CN111716103B

CN111716103B - Assembly equipment

Info

Publication number: CN111716103B
Application number: CN202010626091.5A
Authority: CN
Inventors: 孙中兴; 郑培希
Original assignee: Lenovo Beijing Ltd
Current assignee: Lenovo Beijing Ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2022-07-26
Anticipated expiration: 2040-07-01
Also published as: CN111716103A

Abstract

The application discloses equipment includes: the moving mechanism is provided with a connecting end and a free end, the connecting end is connected to the fixing equipment and used for controlled movement, so that the free end can be located at different spatial positions; a first acquiring mechanism arranged at the free end and used for acquiring at least the first assembled part, keeping the first assembled part in an acquiring state during the movement of the motion mechanism, and releasing the first assembled part; a second acquiring mechanism, arranged at the free end, for acquiring at least the second assembled member, maintaining the second assembled member in an acquiring state during the movement of the moving mechanism, and releasing the second assembled member; wherein the first assembled member and the second assembled member which satisfy the release of the assembling condition can be assembled as an assembling result. The assembling equipment can enable one motion mechanism to operate a plurality of assembled parts, thereby reducing the number of the motion mechanisms, reducing the occupied space of the assembling equipment and improving the utilization rate of the motion mechanisms.

Description

Assembly equipment

Technical Field

The application relates to the technical field of electronic equipment, in particular to assembling equipment.

Background

At present, in electronic equipment's such as computers production process, when utilizing the manipulator to carry out automatic assembly to the subassembly, generally all be that a manipulator is special to a subassembly and operate, when the subassembly that needs the equipment is a plurality of, just need set up a plurality of manipulators in order to operate the subassembly of difference respectively, and the setting of a plurality of manipulators not only can occupy great site space, and the rate of utilization of every manipulator is also lower moreover.

Disclosure of Invention

In view of this, the present application provides the following technical solutions:

an assembly apparatus, comprising:

a movement mechanism having a connecting end and a free end, the connecting end being connected to the fixture for controlled movement such that the free end can be located at different spatial positions;

a first acquiring mechanism provided at the free end for acquiring at least a first assembled member, holding the first assembled member in an acquiring state during the movement of the moving mechanism, and releasing the first assembled member;

a second acquiring mechanism provided at the free end at least for acquiring a second assembled member, holding the second assembled member in an acquiring state during the movement of the moving mechanism, and releasing the second assembled member;

wherein,

the first assembled member and the second assembled member that satisfy the release of the assembly condition can be assembled as an assembly result.

Preferably, in the above assembling apparatus, wherein,

the first or second capture mechanism is further to: acquiring the assembly result, keeping the assembly result in an acquired state in the movement process of the movement mechanism, and releasing the assembly result.

Preferably, in the assembling apparatus, the satisfying of the assembling condition includes: after the first acquisition mechanism releases the first assembled part at a first spatial position, the second acquisition mechanism releases the second assembled part at a second spatial position, and the second spatial position and the first spatial position meet an overlapping condition, so that the second assembled part is assembled to the first assembled part;

wherein the second acquisition mechanism is further configured to acquire the assembly result.

Preferably, in the above-described assembling apparatus, the second acquiring unit acquires the assembly result by acquiring the first assembled component in the assembly result.

Preferably, the assembling apparatus further includes a collecting device disposed at the free end and configured to collect an image set, where the image set is used to determine whether a spatial position of the free end or the acquiring mechanism satisfies an acquiring condition.

Preferably, the assembling apparatus further comprises a fixing mechanism disposed at the free end for fixing connection between the assembled pieces or between the assembled result and the carrier.

Preferably, the above-described assembling apparatus further includes a third acquiring mechanism, provided at the free end, for acquiring a third assembled member, holding the third assembled member in an acquired state during movement of the moving mechanism, and releasing the third assembled member, and the third assembled member released satisfying an assembling condition and the first assembled member and the second assembled member can be assembled as the assembling result.

Preferably, in the above assembling apparatus, each of the first acquiring mechanism, the second acquiring mechanism and the third acquiring mechanism includes a lifting component and an acquiring device, and the acquiring device is driven by the lifting component to approach and separate from the assembled part, and is driven by the lifting component to realize the assembling between the assembled parts.

Preferably, in the above assembling apparatus, the acquiring devices disposed on different acquiring mechanisms at least include different first acquiring devices and second acquiring devices; wherein:

the first acquisition means includes: the installation component is connected with the lifting component and can be driven by the lifting component to lift; a clamp provided on the mounting member; a driving part arranged on the mounting part, wherein the clamp can realize the grabbing of the first assembled part or the second assembled part under the driving of the driving part;

the second acquisition means includes: the installation component is connected with the lifting component and can be driven by the lifting component to lift; a suction member provided on the mounting member, the suction member enabling suction of the third assembled member by suction.

Preferably, in the assembling apparatus, wherein:

the jig includes: a fixing arm fixedly arranged on the mounting part; the sliding arm is arranged on the mounting component in a sliding mode and driven by the driving component to slide so that the sliding arm is close to or far away from the fixing arm to achieve opening and closing of the clamp;

the lifting component and the driving component are both cylinders.

The application provides an assembling device, which is provided with a motion mechanism capable of controlled motion, and at least a first acquisition mechanism and a second acquisition mechanism are arranged on the motion mechanism, wherein the first acquisition mechanism can be used for acquiring a first assembled part, and to hold the first assembled member in the acquisition state during the movement and to release the first assembled member in a position, and likewise, a second acquisition mechanism can be used to acquire the second assembled member, and to maintain the second assembled element in the acquisition condition during the movement and to enable the second assembled element to be released in another position, and if the assembly condition is satisfied at the time of releasing, the released first assembled member and second assembled member can be assembled as an assembly result, namely, the first assembled part and the second assembled part can be automatically assembled through the cooperation of the motion mechanism, the first acquisition mechanism and the second acquisition mechanism. The assembly equipment has the advantages that the plurality of acquisition mechanisms are arranged at the free ends of the movement mechanisms, so that one movement mechanism can operate on a plurality of assembled parts, the arrangement number of the movement mechanisms can be reduced, the occupied space of the assembly equipment in a field can be reduced, and the utilization rate of the movement mechanisms can be improved compared with the existing mode that one mechanical arm only operates on one part.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural diagram of the assembly apparatus provided in the present application, cooperating with a tray, an assembly table, and a carrier;

fig. 2 is a schematic view of the first acquiring mechanism, the second acquiring mechanism and the third acquiring mechanism provided on the free end.

In fig. 1 and 2:

1-a motion mechanism, 2-a first acquisition mechanism, 3-a first assembled part, 4-a second acquisition mechanism, 5-a second assembled part, 6-a collection device, 7-a fixing mechanism, 8-a third acquisition mechanism, 9-a lifting component, 10-a mounting component, 11-a clamp, 12-a driving component, 13-an air suction component, 14-a bearing component, 15-a tray and 16-an assembly table;

101-attached end, 102-free end, 1101-fixed arm, 1102-sliding arm.

Detailed Description

The application provides an equipment, its occupation space that can reduce the place to also can improve the rate of utilization of manipulator.

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

As shown in fig. 1 and fig. 2, the present embodiment provides an assembling apparatus for assembling assembled parts (the assembled parts in the present application refer to components to be assembled, that is, the first assembled part 3, the second assembled part 5, and the third assembled part, which will be described later, collectively), the assembling apparatus mainly includes a moving mechanism 1, a first acquiring mechanism 2, and a second acquiring mechanism 4, wherein the moving mechanism 1 has a connecting end 101 and a free end 102, and the connecting end 101 is connected to a fixed device (such as a base, a bracket, etc.) for realizing the installation of the moving mechanism 1 and the controlled movement (such movement includes movement and/or rotation) of the moving mechanism 1, that is, through the connection of the connecting end 101 and the fixed device, not only the mechanical connection of the moving mechanism 1 is realized, but also the electrical connection and communication connection of the moving mechanism 1 and a control device (such control device may be a component of the fixed device) are realized, so that the whole motion mechanism 1 or the free end 102 of the motion mechanism 1 is controlled to move in space by the control device, so that the free end 102 can be located at different spatial positions, and the structure of the motion mechanism 1 can be selected in various ways, for example, the motion mechanism 1 can be a mechanical arm (or called a manipulator), and the mechanical arm can be a six-axis manipulator in the prior art; the first acquiring mechanism 2 is arranged on the free end 102 of the moving mechanism 1, so that the first acquiring mechanism 2 can move in space under the driving of the free end 102, the first acquiring mechanism 2 can acquire at least the first assembled part 3, and keep the first assembled part 3 in an acquiring state during the movement of the moving mechanism 1, that is, the first acquiring mechanism 2 can drive the first assembled part 3 to move in space after acquiring the first assembled part 3, so as to transfer the first assembled part 3 from one position to another position (i.e. a first space position described later), for example, the first assembled part 3 can be transferred from the tray 15 to the assembling table 16, and after the first assembled part 3 is transferred to the position, the first acquiring mechanism 2 can release the first assembled part 3 to place the first assembled part 3 at the transferred position; likewise, the second acquiring mechanism 4 is also provided at the free end 102 of the moving mechanism 1, and can acquire the second assembled member 5 and move in the space with the free end 102, and keep the second assembled member 5 in the acquiring state during the movement of the moving mechanism 1 to realize the transfer of the acquired second assembled member 5 in the space, and then after the second assembled member 5 is transferred to the position, the second acquiring mechanism 4 releases the second assembled member 5 to place the second assembled member 5 at the transferred position (i.e., a second spatial position described later), and when the first acquiring mechanism 2 and/or the second acquiring mechanism 4 is released, if the assembling condition is satisfied, the first assembled member 3 and the second assembled member 5 can be assembled as an assembling result, which may be a positional relationship that the first assembled member 3 and the second assembled member 5 have after being assembled, In the present application, for convenience of understanding, the assembly result may be simply understood as a structure formed by assembling the first assembled member 3 and the second assembled member 5, that is, an assembled structure.

In the above-described assembling apparatus, by matching the mechanical structures such as the movement mechanism 1, the first acquiring mechanism 2, and the second acquiring mechanism 4, automatic assembly of a plurality of assembled parts by one movement mechanism is realized, that is, one movement mechanism can operate on a plurality of assembled parts during assembling operation, and compared with a mode in which only one robot arm operates on one part in the prior art, since each movement mechanism can operate on a plurality of assembled parts, the number of the movement mechanisms to be installed can be reduced without changing the number of the assembled parts constituting the assembling result, and thus, the space of a field occupied by the movement mechanism can be reduced, and since each movement mechanism operates on a plurality of assembled parts, the usage rate of each movement mechanism can be increased. In addition, the probability of mutual interference among different motion mechanisms is reduced due to the reduction of the number of the devices.

In the present application, the first acquiring mechanism 2 or the second acquiring mechanism 4 is further configured to: acquiring the assembly result, keeping the assembly result in the acquired state during the movement of the movement mechanism 1, and releasing the assembly result. That is, the first acquisition mechanism 2 or the second acquisition mechanism 4 in the present application not only functions on the first assembled member 3 or the second assembled member 5, but also functions otherwise, namely, the first acquiring mechanism 2 or the second acquiring mechanism 4 can acquire, carry and release the assembly result on the basis of being able to acquire, carry and release the first assembled member 3 or the second assembled member 5, thereby enabling the reuse of first harvester mechanism 2 or second harvester mechanism 4 during assembly, such that first harvester mechanism 2 or second harvester mechanism 4 can serve multiple functions, compared with the mode that different acquisition mechanisms only operate on a single assembled piece in the prior art, the method not only can simplify the steps of the assembling operation, but also can save mechanical components, simplify the structure and reduce the space required by the operation. Meanwhile, compared with the existing mode that one acquisition mechanism on one manipulator is used for sequentially operating all assembled parts, on the premise of improving the utilization rate of the movement mechanism, the first acquisition mechanism 2 or the second acquisition mechanism 4 is not used for operating all assembled parts on the basis of operating a plurality of assembled parts, so that the operation efficiency can be improved, the operation is more targeted, and the operation precision is higher.

Specifically, the satisfying of the assembly condition includes: after the first acquisition mechanism 2 releases the first assembled member 3 at the first spatial position, the second acquisition mechanism 4 releases the second assembled member 5 at the second spatial position, and the second spatial position and the first spatial position satisfy the overlapping condition, so that the second assembled member 5 is assembled to the first assembled member 3. That is, in the present application, the assembly condition mainly refers to a position condition, and a requirement that the condition is satisfied is that the first assembled member 3 is located at a first spatial position after being released by the first obtaining mechanism 2, and the second assembled member 5 is located at a second spatial position after being released by the second obtaining mechanism 4, the two spatial positions satisfy an overlapping condition, and the "satisfying the overlapping condition" includes a case where the two spatial positions overlap each other, that is, the two spatial positions are the same position, so that the first assembled member 3 and the second assembled member 5 are placed at the same position, for example, after the first assembled member 3 is placed at the position, the second assembled member 5 is placed in an inner cavity and a groove of the first assembled member 3, and the first assembled member 3 and the second assembled member 5 are assembled; in addition, the "satisfying the overlapping condition" also includes a case where the two spatial positions are close to each other but have a certain deviation, for example, the two spatial positions are aligned in the vertical direction but have a small height difference, and when the second assembled member 5 is released again at the second spatial position after the first assembled member 3 is released at the first spatial position, the height of the second assembled member 5 is larger than the height of the first assembled member 3, so that the second assembled member 5 is assembled to the top end of the first assembled member 3, and the two are in a state of being connected in a stacked manner.

In addition, the assembly condition may be other types of conditions, such as a time condition, that is, the first assembled member 3 is released for a certain period of time and then the second assembled member 5 is released; or a distance condition in which the second assembled member 5 is released after the first assembled member 3 is released (e.g., pressed down a certain distance).

In addition to the above-described positional condition as the assembly condition, the second acquiring means 4 is preferably used to acquire the assembly result. That is, the multiplexed acquiring means is the second acquiring means 4, and it is preferable to multiplex the second acquiring means 4 because the second assembled member 5 is released later than the first assembled member 3 in the assembling process, that is, the second assembled member 5 is assembled to the first assembled member 3, and the means for performing the assembling operation is the second acquiring means 4, and the second acquiring means 4 is closest to the assembling result after performing the assembling operation, so that the second acquiring means 4 closest to the assembling result is allowed to directly acquire and carry the assembling result nearby, and the moving distance can be minimized compared to acquiring the assembling result using another acquiring means, thereby improving the assembling efficiency. Of course, the assembly result may be acquired using the first acquisition mechanism 2 without taking this into consideration.

Specifically, the second acquiring mechanism acquires the assembly result by acquiring the first assembled part in the assembly result. That is, in acquiring the assembly result with the second acquisition mechanism 4, of the first assembled member 3 and the second assembled member 5 forming the assembly result, it is preferable that the second acquisition mechanism 4 acquires the first assembled member 3 in the assembly result to achieve acquisition of the assembly result. The reason why the first assembled member 3 is acquired is that in the assembly result, the first assembled member 3 is a base component which carries the second assembled member 5, and therefore, by performing the acquisition operation on the first assembled member 3, the acquisition and carrying of the assembly result can be more stably achieved, and the possibility of scattering of the assembly result can be reduced compared with the case where the acquisition operation is performed on the second assembled member 5. Of course, the second acquiring mechanism 4 may perform the acquiring operation on the second assembled member 5 on the premise that the first assembled member 3 and the second assembled member 5 have sufficient connection firmness.

As shown in fig. 2, the assembling device of the present application preferably further comprises a capturing device 6, wherein the capturing device 6 is also arranged at the free end 102 of the moving mechanism 1 and is used for capturing a set of images, wherein the set of images is used for determining whether the spatial position of the free end 102 or the capturing mechanism satisfies the capturing condition, in particular whether the spatial position of the free end 102 or the capturing mechanism satisfies the capturing condition and/or the assembling condition when the capturing operation and/or the releasing operation is performed. The assembly equipment that this application provided, is used for realizing the automatic assembly between the quilt assembly piece, and in order in the process of automation, acquire and/or release the quilt assembly piece more accurately, has add collection system 6 at free end 102, and this collection system 6 realizes the position discernment to first quilt assembly piece 3 and second quilt assembly piece 5 through gathering the image set, and this collection system 6 is for example CCD camera, and its specific identification process is: when the free end 102 approaches the tray 15 for carrying the first assembled member 3, the collecting device 6 collects (i.e. takes a picture of) the image of the first assembled member 3 in the tray 15, the collected image set is transmitted to the control device, the control device processes the image set to obtain the position data of the first assembled member 3, then the control device controls the free end 102 to move in space according to the position data so that the first obtaining mechanism 2 arranged on the free end 102 is aligned with the first assembled member 3, then the first obtaining mechanism 2 obtains the first assembled member 3, then the free end 102 approaches the tray 15 for carrying the second assembled member 5 (the first obtaining mechanism 2 keeps the first assembled member 3 in a obtaining state during the movement of the free end 102), the collecting device 6 collects the image of the second assembled member 5, and the control device obtains the position data of the second assembled member 5 according to the collected image set, and the control device controls the second acquisition mechanism 4 to align with the second assembled part 5 according to the position data, and then performs the acquisition operation. At this time, the free end 102 has acquired the first assembled piece 3 and the second assembled piece 5, and then the control device is made to control the movement of the free end 102, so that the first assembled piece 3 on the first acquiring mechanism 2 is moved to the first spatial position, the first acquiring mechanism 2 releases the first assembled piece 3 at the first spatial position, and the free end 102 is made to move again, so that the second assembled piece 5 is moved to the second spatial position, and the second acquiring mechanism 4 releases the second assembled piece 5 at the second spatial position and realizes the assembly of the second assembled piece 5 and the first assembled piece 3. Here, before the first assembled unit 3 is moved to the first spatial position, the free end 102 may also take a picture of the assembling table 16 through the collecting device 6 to obtain position data of the assembling table 16, and accordingly determine position data of the first spatial position and the second spatial position (the first spatial position is a central position of the top surface of the assembling table 16, and the second spatial position may be determined according to the position data of the first spatial position, for example, when the first spatial position and the second spatial position overlap, the position data of the first spatial position is position data of the second spatial position). By arranging the acquisition device 6, the assembled part can be acquired and released more accurately and flexibly, and the working performance of the assembling equipment is improved.

In addition, the assembling apparatus may not include the above-described acquisition device 6, but may preset acquisition parameters of the first assembled member 3 and the second assembled member 5 in the control setting, namely, the first assembled piece 3 and the second assembled piece 5 are placed at the positions corresponding to the acquisition parameters before being acquired, simultaneously, the first acquiring mechanism 2 and the second acquiring mechanism 4 on the free end 102 can move to the positions corresponding to the acquiring parameters in turn, to realize the grasping of the first assembled member 3 or the second assembled member 5, and also, the position parameters of the first spatial position and the second spatial position may be set in advance in the control setting, so that the acquired first assembled part 3 and second assembled part 5 can move and stay at the first space position and the second space position in sequence under the driving of the free end 102, thereby realizing accurate release of the first assembled part 3 and second assembled part 5.

Further, as shown in fig. 2, the assembling device of the present application further comprises a fixing mechanism 7, and the fixing mechanism 7 is disposed at the free end 102 for fixing connection between the assembled components or between the assembled result and the carrier 14. When the first assembled member 3 and the second assembled member 5 are assembled into an assembly result, the connection modes of the first assembled member 3 and the second assembled member 5 are also various, for example, the second assembled member 5 can be pressed on the first assembled member 3 to realize the clamping connection of the first assembled member and the second assembled member, or the first assembled member and the second assembled member can be connected through a connecting piece after being respectively located at the first space position and the second space position. On this basis, the present application provides a fixing mechanism 7 specifically, which can be used to realize a fixed connection between the assembled components, specifically: when the first assembled member 3 and the second assembled member 5 are engaged with each other, this fixing mechanism 7 may be a pressing mechanism that presses the second assembled member 5 to engage the second assembled member 5 with the first assembled member 3 (in this case, the second acquisition mechanism 4 performs only an operation of placing the second assembled member 5 on the first assembled member 3 when releasing the second assembled member 5), such as an air cylinder or the like; when a connecting member needs to be provided between the first assembled member 3 and the second assembled member 5, the fixing mechanism 7 is made to be a mechanism for operating the connecting member, for example, when a screw is needed to be used for screw connection between the first assembled member 3 and the second assembled member 5, the fixing mechanism 7 may be an electric screwdriver or the like; alternatively, the fixing means 7 are used to achieve a fixed connection between the assembly result and the carrier 14, in particular: the assembling device of the application can assemble the first assembled part 3 and the second assembled part 5 into the assembling result, and can also assemble the assembling result on the carrier 14, that is, the assembling result can be transferred to the carrier 14 (the acquisition device 6 can also cooperate with the control device to identify the position of the carrier 14) through the multiplexing of the second acquisition mechanism 4, and the connecting between the assembling result and the carrier 14 can be realized, the connecting between the assembling result and the carrier can also be in a clamping manner or connected by using a connecting piece, when the fixing mechanism 7 realizes the fixed connection between the assembling result and the carrier, the connecting manner and the process between the first assembled part 3 and the second assembled part 5 are the same, and the description is omitted here.

In addition, as for the fixing mechanism 7 described above, the present application preferably has it fixedly connect the assembly result and the carrier 14, while the connection between the first assembled member 3 and the second assembled member 5 is preferably a snap connection, and is achieved by the second acquiring mechanism 4 pressing down the second assembled member 5 when releasing the second assembled member 5.

Further, as shown in fig. 2, the preferred assembling apparatus of the present application further includes a third obtaining mechanism 8, and this third obtaining mechanism 8 is provided at the free end 102, and is used for obtaining the third assembled member, holding the third assembled member in a obtaining state during the movement of the moving mechanism 1, and releasing the third assembled member, and the third assembled member released by satisfying the assembling condition and the first assembled member 3, the second assembled member 5 can be assembled as an assembling result. That is, three acquiring mechanisms, namely, a first acquiring mechanism 2, a second acquiring mechanism 4 and a third acquiring mechanism 8 are arranged on the free end 102, and the operation mode and action of the third acquiring mechanism 8 are the same as those of the first acquiring mechanism 2 and the second acquiring mechanism 4, so that the third assembled member acquired and released by the third acquiring mechanism can be matched with the first assembled member 3 and the second assembled member 5 to form an assembling result.

That is to say, the assembling apparatus in the present application can realize the automatic assembly of three assembled parts and the assembly of the assembled result formed by the three assembled parts on the carrier 14, in an example, the first assembled part 3, the second assembled part 5, the third assembled part, and the carrier 14 can be respectively a bracket, a heat sink, a CPU, and a motherboard, that is, in the production process of a computer, the assembling apparatus in the present application can be used to assemble the components of the computer, and the specific assembling process is as follows: firstly, the free end 102 is made to be close to the tray 15 for placing the bracket, the first obtaining mechanism 2 is made to obtain the bracket, then the free end 102 is made to be close to the tray 15 for placing the radiator, the second obtaining mechanism 4 is made to obtain the radiator, then the free end 102 is made to be close to the tray 15 for placing the CPU, and the third obtaining mechanism 8 is made to obtain the CPU, thus obtaining of three assembled parts is completed, then the free end 102 is made to move towards the assembling table 16 with the three assembled parts, when the free end 102 is close to the assembling table 16, the first obtaining mechanism 2 is made to drive the bracket to move downwards to be close to the surface of the assembling table 16 and the bracket is finally moved to the first space position, then the first obtaining mechanism 2 is released to the first space position, and the third obtaining mechanism 8 and the second obtaining mechanism 4 are made to sequentially release the CPU and the radiator to the third space position and the second space position respectively in the same way, when the third acquiring mechanism 8 releases the CPU, the CPU is pressed into the first mounting groove of the bracket, and when the second acquiring mechanism 4 releases the radiator, the local part of the radiator is pressed into the second mounting groove of the bracket, so that the bracket, the CPU and the radiator are sequentially arranged in the vertical direction and connected to form an assembling result; then, the second obtaining mechanism 4 obtains the assembly result, and the assembly result is transferred to the top of the motherboard by the movement of the free end 102, and then the second obtaining mechanism 4 releases the assembly result onto the motherboard (since the bracket is located at the bottommost part of the assembly result, the assembly member in contact with the motherboard in the assembly result is the bracket), and finally the fixing mechanism 7 is used to screw the screws on the bracket and the motherboard to lock the bracket, the CPU and the heat sink on the motherboard, so that the assembly of the bracket, the CPU and the heat sink on the motherboard is realized.

Specifically, as shown in fig. 2, each of the first acquiring mechanism 2, the second acquiring mechanism 4 and the third acquiring mechanism 8 includes a lifting part 9 and an acquiring device, the acquiring device is driven by the lifting part 9 to approach and separate from the assembled parts, and the assembled parts are assembled under the driving of the lifting part 9. When the free end 102 moves to the top of the tray 15 and the assembly table 16, the lifting mechanism drives the acquiring device to descend so that the acquiring device can be close to the tray 15 to acquire the assembled part and can be close to the assembly table 16 to release the assembled part, and meanwhile, in the process of releasing the assembled part, the acquiring device and the assembled part acquired by the acquiring device are driven to descend by the lifting mechanism 9, the assembled part can be pressed on other assembled parts already positioned on the assembly table 16 (for example, the second assembled part 5 is pressed on the first assembled part 3), so that the connection between the assembled parts is realized.

Further, the acquisition devices arranged on different acquisition mechanisms at least comprise different first acquisition devices and second acquisition devices; wherein: the first acquisition means includes: a mounting component 10 which is connected with the lifting component 9 and can be driven by the lifting component 9 to lift; a jig 11 provided on the mounting member 10; a driving part 12 provided on the mounting part 10, the gripper 11 being capable of gripping the first or second assembled member 3 or 5 under the driving of the driving part 12; the second acquisition means includes: the installation part 10 is connected with the lifting part 9 and can be driven by the lifting part 9 to lift; and a suction member 13 provided on the mounting member 10, the suction member 13 being capable of sucking the third packaged member by suction. In the first acquiring device, the mounting part 10 is a part of the acquiring device which carries other parts, namely, a clamp 11 and a driving part 12 are both arranged on the mounting part 10, the mounting part 10 is arranged at the bottom of the lifting part 9, the lifting part 9 drives the mounting part 10 to lift so as to drive the whole first acquiring device to lift, the driving part 12 drives the clamp 11 to open and close so as to grab and release the assembled piece, when the acquiring device is arranged on the acquiring mechanism, the acquiring devices arranged on the first acquiring mechanism 2 and the second acquiring mechanism 4 are the first acquiring device, so that the first acquiring mechanism 2 can grab the first assembled piece 3 through the closing of the clamp 11, meanwhile, the releasing of the first assembled piece 3 through the opening of the clamp 11, and similarly, the second acquiring mechanism 4 can grab the second assembled piece 5 through the closing of the clamp 11, while the release of the second assembled member 5 is effected by the opening of the clamp 11. In the second acquiring apparatus, it also includes a mounting part 10, this mounting part 10 is also used for carrying other parts, and the part for acquiring and releasing the assembled part is a suction part 13, the suction part 13 sucks the third assembled part by suction, and releases the third assembled part by stopping suction, specifically, the suction part 13 may be a suction nozzle, a suction cup, etc. When the third assembled member is a CPU, it is a wearing part, and it is sucked by the suction part 13, and the possibility that the CPU is damaged can be reduced compared with the case that it is grasped by the jig 11. Furthermore, the acquiring devices of the first acquiring mechanism 2, the second acquiring mechanism 4 and the third acquiring mechanism 8 may be of the same type, for example, the acquiring devices of the three mechanisms may be the first acquiring device or the second acquiring device.

Specifically, as shown in fig. 2, the above-mentioned jig 11 includes: a fixing arm 1101 fixedly provided on the mounting part 10; the slide arm 1102 provided on the mounting part 10 is slid, and the slide arm 1102 is slid by the driving of the driving part 12 so that the slide arm 1102 is moved closer to or away from the fixing arm 1101 to open and close the clip 11. The mounting part 10 is preferably a plate-like member and is disposed perpendicularly to the lifting direction of the lifting part 9, and the sliding direction of the sliding arm 1102 is parallel to the mounting part 10, so that different components of the acquisition mechanism can be moved in two mutually perpendicular directions, and when the lifting part 9 is moved up and down in the vertical direction, the sliding arm 1102 can be moved in the horizontal direction, and by the cooperative movement of the two, the grasping and releasing of the assembled member can be achieved at a specific position.

In the present application, in order to simplify the structure of the acquisition mechanism, it is preferable that the lifting member 9 and the driving member 12 are both air cylinders, as shown in fig. 2. During installation, the installation member 10 is connected to a piston rod of a lifting cylinder, the lifting of the acquisition device is realized by the expansion and contraction of the piston rod, and similarly, the slide arm 1102 is connected to the piston rod of the grasping cylinder, and the opening and closing of the clamp 11 is realized by the expansion and contraction of the piston rod. The cylinder is preferred because it is relatively small in volume and mass and is suitable for mounting on the free end 102. The lifting member 9 and the driving member 12 may be other members, such as a motor that moves the mounting member 10 or the slide arm 1102 by a rack and pinion mechanism, a worm gear mechanism, or a scissors mechanism.

In the present specification, the structure of each part is described in a progressive manner, the structure of each part is mainly described as different from the existing structure, and the whole and partial structure of the assembly equipment can be obtained by combining the structures of the parts.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An assembly apparatus, comprising:

a second acquiring mechanism, provided at the free end, for acquiring at least a second assembled member, holding the second assembled member in an acquiring state during the movement of the moving mechanism, and releasing the second assembled member;

the first acquisition device is arranged on the first acquisition mechanism and/or the second acquisition mechanism and comprises a mounting part, a clamp arranged on the mounting part and a driving part arranged on the mounting part, and the clamp can realize the grabbing of the first assembled part or the second assembled part under the driving of the driving part;

wherein,

the first assembled member and the second assembled member satisfying the release of the assembling condition can be assembled as an assembling result; the first or second capture mechanism is further to: acquiring the assembly result, keeping the assembly result in an acquired state in the movement process of the movement mechanism, and releasing the assembly result; the second acquiring mechanism realizes the multiplexing of the second acquiring mechanism by acquiring the first assembled part in the assembly result so as to realize that the second acquiring mechanism acquires the assembly result.

2. The assembly apparatus of claim 1, the satisfying the assembly condition comprising: after the first acquiring mechanism releases the first assembled piece at a first spatial position, the second acquiring mechanism releases the second assembled piece at a second spatial position, and the second spatial position and the first spatial position satisfy an overlapping condition, so that the second assembled piece is assembled to the first assembled piece;

3. The assembly device of claim 1, further comprising a capture device disposed at the free end for capturing a set of images, wherein the set of images is used to determine whether a spatial position of the free end or capture mechanism satisfies a capture condition.

4. The assembly device of claim 1, further comprising a securing mechanism disposed at the free end for securing connection between assembled pieces or between the assembly result and a carrier.

5. The assembling apparatus according to claim 1, further comprising a third acquiring mechanism provided at the free end for acquiring a third assembled member, holding the third assembled member in an acquiring state during the movement of the moving mechanism, and releasing the third assembled member, and the third assembled member released satisfying an assembling condition and the first assembled member, the second assembled member can be assembled as the assembling result.

6. The assembling device according to claim 5, wherein each of the first acquiring mechanism, the second acquiring mechanism and the third acquiring mechanism includes a lifting member and an acquiring device, the acquiring device is driven by the lifting member to approach and separate from the assembled members, and the assembling between the assembled members is realized by the driving of the lifting member.

7. The assembling apparatus according to claim 6, wherein the acquiring device provided at the third acquiring mechanism is a second acquiring device, and the second acquiring device includes: the mounting component is connected with the lifting component and can be driven by the lifting component to lift; a suction member provided on the mounting member, the suction member enabling suction of the third assembled member by suction.

8. The assembly apparatus of claim 7, wherein:

the jig includes: a fixing arm fixedly arranged on the mounting part; the sliding arm is arranged on the mounting part in a sliding mode and driven by the driving part to slide, so that the sliding arm is close to or far away from the fixing arm to achieve opening and closing of the clamp;

the lifting component and the driving component are both cylinders.