can also make
At the contraposition inaccuracy of workpiece engagement, the yield of product is caused to reduce.
Summary of the invention
The present invention be directed to one kind can labor-saving automation workpiece engagement equipment and automation workpiece joint method.
A kind of automation workpiece of the invention engages equipment, including photographic device, dispensing unit, the first mechanical arm, the
Two mechanical arms and processing unit.Photographic device carries out image acquisition to workpiece to be processed；The neighbouring camera shooting dress of dispensing unit
It installs；First mechanical arm and the second mechanical arm are set to around photographic device, and the first mechanical arm is adapted to pick up
First workpiece and the second mechanical arm is adapted to pick up second workpiece；Processing unit is electrically coupled to photographic device, dispensing unit,
One mechanical arm and the second mechanical arm, wherein processing unit controls the first mechanical arm and picks up the first workpiece and the second machinery
Arm picks up second workpiece, uses and the first workpiece and second workpiece are moved to the identification position of neighbouring photographic device to take the photograph
As device obtains the pose presentation of the first workpiece and second workpiece, processing unit according to pose presentation correct the first workpiece and
After the posture of second workpiece, the first mechanical arm is by the first workpiece and second workpiece is moved to dispensing unit simultaneously by the second mechanical arm
First workpiece and second workpiece are bonded by gluing in the first workpiece or the second workpiece.
A kind of automation workpiece joint method of the invention, including the first workpiece and second workpiece are provided；Automation is provided
Workpiece engages equipment, wherein the processing unit of automation workpiece engagement equipment controls a pair of of mechanical arm and picks up the first workpiece respectively
And second workpiece；Mechanical arm fills the mobile camera shooting with neighbouring automation workpiece engagement equipment of the first workpiece and second workpiece
Set, with pass through photographic device obtain the first workpiece the first pose presentation and second workpiece the second pose presentation and correct the
The posture of one workpiece and second workpiece；Processing unit corrects the first workpiece according to the first pose presentation and the second pose presentation
The posture of posture and second workpiece；And the first workpiece and second workpiece are moved to automation workpiece engagement equipment by mechanical arm
Gluing is carried out to the first workpiece and second workpiece under dispensing unit, the first workpiece and second workpiece are bonded.Described first
The posture of workpiece includes the first workpiece relative to the position of mechanical arm, angle, to glue sites or combinations thereof, and described second
The posture of workpiece include second workpiece relative to the position of mechanical arm, angle, to glue sites or combinations thereof
Based on side above-mentioned, that automation workpiece above-mentioned engages equipment and automation workpiece joint method utilizes image to obtain
Formula provide the posture of two workpiece of automatic identification and can automatically by two workpiece adjust to correct posture with
The device and method engaged, therefore the step of assembler manual operation can be reduced in engaging process, and then can
The effect of manpower is done more effectively distribution while can also save human cost.
Detailed description of the invention
Comprising attached drawing to further understand the present invention, and attached drawing is incorporated to and in this specification and constitutes one of this specification
Point.Detailed description of the invention the embodiment of the present invention, and principle for explaining the present invention together with the description.
Fig. 1 is the schematic diagram for automating workpiece engagement equipment.
Fig. 2 is the flow diagram for automating workpiece joint method.
Fig. 3 is the schematic diagram that equipment is engaged applied to the automation workpiece of glof club head.
Fig. 4 is the first work-piece in the schematic diagram of the first material placing area.
Fig. 5 is the schematic diagram that second workpiece is placed in the second material placing area.
Fig. 6 is that the first mechanical arm overturns the first workpiece and makes to coated face towards upper schematic diagram.
Fig. 7 is the second mechanical arm by being vacuumized to suction nozzle to draw the schematic diagram of second workpiece.
Fig. 8 is the schematic diagram of the first workpiece and second workpiece after the fitting of the second mechanical arm clamps.
Fig. 9 be arranged in the lamination unit of third material placing area to after fitting first shell and second workpiece apply stressed show
It is intended to.
Drawing reference numeral explanation
100: automation workpiece engages equipment
110,510: the first material placing area
120,520: the second material placing area
130,530: photographic device
140,540: dispensing unit
150,550: the first mechanical arm
160,560: the second mechanical arm
170: processing unit
180,580: third material placing area
190,590: lamination unit
200: the first workpiece
300: second workpiece
500: dispensing board
512a: inclined-plane
512,514: locating piece
522: locating piece
524: locating rod
561: ontology
562: suction nozzle
563: height adjustment member
564: clamping piece
565: casing
600: the ontology of glof club head
700: lid
600a: plane
602: locating recesses
604,702: to coated face
704: the back side
S110~S170: step
N: normal direction
Specific embodiment
With detailed reference to exemplary embodiment of the invention, the example of exemplary embodiment is illustrated in attached drawing.Only
It is possible that same components symbol is used to indicate same or similar part in the accompanying drawings and the description.
Fig. 1 is the schematic diagram for automating workpiece engagement equipment.Referring to FIG. 1, automation workpiece engagement equipment 100 is used to incite somebody to action
More than two workpiece are mechanically automatically engaged together, to reduce the manpower demand in processing procedure, while promoting engagement
The yield of workpiece afterwards.It is mechanical including photographic device 130, a pair of of dispensing unit 140, a pair to automate workpiece engagement equipment 100
Arm and processing unit 170.
Briefly, photographic device 130, dispensing unit 140 and mechanical arm all with 170 electrical couplings of processing unit,
After wherein processing unit 170 controls mechanical arm the first workpiece 200 of pickup and second workpiece 300, by the first workpiece 200 and second
After workpiece 300 is moved to an identification position of neighbouring photographic device, the first workpiece 200 and second is obtained by photographic device 130
Posture (posture) image of workpiece 300.Processing unit 170 receives the pose presentation of photographic device 130 and is subject to and database
Or the information comparison and identification prestored in processing unit 170, then according to recognition result to control mechanical arm to the first workpiece 200
And the posture of second workpiece 300 is corrected, the first workpiece 200 and second workpiece 300 are moved into dispensing unit 140 simultaneously later
It is engaged after 140 gluing of dispensing unit with correct posture.Subsidiary one mentions, and processing unit 170 can control dispensing unit 140
The dosage of glue is exported each time.
Specifically, mechanical arm is multi-axis mechanical arm, wherein the first mechanical arm 150 is used to pick up the first workpiece
200 and second mechanical arm 160 be used to pick up second workpiece 300.The posture of aforementioned meaning includes the first workpiece 200 relative to the
The position of one mechanical arm 150, angle, to glue sites or combinations of the above.Certainly, posture is also possible to second workpiece 300
Relative to the position of the second mechanical arm 160, angle, to glue sites or combinations of the above.
In the present embodiment, can also in the automation workpiece engagement setting of equipment 100 the first material placing area 110 for using of stock and
Second material placing area 120, wherein the first material placing area 110 and the second material placing area 120 are respectively intended to place the first workpiece 200 and the second work
Part 300.In preferred embodiment, including but not limited to photographic device 130 may be provided at entire automation workpiece engagement equipment 100
Central part, and the front side of photographic device 130 is arranged in the first material placing area 110 and the second material placing area 120.Dispensing unit
140 can only be provided with one, or may be configured as multiple, be in accordance with demand.Dispensing unit 140 is adjacent to photographic device 130
Setting carries out as long as the position of dispensing unit 140 is convenient to by the first workpiece 200 and second workpiece 300 of mechanical arm clamps
Dispensing.In the present embodiment, the first mechanical arm 150 is arranged between photographic device 130 and the first material placing area 110 and the
Two mechanical arms 160 are arranged between photographic device 130 and the second material placing area 120.
It is used to place the first workpiece 200 and second workpiece after engagement in addition, automation workpiece engagement equipment 100 also has
300 third material placing area 180, the setting of this third material placing area 180 are set in photographic device 130 relative to the first material placing area 110, second
Expect the rear side in area 120.In addition, automation workpiece engagement equipment 100 can further include that the movement road of the second mechanical arm 160 is arranged in
A lamination unit 190 on diameter, and the first workpiece 200 and second workpiece 300 after engaging are transferred to the by the second mechanical arm 160
Three material placing areas 180 are placed, and then apply the first workpiece 200 and second workpiece 300 of pressure upon engagement via lamination unit 190
Upper surface so that the first workpiece 200 and second workpiece 300 press together.In this example, lamination unit 190 can be air pressure
Cylinder, and be set as a pair of, with from the opposite two sides of the first workpiece 200 and second workpiece 300 after engagement to engagement after
The upper surface of first workpiece 200 and second workpiece 300 applies pressure to be pressed.Pressing assembly 190 setting in a pair and from
The opposite two sides of the first workpiece 200 and second workpiece 300 after engagement are to the first workpiece 200 and second workpiece after engagement
300 upper surface applies pressure, facilitates the upper surface of the first workpiece 200 allowed Shi Jias upon engagement and second workpiece 300
Pressure is uniformly distributed.
Aforementioned lifted photographic device 130, dispensing unit 140, the first mechanical arm 150, the second mechanical arm, processing are single
The setting position of first 170, first material placing area 110, the second material placing area 120 and third material placing area 180 is only purposes of discussion, ability
Domain personnel can change the setting position of foregoing components after the explanation of reference the present embodiment according to process requirement.
Aforementioned automation workpiece engagement equipment 100 will be considered in light of actual conditions below to illustrate to automate workpiece joint method.
Fig. 2 is the flow diagram for automating workpiece joint method.It please also refer to Fig. 1 and Fig. 2, such as step S110, mention
For the first workpiece 200 and second workpiece 300, the first workpiece 200 and second workpiece 300 are respectively placed in the in this example
One material placing area 110 and the second material placing area 120, wherein the first workpiece 200 is placed in the first material placing area 110 and by second workpiece
300 modes for being placed in the second material placing area 120, which can be, manually also can be used machinery, according to the property for the workpiece to be engaged
And select suitable mode.
Such as step S120, automation workpiece engagement equipment 100 above-mentioned, the place of automation workpiece engagement equipment 100 are provided
It manages unit 170 and controls the first mechanical arm 150 from the first workpiece 200 of the first material placing area 110 pickup, and the second mechanical arm of control
160 pick up second workpiece 300 from the second material placing area 120, wherein pickup herein includes clamping, absorption or other available sides
Formula can change according to the type for the workpiece to be picked up and the selection of mechanical arm.
Such as step S130, processing unit 170 controls the first mechanical arm 150 and the second mechanical arm 160 for the first work
Part 200 and second workpiece 300, which are moved to, identifies position adjacent to the one of photographic device 130, to obtain the by photographic device 130
First pose presentation of one workpiece 200 and the second pose presentation of second workpiece 300, wherein this identification position can be camera shooting
The lower section of device 130 or surrounding even top, set according to actual demand.
It further explains, photographic device 130 is after obtaining the first pose presentation and the second pose presentation, by first
Pose presentation and the second pose presentation are back to processing unit 170, and processing unit 170 can be for the first posture figure got
Picture and the second pose presentation are identified identification herein includes to identify to coated face to be plane or song by pose presentation
Face, a other first workpiece 200 and a other second workpiece 300 to coated face can be except gluing area etc., can also be also
Including accessed pose presentation to be compared with the data being stored in database or processing unit 170, to compare
Clamping angle of first workpiece 200 relative to the first mechanical arm 150 and second workpiece 300 relative to the second mechanical arm 160 out
Degree whether deflect or the first workpiece 200 relative to the first mechanical arm 150 and second workpiece 300 relative to the second mechanical arm
Whether 160 position deviates ... etc., and recognition result is back to processing unit 170, and processing unit 170 is again according to identification knot
Fruit delivers a signal to the first mechanical arm 150 and the second mechanical arm 160 is corrected, to correct for each recognition result
The posture of first workpiece 200 and second workpiece 300.Briefly, when the first accessed pose presentation is, for example, when the
After one mechanical arm 150 picks up the first workpiece 200, the school compared with the information being pre-stored in processing unit 170 or database, first
The comparison point of workpiece 200 has deflected angle compared to the datum mark of the first mechanical arm 150 and has not fitted like a glove in prestoring
Information after processing unit 170 identifies this situation, calculates the value of the angle of deflection, such as the comparison point of the first workpiece 200
Datum mark compared to the first mechanical arm 150 has deflected 3 degree, and processing unit 170, which just issues signal, makes the first mechanical arm 150
3 degree of reverse deflection, to make up the deflection angle of the first workpiece 200, the first workpiece 200 is made to be in the optimum posture to gluing.
Or after the second mechanical arm 160 picks up second workpiece 300, the second mechanical arm 160 is by second workpiece
300 are transferred to the identification position of neighbouring photographic device 130 so that photographic device 130 obtains the second pose presentation.By the second posture
Image is compared with the information being pre-stored in processing unit 170 or database, and the comparison point of second workpiece 300 is compared to the second machine
The datum mark of tool arm 160 offsets by distance and the information prestored that not fits like a glove, and processing unit 170 goes out by matching identification
After this situation, processing unit 170 calculates the value of the distance of offset, for example, second workpiece 300 comparison point compared to second
The datum mark of mechanical arm 160 offsets by 0.3 centimeter, and processing unit 170, which just issues signal, keeps the second mechanical arm 160 mobile
0.3 centimeter, to make up the offset distance of second workpiece 300, second workpiece 300 is made to be in the optimum posture to gluing.First work
Part 200 is also done in the same fashion pose presentation and obtains, identifies and correct.
Subsidiary one mentions, and identification and correction herein with above-mentioned in processing unit 170 or database in addition to preparatory being built
The information set is compared, so that mechanical arm can automatically learn and except corrected movement, it is also possible to
It is via artificial teaching, such as manually to input correcting mode and corrected value after differentiating.
Such as step S140, the first mechanical arm 150 and the second mechanical arm 160 are according to given by processing unit 170
The first workpiece 200 and second workpiece 300 are adjusted to correct and optimal posture after control information, then the first mechanical arm
150 and second mechanical arm 160 first workpiece 200 and second workpiece 300 moved to carry out gluing under dispensing unit 140.
It can also include the first machine other than distance, the angle of control information above-mentioned in addition to workpiece relative to mechanical arm etc.
Mobile first workpiece 200 of tool arm 150 and the second mechanical arm 160 and second workpiece 300 to dispensing unit 140 path,
First workpiece 200 and second workpiece 300 to the area of coated face, to glue sites, the first mechanical arm 150 adjustment first
Workpiece 200 is relative to the angle of dispensing unit 140 or the second mechanical arm 160 adjustment second workpiece 300 relative to dispensing unit
140 angle ... etc., so that the first workpiece 200 and second workpiece 300 carry out gluing by dispensing unit 140 with the posture of optimization
Operation.
Later, mobile first mechanical arm 150 and the second mechanical arm 160, by the first workpiece 200 and second workpiece
300 fittings.
Can further include step S150, by after fitting the first workpiece 200 and second workpiece 300 be placed in third material placing area
180, wait for that the first workpiece 200 and second workpiece 300 bind in a manner of standing.In addition, can further include step S160, pressing be utilized
Unit 190 applies pressure to the upper surface of the first workpiece 200 and second workpiece 300 after the fitting for being placed in third material placing area 180
Power, to promote the fitting effect of the first workpiece 200 and second workpiece 300.Certainly, it can be selected not according to the type difference of glue
Same post-processing mode, such as when the type for the glue being coated on the first workpiece 200 and second workpiece 300 is ultraviolet cured adhesive
In the case where, it can be more to 300 irradiating ultraviolet light of the first workpiece 200 and second workpiece to fit together.
Automation engagement workpiece device and method of the invention above-mentioned can treat patch by the use of photographic device
The workpiece of conjunction carries out real-time image acquisition, is then identified and is corrected through the processing unit, so that mechanical arm moves work
The path of part and workpiece can be adjusted in real time relative to the angle of dispensing unit, therefore can be widely used in each
The workpiece of kind type and various forms of faces to be joined.
Hereinafter, by automation workpiece engagement device and method of the invention are further applied to glof club head
Assembling is illustrated.
Fig. 3 is the schematic diagram that equipment is engaged applied to the automation workpiece of glof club head.If Fig. 3 shows, the present embodiment
Automation workpiece engagement equipment application in dispensing board 500, dispensing board 500 includes the first material placing area 510, the second material placing area
520, the first mechanical arm 550, the second mechanical arm 560, a pair of of dispensing unit 540, photographic device 530, processing unit 170
(please referring to Fig. 3) and third material placing area 580, wherein the middle section of entire dispensing board 500 is arranged in photographic device 530,
First arm 550, the second arm 560 and dispensing unit 540 are arranged around photographic device 530, and the first material placing area 510 and
Front end of second material placing area 520 in dispensing board 500, the rear end of dispensing board 500 is arranged in third material placing area 580.
Fig. 4 is the first work-piece in the schematic diagram of the first material placing area, and Fig. 5 is that second workpiece is placed in the second material placing area
Schematic diagram.It please also refer to Fig. 3, Fig. 4 and Fig. 5, when the patch for carrying out glof club head using the dispensing board 500 such as Fig. 3
When closing step, the ontology 600 of glof club head is placed on the first material placing area 510, and by the lid of glof club head 700
It is placed on the second material placing area 520.It should be noted that due to glof club head ontology 600 and lid 700 shape more
It is special that therefore, it is difficult to use simple mode to fix or pick up.Therefore it is set in the first material placing area 510 and the second material placing area 520
Count the clamp structure of the ontology 600 of corresponding glof club head and the shape of lid 700.As can be seen from Figure 4, the first material placing area
There are two locating pieces 512,514 for setting in 510, for the sheet for the glof club head being fixedly placed in the first material placing area 510
The position of body 600, and one of locating piece 512 has inclined-plane 512a, normal of the inclined-plane 512a relative to the first material placing area 510
Direction N inclination, when so that the ontology 600 of glof club head being placed on the first material placing area 510, can make glof club head
Ontology 600 plane 600a against on this inclined-plane 512a.Likewise, being also configured with corresponding height on another locating piece 514
The structure of the shape of the ontology 600 of golf ball head.The ontology 600 of glof club head can use the two locating pieces 512,
514 and be placed in the first material placing area 510.
Second material placing area 520 is provided with multiple locating pieces 522 and locating rod 524, and these locating pieces 522 and locating rod
524 are arranged according to the shape of the lid 700 of golf.
Hold above-mentioned, the ontology 600 of glof club head has locating recesses 602, and the first mechanical arm 550 has positioning
Prominent (not shown), wherein locating recesses 602 and the shape of positioning prominent (not shown) are complementary.
When the ontology 600 of glof club head is placed on the first material placing area 510, the ontology 600 of glof club head
Platform to the first material placing area 510 of coated face 604 (being shown in Fig. 6) direction.And golf is picked up in the first mechanical arm 550
When the ontology 600 of head, positions prominent correspondence and protrude into locating recesses 602.
Unlike the first mechanical arm 550, the lid of the second glof club head to be picked up of mechanical arm 560
700 be the sheet-like workpiece being arc-shaped, and the weight of the lid 700 of glof club head is compared with the ontology 600 of glof club head
Weight be light, therefore the second mechanical arm 560 can be used the mode of vacuum suction and pick up the lid 700 of glof club head.
Specifically, the second mechanical arm 560 includes ontology 561 and multiple suction nozzles 562, and wherein suction nozzle 562 passes through ontology 561, and
The back side 704 of the lid 700 of glof club head contacts golf club towards the second mechanical arm 560, therefore in suction nozzle 562
When the lid 700 of head, so that the second mechanical arm 560 is drawn the lid 700 of glof club head by way of vacuumizing, such as scheme
7 show.In addition, in order to allow the second mechanical arm 560 that can effectively catch the lid 700 of glof club head, the second manipulator
Arm 560 further includes the height adjustment member 563 on multiple surfaces for protruding from ontology 561, and wherein height adjustment member 563 protrudes from ontology
561 height can according to the back side 704 of the lid 700 of glof club head shape and can adjust.
In addition, can more be provided with casing 565 in the lower of height adjustment member 563, this casing 565 is with softer material shape
At preventing lid 700 impaired to provide buffering when the second mechanical arm 560 picks up lid 700 using suction.
The ontology 600 of glof club head is picked up in the first mechanical arm 550 and the second mechanical arm 560 picks up Gao Er
After the lid 700 of husband's club head, the first mechanical arm 550 and the second mechanical arm 560 are respectively by glof club head
The lid 700 of ontology 600 and glof club head is transported to identification position so that photographic device 530 obtains glof club head
Ontology 600 and glof club head lid 700 image for being compared and identify.Before this, first is mechanical
The ontology 600 that arm 550 can overturn glof club head made to coated face 604 towards upper (such as Fig. 6 shows), and the second mechanical arm
560 lids 700 that can overturn glof club head make to coated face 702 to be obtained to facilitate photographic device 530 to carry out image towards upper
It takes.
Subsidiary one mentions, and the first mechanical arm 550 above-mentioned picks up the ontology 600 and the second manipulator of glof club head
The lid 700 that arm 560 picks up glof club head can be simultaneously operation, is also possible to have and sequentially acts in tandem；
And photographic device 530 obtains the ontology 600 of glof club head and the lid 700 of glof club head in which can have sequencing
The image to coated face 604,702, it is also possible to while be provided with more than two photographic devices 530 with and meanwhile carry out image
It obtains, is designed according to demand.
Photographic device 530 obtains the ontology 600 of glof club head and 700 image of lid of glof club head
Afterwards, further include according to database or the interior information comparison being stored in processing unit 170 and the posture for identifying each workpiece, and
The definition of posture is described in detail in previous embodiment, therefore repeats no more.Each workpiece above-mentioned includes same workpiece
But the single individual of some elementary errors opposite sex because of tolerance when making.
Then, result can be reached processing unit 170 (please referring to Fig. 3) by photographic device 530, and processing unit 170 (please join
Examine Fig. 3) information after correction is provided to the first mechanical arm 550 and the second mechanical arm 560, so that the first machine according to result
The lid of the ontology 600 and glof club head of tool arm 550 and the second mechanical arm 560 correction glof club head
The lid 700 of 700 posture, the ontology 600 and glof club head that make glof club head allows dispensing with optimal posture
Unit 540 carries out dispensing, that is, make the ontology 600 of glof club head and the lid 700 of glof club head to coated face
604,702 with optimal angle and surface of position to dispensing unit 540.
Meanwhile correction also includes the path of motion of the first mechanical arm 550 and the second mechanical arm 560.In this way,
The glue that dispensing unit 540 provides be coated on the ontology 600 of glof club head and the lid 700 of glof club head to gluing
The optimum position in face 604,702.
Then, the first mechanical arm 550 and the second mechanical arm 560 are relatively close, make the ontology 600 of glof club head
And the lid 700 of glof club head is coated with being bonded after coated face 604,702 is facing with each other for glue.
Fig. 8 is the schematic diagram of the first workpiece and second workpiece after the fitting of the second mechanical arm clamps.It please also refer to
Fig. 3, Fig. 7 and Fig. 8, the second mechanical arm 560 further includes a clamping piece 564, in the ontology 600 and golf of glof club head
After the lid 700 of club head is bonded, the lower section of clamping piece 564 from the lid 700 of glof club head clamps and golf
The ontology 600 for the glof club head that the lid 700 of head engages.Then, by the ontology 600 of the glof club head after fitting
Third material placing area 580 is placed in the lid 700 of glof club head.
Fig. 9 be arranged in the lamination unit of third material placing area to after fitting ontology and lid apply stressed schematic diagram.
It please also refer to Fig. 3, Fig. 8 and Fig. 9, the second mechanical arm 560 is by the ontology 600 and golf of the glof club head after fitting
After the lid 700 of club head is placed in third material placing area 580, the golf club after 590 pairs of lamination unit fittings can be also utilized
The ontology 600 of head and the lid 700 of glof club head apply pressure, and wherein lamination unit 590 can be pneumatic cylinder, and pneumatic cylinder
E.g. obliquely it is arranged, therefore is obliquely to the ontology 600 of the glof club head after fitting and glof club head
The upper surface (the e.g. back side 704 of lid 700) of lid 700 applies pressure, so that the ontology 600 of glof club head and height
The lid 700 of golf ball head forms glof club head after being tightly engaged into, and later, can pass through manual type or other machines
Tool arm takes glof club head away, carries out the assembling operation of next stage.
Although previous embodiment is by the first workpiece and second workpiece with component (ontology 600 and the lid of glof club head
Body 700) for example, but be not limited thereto, the component of other electronic devices or non-electronic devices can also be used as of the invention
Automate the workpiece in workpiece engagement device and method.
In conclusion obtaining figure in real time using photographic device in automation workpiece engagement device and method of the invention
As and with the information comparison in database or processing unit and identify that the 3D of each single workpiece is characterized, and according to knot
Fruit provides the information after correction with driving manipulator arm to allow workpiece with optimal posture by dispensing unit spot glue.Therefore, it uses
This automation workpiece engagement device and method can allow the assembler for carrying out these operations originally to go to carry out with greater need for manpower
Operation, and then reach manpower optimization and use, human cost is effectively reduced, promotes the application and management of human resources.
In addition, processing unit also can control dispensing unit dosage for dispensing glue every time.In this way, which the bonding of workpiece is not easy
There is the situation of excessive glue, the yield of finished product can be promoted
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of automation workpiece engages equipment characterized by comprising
Photographic device carries out image acquisition to workpiece to be processed；
Dispensing unit, the neighbouring photographic device are arranged；
First mechanical arm and the second mechanical arm, are set to around the photographic device, and first mechanical arm is suitable for
It picks up the first workpiece and second mechanical arm is adapted to pick up second workpiece；And
Processing unit is electrically coupled to the photographic device, the dispensing unit, first mechanical arm and described second
Mechanical arm,
Wherein the processing unit controls first mechanical arm and picks up first workpiece, and second mechanical arm picks up
The second workpiece uses the images acquisition locations that the first workpiece and second workpiece are moved to the neighbouring photographic device, with
Toilet states photographic device and obtains the first pose presentation of first workpiece and the second pose presentation of the second workpiece；
Wherein the processing unit corrects first workpiece according to first pose presentation and second pose presentation
The posture of posture and the second workpiece；
Wherein first workpiece is moved to the dispensing unit by first mechanical arm, and second mechanical arm is by institute
It states second workpiece and is moved to the dispensing unit, the first workpiece or second workpiece described in gluing, by first workpiece and institute
State second workpiece fitting.
2. automation workpiece according to claim 1 engages equipment, which is characterized in that the posture of first workpiece includes
First workpiece relative to the position of first mechanical arm, angle, to glue sites or combinations thereof, and second work
The posture of part include the second workpiece relative to the position of second mechanical arm, angle, to glue sites or combinations thereof.
3. automation workpiece according to claim 1 engages equipment, which is characterized in that the posture of correction first workpiece
And the posture of the second workpiece includes:
Make first mechanical arm or second mechanical arm movement or rotation, and makes first workpiece or described second
The correct posture is presented relative to the dispensing unit in workpiece.
4. automation workpiece according to claim 1 engages equipment, which is characterized in that first workpiece has positioning recessed
It falls into, and there is first mechanical arm positioning to protrude, and the prominent correspondence that is suitable for of the positioning protrudes into the locating recesses.
5. automation workpiece according to claim 1 engages equipment, wherein second mechanical arm have ontology and
Multiple suction nozzles, the suction nozzle passes through the ontology, and the suction nozzle draws the second workpiece by way of vacuumizing.
6. automation workpiece according to claim 5 engages equipment, which is characterized in that second mechanical arm also wraps
It includes:
Multiple height adjustment members, the height adjustment member protrudes from the ontology, and the height adjustment member protrudes from described
The height of body according to the second workpiece to be picked up the back side that will be drawn and can adjust；
The lower section of the height adjustment member is arranged in casing, to contact the back side of the second workpiece；And
Clamping piece is set to the lower section of the ontology, connects suitable for clamping from the lower section of the second workpiece with the second workpiece
First workpiece closed.
7. automation workpiece according to claim 1 engages equipment, which is characterized in that further include lamination unit, be set to
On the path of motion of first mechanical arm or second mechanical arm, after the lamination unit brings pressure to bear on engagement
The upper surface of first workpiece and the second workpiece is to be pressed.
8. automation workpiece according to claim 1 engages equipment, which is characterized in that the automation workpiece engages equipment
It includes
First material placing area is provided with multiple locating pieces in first material placing area, to clamp first workpiece, wherein set
Set the locating piece in first material placing area at least one with inclined-plane, the inclined-plane is relative to described first
The normal direction of material placing area tilts, and first workpiece has plane, and the plane is to be resisted against on the inclined-plane；And
Second material placing area is provided with multiple locating pieces and multiple locating rods, to the fixation second workpiece.
9. a kind of automation workpiece joint method characterized by comprising
First workpiece and second workpiece are provided；
Automation workpiece is provided and engages equipment, wherein the processing unit of the automation workpiece engagement equipment controls a pair of of manipulator
Arm picks up first workpiece and the second workpiece respectively；
The mechanical arm is mobile with neighbouring automation workpiece engagement equipment by first workpiece and the second workpiece
Photographic device, to obtain by the photographic device the first pose presentation and the second workpiece of first workpiece
Second pose presentation, and by the processing unit according to first pose presentation and second pose presentation, described in correction
The posture of the posture of first workpiece and the second workpiece；And
First workpiece and the second workpiece are moved to the dispensing of the automation workpiece engagement equipment by the mechanical arm
Unit carries out gluing to first workpiece and the second workpiece, and first workpiece and the second workpiece are bonded,
Wherein
The posture of first workpiece include first workpiece relative to the position of the mechanical arm, angle, to gluing position
Set or combinations thereof, and the posture of the second workpiece include the second workpiece relative to the position of the mechanical arm, angle,
To glue sites or combinations thereof.
10. automation workpiece joint method according to claim 9, which is characterized in that in the pair of mechanical arm
One of method for picking up first workpiece is clamping, and another in the pair of mechanical arm passes through and vacuumize
Mode draws the second workpiece.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW106124755 | 2017-07-24 | ||
| TW106124755A TWI660785B (en) | 2017-07-24 | 2017-07-24 | Automatic workpiece sticking equipment and method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109291074A true CN109291074A (en) | 2019-02-01 |
Family
ID=65168053
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710799440.1A Pending CN109291074A (en) | 2017-07-24 | 2017-09-07 | Automated workpiece joining apparatus and automated workpiece joining method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109291074A (en) |
| TW (1) | TWI660785B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923026A (en) * | 2020-08-10 | 2020-11-13 | 中国人民解放军第五七一九工厂 | Intelligent automatic silica gel coating system and method for blade tenon of aero-engine compressor |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010105106A (en) * | 2008-10-29 | 2010-05-13 | Olympus Corp | Production device |
| CN103240591A (en) * | 2012-02-03 | 2013-08-14 | 佳能株式会社 | Assembly equipment and assembly method |
| CN205478730U (en) * | 2016-01-25 | 2016-08-17 | 深圳市固诺泰科技有限公司 | A gluey lamination equipment of point for display equipment |
| CN106111471A (en) * | 2016-08-30 | 2016-11-16 | 丹阳市荣飞自动化设备有限公司 | A kind of gluing light fixture multi-station turning table |
| JP2017019053A (en) * | 2015-07-10 | 2017-01-26 | トヨタ車体株式会社 | Robot joint system |
| CN206140537U (en) * | 2016-08-30 | 2017-05-03 | 东莞市华茂电子集团有限公司 | Vacuum chuck formula manipulator tail end actuator |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8755925B2 (en) * | 2011-11-18 | 2014-06-17 | Nike, Inc. | Automated identification and assembly of shoe parts |
| TWM429888U (en) * | 2012-02-07 | 2012-05-21 | Liang Yee Industry Co Ltd | Fully automatic laminating equipment for panel |
-
2017
- 2017-07-24 TW TW106124755A patent/TWI660785B/en active
- 2017-09-07 CN CN201710799440.1A patent/CN109291074A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010105106A (en) * | 2008-10-29 | 2010-05-13 | Olympus Corp | Production device |
| CN103240591A (en) * | 2012-02-03 | 2013-08-14 | 佳能株式会社 | Assembly equipment and assembly method |
| JP2017019053A (en) * | 2015-07-10 | 2017-01-26 | トヨタ車体株式会社 | Robot joint system |
| CN205478730U (en) * | 2016-01-25 | 2016-08-17 | 深圳市固诺泰科技有限公司 | A gluey lamination equipment of point for display equipment |
| CN106111471A (en) * | 2016-08-30 | 2016-11-16 | 丹阳市荣飞自动化设备有限公司 | A kind of gluing light fixture multi-station turning table |
| CN206140537U (en) * | 2016-08-30 | 2017-05-03 | 东莞市华茂电子集团有限公司 | Vacuum chuck formula manipulator tail end actuator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923026A (en) * | 2020-08-10 | 2020-11-13 | 中国人民解放军第五七一九工厂 | Intelligent automatic silica gel coating system and method for blade tenon of aero-engine compressor |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201908016A (en) | 2019-03-01 |
| TWI660785B (en) | 2019-06-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102056869B1 (en) | Automated identification and assembly of shoe parts | |
| TWI650626B (en) | Robot processing method and system based on 3d image | |
| CN107932012B (en) | Assembling device and assembling method for micro optical product | |
| CN103889650B (en) | Joint manufacturing method and manufacturing device for same | |
| CN211088422U (en) | Robot visual detection assembles group battery | |
| CN111067197A (en) | Robot sole dynamic gluing system and method based on 3D scanning | |
| CN109291074A (en) | Automated workpiece joining apparatus and automated workpiece joining method | |
| CN109551856A (en) | A kind of contraposition applying method | |
| JP6318768B2 (en) | Glass positioning device and glass mounting device | |
| CN107000801B (en) | Method and device for assembling automobile body | |
| US8871043B2 (en) | Masking method using masking jig | |
| TWI705772B (en) | Method for automatically positioning assembly line of shoe | |
| JP6862567B2 (en) | Chuck for holding parts and parts mounting machine | |
| CN107919306A (en) | The High Precision Automatic laminating apparatus of wireless charging chip and its method of view-based access control model | |
| TWI675000B (en) | Object delivery method and system | |
| JP2017007064A (en) | Assembling method | |
| CN110654666B (en) | Electric cooker packaging production line | |
| JP7356331B2 (en) | Composite pad manufacturing line and manufacturing method | |
| CN110654665A (en) | Labeling device and electric cooker packaging production line | |
| JP2023017936A (en) | Component mounting method, and component mounting line | |
| JP2016028835A (en) | Manufacturing apparatus of joint component and manufacturing method of joint component |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190201 |
|
| WD01 | Invention patent application deemed withdrawn after publication |