CN113118754B

CN113118754B - Assembly equipment

Info

Publication number: CN113118754B
Application number: CN202110313272.7A
Authority: CN
Inventors: 帅耀珠; 朱改华; 卢帅
Original assignee: Luxshare Automation Jiangsu Ltd
Current assignee: Luxshare Automation Jiangsu Ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2022-10-14
Anticipated expiration: 2041-03-24
Also published as: CN113118754A

Abstract

The embodiment of the invention discloses assembling equipment, which comprises an assembling carrier and a moving device; the assembly carrier is provided with a positioning groove and a first positioning center, the positioning groove is configured to position a plurality of workpieces, the positioning groove comprises an arc-shaped section, the first positioning center is arranged at the circle center of the arc-shaped section, and the distance between the first positioning center and the arc-shaped section is a first distance; the moving device is configured to move the workpiece to the positioning groove and comprises a moving block, the moving block is provided with at least one taking head and a second positioning center corresponding to the taking head, the taking head corresponds to the arc-shaped section and is used for taking the workpiece, the second positioning center is arranged at the circle center of the taking head, the distance between the second positioning center and the taking head is a second distance, and the second distance is equal to the first distance. Therefore, the assembling equipment provided by the embodiment of the invention can be used for conveniently positioning and correcting, and can effectively improve the assembling precision of workpieces and the assembling efficiency.

Description

Assembly equipment

Technical Field

The invention relates to the field of production equipment, in particular to assembling equipment.

Background

In the production of electronic products, mechanical products and the like, it is often necessary to assemble a plurality of parts in a certain manner. The traditional assembly process adopts a manual operation mode, the efficiency is low, the labor intensity of personnel is high, and the requirement of large-scale production cannot be met. Although automated or semi-automated assembling equipment is developed later, the assembling precision of the existing assembling equipment is low, and the requirement of more complicated assembling work is difficult to meet.

Disclosure of Invention

The object of the present invention is to provide an assembly device that solves the above mentioned problems of the prior art.

The assembly equipment provided by the embodiment of the invention comprises an assembly carrier and a moving device; the assembly carrier is provided with a positioning groove and a first positioning center, the positioning groove is configured to position a plurality of workpieces, the positioning groove comprises an arc-shaped section, the first positioning center is arranged at the center of the arc-shaped section, and the distance between the first positioning center and the arc-shaped section is a first distance; the moving device is configured to move a workpiece into the positioning groove, and comprises a moving block, wherein the moving block is provided with at least one taking head and a second positioning center corresponding to the taking head, the taking head corresponds to the arc-shaped section and is used for taking the workpiece, the second positioning center is arranged at the center of the taking head, the distance between the second positioning center and the taking head is a second distance, and the second distance is equal to the first distance.

Furthermore, the assembly carrier further has a first auxiliary positioning point, the first auxiliary positioning point and the first positioning center are spaced by a certain distance, and the moving block further has a second auxiliary positioning point corresponding to the first auxiliary positioning point.

Further, the assembling device further includes an arranging device, the arranging device includes an arranging rack, the arranging rack has at least one arranging groove and a third positioning center corresponding to the arranging groove, the arranging groove corresponds to the shape of the arc-shaped section, the arranging groove is configured to accommodate the workpiece, one end of the arranging groove has a first opening through which the workpiece passes, the third positioning center is disposed at the center of the arranging groove, a distance between the third positioning center and the center of the arranging groove is a third distance, and the third distance is equal to the second distance; wherein the moving device is configured to move the workpiece from the array slot to the positioning slot.

Further, the arrangement frame is also provided with a third auxiliary positioning point corresponding to the second auxiliary positioning point.

Furthermore, the arrangement device also comprises a guide block and a thimble mechanism; the guide block is provided with at least one guide groove, the width of the guide groove is matched with that of the workpiece, and the guide groove is provided with a second opening opposite to the first opening; the ejector pin mechanism comprises an ejector pin corresponding to the guide groove, and the ejector pin is configured to move along the guide groove so as to enable the workpiece in the guide groove to move out of the second opening.

Further, the assembling equipment also comprises a feeding device, a conveying device and a discharging device, wherein the feeding device is used for conveying the workpieces to the arranging device and is provided with a discharging hole for the workpieces to pass through; the thimble is arranged opposite to the first opening; the guide block is configured to be movable between a feeding position and a discharging position, and the guide groove is also provided with a third opening opposite to the second opening; when the guide block moves to the feeding position, the third opening is opposite to the discharge hole; when the guide block moves to the discharging position, the second opening is opposite to the first opening, and the third opening is opposite to the ejector pin.

Further, the arrangement device comprises a plurality of arrangement grooves, and the directions of the first openings of the plurality of arrangement grooves are the same.

Further, the positioning groove is provided with a positioning edge, the positioning edge comprises a plurality of protrusions arranged at intervals, and the protrusions are used for being in contact positioning with the side face of the workpiece.

Further, the assembly carrier further comprises a movable positioning block, the movable positioning block is arranged opposite to the positioning edge, and the movable positioning block is configured to be matched with the positioning edge together to position the workpiece.

Furthermore, the assembly carrier further comprises a positioning driving mechanism, and the positioning driving mechanism is connected with the movable positioning block and is used for driving the movable positioning block to move relative to the positioning edge.

Further, the moving device further comprises an X-axis moving module and a Y-axis moving module; the X-axis moving module is configured to drive the moving block to move along an X-axis direction; the Y-axis moving module is configured to drive the taking head to move along a Y-axis direction, and the Y-axis direction intersects with the X-axis direction and is perpendicular to the positioning groove.

Further, the moving block comprises a plurality of taking heads, and a certain distance is reserved between every two adjacent taking heads; the Y-axis moving module comprises a first moving unit and a plurality of second moving units, the second moving units correspond to the taking heads one to one, the first moving unit is configured to drive the taking heads to move along the Y-axis direction, and the second moving unit is configured to drive the corresponding taking head to move along the Y-axis direction.

Further, the assembly carrier comprises a plurality of arc-shaped sections, the arc-shaped sections are arranged around the first positioning center, and the distances between the arc-shaped sections and the first positioning center are equal; the assembly equipment further comprises a rotating mechanism, and the rotating mechanism drives the assembly carrier to rotate by taking the first positioning center as a rotating shaft.

Further, the arcuate segment is configured to position a plurality of the workpieces; the taking head is configured to take a plurality of the workpieces, and the taking head has a plurality of air holes corresponding to the plurality of workpieces for attracting the workpieces.

The embodiment of the invention provides assembling equipment, which comprises an assembling carrier and a moving device; the assembly carrier is provided with a positioning groove and a first positioning center, the positioning groove is configured to position a plurality of workpieces, the positioning groove comprises an arc-shaped section, the first positioning center is arranged at the circle center of the arc-shaped section, and the distance between the first positioning center and the arc-shaped section is a first distance; the moving device is configured to move the workpiece into the positioning groove and comprises a moving block, the moving block is provided with at least one taking head and a second positioning center corresponding to the taking head, the taking head corresponds to the arc-shaped section and is used for taking the workpiece, the second positioning center is arranged at the circle center of the taking head, the distance between the second positioning center and the taking head is a second distance, and the second distance is equal to the first distance. Therefore, the assembling equipment provided by the embodiment of the invention can be used for conveniently positioning and correcting, and can effectively improve the assembling precision of workpieces and the assembling efficiency.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic perspective view of an assembly apparatus according to an embodiment of the present invention;

FIG. 2 is a perspective view of an assembly carrier according to an embodiment of the present invention;

FIG. 3 is a side view of an assembly carrier according to an embodiment of the present invention;

FIG. 4 is a top view of an assembly carrier according to an embodiment of the present invention;

FIG. 5 is an enlarged view of a portion of an assembly carrier according to an embodiment of the present invention at A;

FIG. 6 is a schematic view of a positioning groove according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of a mobile device according to an embodiment of the present invention;

FIG. 8 is a front view of a mobile device of an embodiment of the present invention;

FIG. 9 is a schematic perspective view of a Y-axis moving module according to an embodiment of the present invention;

FIG. 10 is a side view of a Y-axis motion module of an embodiment of the present invention;

fig. 11 is a perspective view of a moving block according to an embodiment of the present invention;

fig. 12 is a bottom view of a moving block of an embodiment of the present invention;

FIG. 13 is a schematic perspective view of an alignment device according to an embodiment of the present invention;

FIG. 14 is a schematic structural view of an alignment shelf according to an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a guide block of an embodiment of the present invention;

FIG. 16 is a schematic view of a guide block of an embodiment of the present invention moved to a discharge position.

Description of reference numerals:

1-assembling a carrier; 11-a positioning groove; 111-arc segment; 112-a bump; 12-a first location center; 13-movable positioning blocks; 14-positioning drive mechanism;

2-a mobile device; 21-a moving block; 211-a pick-up head; 211 a-air holes; 212-a second location center; 22-X axis movement module; 23-Y axis movement module; 231-a first mobile unit; 232-a second mobile unit;

3-arranging the device; 31-an arrangement rack; 311-array slots; 311 a-first opening; 312-a third location center; 32-a guide block; 321-a guide groove; 321 a-a second opening; 321 b-a third opening; 33-a thimble mechanism; 331-a thimble;

4-a workpiece;

5-a rotating mechanism; 51-a turntable; 52-a rotary cylinder;

6-recovery device.

Detailed Description

The present invention will be described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth. It will be apparent to one skilled in the art that the present invention may be practiced without these specific details. Well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.

Furthermore, those of ordinary skill in the art will appreciate that the drawings provided herein are for illustrative purposes and are not necessarily drawn to scale.

Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is, what is meant is "including, but not limited to".

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.

Fig. 1 is a schematic perspective view of an assembly apparatus according to an embodiment of the present invention. As shown in fig. 1, the assembly equipment includes an assembly carrier 1 and a moving device 2, the assembly carrier 1 is used for assembling a plurality of workpieces according to a predetermined manner, and the moving device 2 is used for moving the workpieces to a predetermined position of the assembly carrier 1.

Fig. 2-6 are schematic structural views of an assembly carrier according to an embodiment of the present invention, wherein fig. 5 is a partially enlarged view of a portion a in fig. 4, and fig. 6 is a schematic structural view of a positioning groove. Referring to fig. 1 to 6, the assembly carrier 1 has a positioning groove 11 and a first positioning center 12, the positioning groove 11 being configured to position the plurality of workpieces 4 such that the plurality of workpieces 4 are placed in predetermined postures. The positioning slot 11 includes at least one arc segment 111, and the arc segment 111 can arrange a plurality of workpieces 4 along an arc. The first positioning center 12 is disposed at the center of the arc segment 111, and the distance between the first positioning center 12 and the arc segment 111 is a first distance, that is, the first distance is equal to the radius of the arc segment 111.

The positioning slot 11 may include one arc-shaped segment 111 or may include a plurality of arc-shaped segments 111. The centers of the plurality of arc segments 111 may or may not coincide with each other. The positioning slot 11 may also comprise portions having other shapes, such as straight segments or the like. In some embodiments, the positioning slot 11 is formed by a plurality of arc-shaped segments 111, and the centers of the arc-shaped segments 111 are coincident and have the same radius. For example, the positioning slot 11 in fig. 6 is formed by four arc-shaped segments 111 arranged along the same circumference.

The positioning groove 11 has a positioning rim for positioning in contact with the workpiece 4. The shape of the locating lip may be adapted to the shape of the workpiece 4, for example to form an arc identical to the inside arc or the outside arc of the workpiece 4. In some embodiments, the locating rim includes a plurality of protrusions 112, with spaces between adjacent protrusions 112, the protrusions 112 being configured to be positioned in contact with the side of the workpiece 4. When the work pieces 4 are positioned in the positioning grooves 11, one side surface of each work piece 4 opposite to the positioning edge is brought into contact with a predetermined plurality of projections 112. For example, in the present embodiment, the positioning edges are opposite to the outer arc surfaces of the workpieces 4, and each workpiece 4 is positioned by contacting two corresponding positioning edges. Compared with a positioning mode that the positioning edge is completely attached to the side face of the workpiece 4, the positioning edge is provided with the bulge 112, and the workpiece 4 is positioned in a point contact mode, so that the workpiece 4 can be prevented from being clamped in the positioning groove 11 too tightly and being difficult to take out. Preferably, the edges of the protrusions 112 that contact the workpiece 4 are smooth to avoid damage to the workpiece 4.

In some embodiments, the assembly carrier 1 further includes a plurality of movable positioning blocks 13, and the movable positioning blocks 13 are disposed opposite to the positioning rim and are used for cooperating with the positioning rim to position the workpiece 4. The movable positioning block 13 and the positioning rim contact the workpiece 4 from two opposite directions, thereby positioning the workpiece 4 in the radial direction. The movable positioning block 13 can move relative to the positioning rim to be far away from or close to the positioning rim. When the movable positioning block 13 moves to a far position, the workpiece 4 can be placed in or moved out of the positioning groove 11; when the movable positioning block 13 moves to the close position, the movable positioning block 13 abuts against the side face of the workpiece 4, and the workpiece 4 is pressed on the positioning edge to be positioned.

Optionally, the movable positioning blocks 13 correspond to the workpieces 4 one to one, that is, one movable positioning block 13 positions one workpiece 4 in a corresponding position. According to the requirement, one movable positioning block 13 may also correspond to a plurality of workpieces 4, for example, one movable positioning block 13 may be provided to position a plurality of workpieces 4 in the arc-shaped section 111. In some embodiments, the assembly carrier 1 further includes a positioning driving mechanism 14, connected to the movable positioning block 13, for driving the movable positioning block 13 to move relative to the positioning rim, so as to clamp and position the multiple workpieces 4 or release the workpieces 4. The assembly carrier 1 may further include a plurality of springs connected to the movable positioning block 13, so that the movable positioning block 13 keeps a tendency of moving toward the positioning edge, and the end of the movable positioning block 13 is in contact with the workpiece 4 by an elastic force of the springs, thereby preventing the workpiece 4 from being damaged due to an excessive pressure applied by the movable positioning block 13, and being capable of adapting to a dimensional deviation existing when the workpiece 4 is manufactured.

Fig. 7-12 are schematic structural views of the mobile device. Referring to fig. 1 and 7 to 12, the moving device 2 comprises a moving block 21, the moving block 21 has at least one pick-up head 211 for picking up the workpiece 4, the pick-up head 211 has a shape corresponding to the arc-shaped section 111, i.e. the pick-up head 211 is arc-shaped with a radius equal to the radius of the arc-shaped section 111. The length of the pick-up head 211 may be equal to the length of the arc segment 111 or may be less than the length of the arc segment 111 (e.g., equal to the length of a workpiece 4). In an embodiment of the present invention, the length of the taking head 211 is the same as the length of the arc segment 111, that is, the taking head 211 may be the same shape as the arc segment 111. Therefore, the taking head 211 can move once to place a plurality of workpieces 4 into the arc-shaped section 111, and the corresponding arc-shaped section 111 is completely filled.

Moving block 21 also has a second positioning center 212 corresponding to taking head 211, second positioning center 212 being arranged at the center of circle of taking head 211, the distance between second positioning center 212 and taking head 211 being a second distance, i.e. the second distance being equal to the radius of arc-shaped taking head 211. The radius of the pick-up head 211 is equal to the radius of the arc segment 111, i.e. the second distance is equal to the first distance. By aligning the second positioning center 212 with the first positioning center 12, the moving block 21 and the pick-up head 211 can be easily positioned, so that the pick-up head 211 can accurately place the corresponding workpiece 4 in the arc-shaped segment 111.

The first positioning center 12 and the second positioning center 212 may be specific structures on the assembly carrier 1 and the mobile device 2, such as positioning holes, positioning posts, etc.; the first positioning center 12 and the second positioning center 212 may also be specific electronic devices, for example, the first positioning center 12 and the second positioning center 212 are a corresponding light emitting device and a photoelectric sensor, respectively, and so on. When the moving block 21 has a plurality of pickup heads 211, the moving block 21 may have a plurality of second positioning centers 212 corresponding to the plurality of pickup heads 211, so that the pickup heads 211 can be positioned individually.

Preferably, the assembly carrier 1 further has a first auxiliary positioning point (not shown), which is spaced from the first positioning center 12 by a certain distance. The first auxiliary positioning point may be disposed at a fixed position relative to the arc segment 111, such as an end of the arc segment 111. The moving block 21 also has a second auxiliary positioning point (not shown) corresponding to the first auxiliary positioning point, and the relative position between the second auxiliary positioning point and the taking head 211 is kept consistent with the relative position between the first auxiliary positioning point and the arc-shaped segment 111. Thus, when second positioning center 212 is aligned with first positioning center 12 and the second auxiliary positioning point is aligned with the first auxiliary positioning point, it can be said that taking head 211 is aligned with arcuate segment 111, thereby facilitating positioning between taking head 211 and positioning slot 11.

The first auxiliary positioning point may be a specific structure or device which is arranged on the assembly carrier 1 and is different from the first positioning center 12 and the arc-shaped segment 111, for example, a positioning hole which is arranged between the first positioning center 12 and the arc-shaped segment 111; the first auxiliary positioning point may also be a certain point on the arc segment 111, for example a certain vertex at the end of the arc segment 111. Similar to the first auxiliary positioning point, the second auxiliary positioning point may be a specific structure or device that is provided on the moving block 21 and is different from the second positioning center 212 and the taking head 211, or may be a certain point on the taking head 211.

When the taking head 211 is detachably connected to the main body of the moving block 21, the second positioning center 212 and the second auxiliary positioning point may be used as a reference for mounting the taking head 211 on the moving block 21. When the taking head 211 has a specific positional relationship with the second positioning center 212 and the second auxiliary positioning point, the mounting position of the taking head 211 is considered to be acceptable. For example, if the first auxiliary positioning point is a vertex of the end of the arc segment 111, when the taking head 211 is installed, the vertex corresponding to the taking head 211 is aligned with the second auxiliary positioning point, and the distance between the vertex corresponding to the other end of the taking head 211 and the second positioning center 212 is equal to the distance between the second auxiliary positioning point and the second positioning center 212, and then the taking head 211 is fixed. For another example, the assembly carrier 1 has two first auxiliary positioning points, the two auxiliary positioning points correspond to two end portions of the arc-shaped section 111, and the moving block 21 has two corresponding second auxiliary positioning points, so that when the taking head 211 is installed, the two end portions of the taking head 211 are aligned with the two second auxiliary positioning points, and the center of the circle of the taking head is aligned with the second positioning center 212, so that the installation position of the taking head 211 is determined to be qualified.

In some embodiments, the moving device 2 includes an X-axis moving module 22 and a Y-axis moving module 23, the X-axis moving module 22 is used for driving the moving block 21 to move along an X-axis direction, and the Y-axis moving module 23 is used for driving the taking head 211 to move along a Y-axis direction, wherein the Y-axis direction intersects with the X-axis direction and is perpendicular to the positioning slot 11. Preferably, the X-axis direction is perpendicular to the Y-axis direction, so as to control the moving position of the pickup head 211. Taking the opening direction of the positioning slot 11 facing upwards as an example, the Y axis is vertical and the X axis is horizontal. The arrangement groove 311 can be arranged in the X-axis direction of the assembly carrier 1, after the taking head 211 takes the workpiece 4 from the arrangement groove 311, the X-axis moving module 22 drives the taking head 211 to move along the X-axis direction, so that the workpiece 4 can be aligned with the arc-shaped groove, and then the Y-axis moving module 23 drives the taking head 211 to move along the Y-axis direction, so that the taking head 211 puts the workpiece 4 into the arc-shaped groove. The X-axis moving module 22 and the Y-axis moving module 23 may include any power device and transmission mechanism capable of driving the moving block 21 to move along a straight line, such as a combination of a motor and a straight line module, and the like.

In some embodiments, the assembly carrier 1 includes a plurality of arc segments 111, the plurality of arc segments 111 are disposed around the first positioning center 12, and the plurality of arc segments 111 are disposed at equal distances from the first positioning center 12, that is, the plurality of arc segments 111 are disposed on a circle with the first positioning center 12 as a center and with a radius of the first distance. For example, the detent 11 in fig. 1-6 is comprised of four arcuate segments 111, with the four arcuate segments 111 arranged circumferentially.

Further, the assembly apparatus further includes a rotation mechanism 5, and the rotation mechanism 5 drives the assembly carrier 1 to rotate around the first positioning center 12 as a rotation axis. The rotating mechanism 5 may comprise a turntable 51 and a rotating cylinder 52, the turntable 51 is connected to an output end of the rotating cylinder 52, the assembly carrier 1 is fixed on the turntable 51, and the first positioning center 12 is aligned with a rotating axis of the turntable 51. The rotation mechanism 5 drives the turntable 51 and the assembly carrier 1 to rotate, so that the positions of the arc segments 111 are changed. When the arc section 111 rotates to the receiving position, the arc section 111 aligns with the projection of each corresponding position on the taking head 211 along the X-axis direction, and when the taking head 211 moves to the position above the positioning groove 11 along the X-axis direction, the taking head 211 is opposite to the arc section 111 located at the receiving position. When the taking head 211 loads the workpiece 4 into one arc segment 111, the rotating mechanism 5 rotates by a predetermined angle to move the arc segment 111 away from the receiving position and rotate the next arc segment 111 to the receiving position, so that the moving device 2 can load the taken workpiece 4 into the next arc segment 111. The rotating mechanism 5 rotates several times, so that each arc-shaped section 111 sequentially rotates to the receiving position to receive the workpiece 4 taken by the taking head 211, and finally, each arc-shaped section 111 is completely filled, and then, the assembled workpieces 4 can be taken out, and then, the next assembly is performed.

Fig. 13 is a schematic structural view of an alignment apparatus according to an embodiment of the present invention, and fig. 14 is a schematic structural view of an alignment rack according to an embodiment of the present invention; FIG. 15 is a schematic structural diagram of a guide block of an embodiment of the present invention; FIG. 16 is a schematic view of a guide block of an embodiment of the present invention moved to a discharge position. Referring to fig. 13-16, the assembly apparatus preferably further includes an alignment device 3 for initially aligning the workpieces 4. The aligning device 3 includes an aligning frame 31, and the aligning frame 31 has at least one aligning slot 311, for example, the aligning frame 31 in fig. 13-14 has two aligning slots 311 arranged side by side. The arrangement groove 311 can accommodate the workpieces 4, and a certain number of workpieces 4 are placed according to a preset posture, so that the taking head 211 can directly move the workpieces 4 to the positioning groove 11 for placing after taking the workpieces 4 in the arrangement groove 311, and the posture of the workpieces 4 does not need to be adjusted in the moving process.

Alternatively, the arrangement groove 311 may have a shape corresponding to the shape of the arcuate section 111, that is, the arrangement groove 311 may have an arc shape identical to the shape of the arcuate section 111, and the plurality of workpieces 4 may be arranged in predetermined relative positions. Preferably, the arrangement rack 31 further includes a third positioning center 312 corresponding to the arrangement slot 311, the third positioning center 312 is disposed at a center of the arrangement slot 311, and a distance between the third positioning center 312 and the center of the arrangement slot 311 is a third distance. The arrangement slots 311, the pick-up heads 211 and the positioning slots 11 are shaped correspondingly, so that the third distance is equal to the second distance and equal to the first distance. When the second positioning center 212 is aligned with the third positioning center 312 of the alignment rack 31, it can be considered that the corresponding taking head 211 is aligned with the alignment slot 311, which facilitates positioning and correction.

Similar to the first positioning center 12 and the second positioning center 212, the third positioning center 312 can be a specific structure on the arrangement frame 31, such as a positioning hole, a positioning column, etc.; the third positioning may also be a specific electronic device, for example, when the second positioning centers 212 are light emitting devices, respectively, the third positioning center 312 may be a corresponding photo sensor. When the array rack 31 has a plurality of array slots 311, the array rack 31 may have a plurality of third positioning centers 312 corresponding to the plurality of array slots 311, respectively, so as to position the pickup head 211 with each of the array slots 311. For example, the aligning frame 31 in fig. 14 has two aligning grooves 311 and two corresponding third positioning centers 312.

The alignment frame 31 further has a third auxiliary positioning point (not shown) corresponding to the first auxiliary positioning point and the second auxiliary positioning point, and the third auxiliary positioning point is spaced from the third positioning center 312 by a predetermined distance. Similar to the first auxiliary positioning point and the second auxiliary positioning point, the third auxiliary positioning point may be disposed at a fixed position relative to the alignment slot 311, such as an end of the alignment slot 311. The relative position between the third auxiliary positioning point and the alignment slot 311 is consistent with the relative position between the first auxiliary positioning point and the arc-shaped segment 111.

When the assembly device is calibrated, the moving block 21 may be moved to the positioning groove 11, and the taking head 211 may be adjusted to align the second positioning center 212 with the first positioning center 12, and align the second auxiliary positioning point with the first auxiliary positioning point, so as to complete the calibration of the position of the taking head 211. Then, the moving block 21 is driven to move to the alignment groove 311, the alignment rack 31 is adjusted to align the third positioning center 312 with the second positioning center 212, and the third auxiliary positioning point with the second auxiliary positioning point, so as to correct the position of the alignment groove 311. After the correction, the taking head 211 can be effectively ensured to be aligned with both the arrangement groove 311 and the arc-shaped groove, and after the taking head 211 takes the workpieces 4 in the arrangement groove 311, the taking head drives the workpieces 4 to translate, so that the workpieces 4 which are arranged in the arrangement groove 311 in a certain manner can be directly placed into the arc-shaped section 111 without additional arrangement position adjustment. By providing the first to third positioning centers 312 and the first to third auxiliary positioning points, the position correction of each part of the assembly equipment can be facilitated, and the accuracy of the assembly work can be ensured.

In some embodiments, the moving block 21 includes a plurality of taking heads 211, and a certain distance is spaced between two adjacent taking heads 211. Preferably, the arrangement groove 311 includes a plurality of arrangement grooves, and the arrangement of the plurality of taking heads 211 is the same as the arrangement of the plurality of arrangement grooves 311. The moving block 21 may have a plurality of second positioning centers 212 corresponding to the plurality of taking heads 211 one to one, and the alignment frame 31 may have a plurality of third positioning centers 312 corresponding to the plurality of second positioning centers 212. The Y-axis moving module 23 includes a first moving unit 231 and a plurality of second moving units 232, and the first moving unit 231 and the second moving units 232 may be air cylinders or other linear driving mechanisms. The first moving unit 231 is configured to drive the plurality of fetching heads 211 to move along the Y-axis direction synchronously, the second moving units 232 are in one-to-one correspondence with the fetching heads 211, and the second moving unit 232 is connected to a corresponding fetching head 211 and configured to drive a corresponding fetching head 211 to move along the Y-axis direction. For example, as shown in fig. 9 to 12, the moving block 21 includes two taking heads 211 and two second moving units 232, the two second moving units 232 are arranged in parallel, and the two taking heads 211 are connected to one corresponding second moving unit 232 respectively. Thereby, the two taking heads 211 can be moved relatively independently in the Y-axis direction. After the first taking head 211 puts the workpiece 4 into the corresponding arc-shaped section, the rotating mechanism 5 drives the assembly carrier 1 to rotate, so that the empty arc-shaped section rotates to the receiving position, the X-axis moving module 22 drives the movable block to move along the X-axis direction, so that the second taking head 211 is aligned with the arc-shaped section 111, and the second moving unit 232 corresponding to the second taking head 211 drives the second taking head 211 to move along the Y-axis direction, so as to put the workpiece 4 into the corresponding arc-shaped section 111. Accordingly, the moving device 2 can load the workpiece 4 into the plurality of arcuate segments 111 by moving the moving block 21 in the X-axis direction once, and the work efficiency can be effectively improved.

The plurality of second moving units 232 may be fixed on the same fixing plate, and the output end of the first moving unit 231 is connected to the fixing plate, so that the plurality of second moving units 232 and the pick-up head 211 can be driven to move along the Y axis at the same time. When the moving block 21 moves above the arrangement grooves 311 to align each of the taking heads 211 with the corresponding arrangement groove 311, the first moving unit 231 drives the plurality of taking heads 211 to move down to take the workpieces 4 in the arrangement grooves 311, which can improve the efficiency of taking the workpieces 4. Of course, the plurality of moving units may drive the corresponding pickup heads 211 to pick up the workpiece 4 in the alignment groove 311, respectively, according to the actual production requirement.

The taking head 211 can take the workpiece 4 by magnetic attraction, negative pressure suction, or the like. In some embodiments, the taking head 211 has a plurality of air holes 211a corresponding to the plurality of workpieces 4, the plurality of air holes 211a are divided into a plurality of groups, and each group of air holes 211a corresponds to one workpiece 4. The air hole 211a is connected to a negative pressure device, which generates a negative pressure at the air hole 211a to suck the corresponding work 4 to the pickup head 211. Each set of gas holes 211a can include one or more gas holes 211a, e.g., arc segments 111 of fig. 1-6 can accommodate 4 workpieces 4, and the pick head 211 can include 4 gas holes 211a, each gas hole 211a corresponding to one workpiece 4. By detecting the air pressure at the corresponding air hole 211a, it can be determined whether the pickup head 211 sucks up the workpiece 4 at the corresponding position. The assembling device may further include a recycling device 6, and when the taking head 211 does not suck up the predetermined number of the workpieces 4, the moving device 2 may move the moving block 21 to the recycling device 6 and put the workpieces 4 on the taking head 211 into the recycling device 6 for recycling.

In some embodiments, one end of the arrangement slot 311 has a first opening 311a, the first opening 311a can be passed by the workpiece 4, and the workpiece 4 can enter the arrangement slot 311 from the first opening 311a for arrangement. The aligning apparatus 3 further includes a guide block 32 and an ejector pin mechanism 33. The guide block 32 has at least one guide groove 321, the guide groove 321 may be a linear groove, the width of the guide groove 321 matches the workpiece 4, and the guide groove 321 has a second opening 321a opposite to the first opening 311 a. The ejector pin mechanism 33 includes an ejector pin 331 corresponding to the guide groove 321. The ejector pin 331 is movable in the extending direction of the guide groove 321, thereby pushing the workpiece 4 in the guide groove 321 to move along the guide groove 321 and out of the guide groove 321 from the second opening 321a and into the arrangement groove 311 from the first opening 311 a. The width of the thimble 331 may be smaller than the width of the guide groove 321, so that the thimble 331 moves along the guide groove 321. The end of the thimble 331 contacting the workpiece 4 may be covered with a flexible material (such as rubber) or made of a flexible material, and the thimble 331 may be elastically connected to a fixture such as a rack through a spring, so as to prevent the workpiece 4 from being damaged due to the collision between the end of the thimble 331 and the workpiece 4. The ejector pin mechanism 33 may include an air cylinder or other linear driving component for driving the ejector pin 331 to move along the guide slot 321, which is beneficial to improving the automation level of the assembly equipment.

In some embodiments, the assembly apparatus further comprises a feeding device (not shown) for screening and separating the workpieces 4 and conveying the workpieces 4 to the alignment device 3. The feeding device can be a conveyor belt, a vibrating disc device and the like. The feeding device has a discharge port, the width of which matches the width of the guide groove 321, and only a single workpiece 4 can pass through the discharge port in a certain posture. The feeding device is disposed adjacent to the aligning device 3, and the work 4 is moved out of the feeding device from the discharge port into the guide groove 321 in a certain posture. Preferably, a stopper and an optical fiber sensor may be provided at the discharge port, and the optical fiber sensor is used to detect the workpiece 4 passing through the discharge port. After a certain amount of workpieces 4 pass through the discharge port, the stopper stops the discharge port to prevent the workpieces 4 from continuously moving out.

Alternatively, the guide block 32 is configured to be movable between the in-feed position and the out-feed position, for example, by providing a drive (e.g., a motor and linear slide module) that drives the guide block 32 between the in-feed position and the out-feed position. The thimble mechanism 33 is provided to face the array slot 311, and the thimble 331 faces the first opening 311a of the corresponding array slot 311. The guide groove 321 also has a third opening 321b disposed opposite to the second opening 321a, that is, the second opening 321a and the third opening 321b are disposed at both ends of the guide groove 321, respectively. When the guide block 32 is moved to the feeding position (see fig. 13), the third opening 321b of the guide groove 321 faces the discharge port, and the workpiece 4 can enter the guide groove 321 through the third opening 321b after passing through the discharge port. Then, the guide block 32 is moved to the discharge position (see fig. 16) so that the second opening 321a is aligned with the first opening 311a of the arrangement groove 311 and the third opening 321b is aligned with the thimble 331. The thimble 331 enters the guide groove 321 from the third opening 321b and moves along the guide groove 321, thereby pushing the workpiece 4 in the guide groove 321 into the alignment groove 311. The work 4 enters the guide groove 321, and further attitude adjustment is performed so that the arrangement state of the plurality of works 4 substantially coincides with the arcuate section 111. Preferably, a positioning sensor may be further provided at the feeding position to detect the arrangement of the workpieces 4 in the guide groove 321. When a predetermined number of workpieces 4 are arranged in the guide groove 321 in a predetermined manner, the driving device drives the guide block 32 to move, so that the guide groove 321 is far away from the discharge hole.

In some embodiments, the alignment device 3 includes a plurality of alignment slots 311, and the first openings 311a of the plurality of alignment slots 311 have the same direction. The guide block 32 also includes a plurality of guide grooves 321, and the plurality of guide grooves 321 correspond one-to-one to the arrangement grooves 311. The thimble mechanism 33 also includes a plurality of thimbles 331, and the thimbles 331 correspond to the guide grooves 321 one to one. Therefore, the guide block 32 can carry multiple groups of workpieces 4 to move between the feeding device and the arrangement grooves 311, and the ejector pin mechanism 33 can push multiple groups of workpieces 4 into the corresponding arrangement grooves 311 simultaneously by one action, which is beneficial to improving the working efficiency.

The assembling equipment provided by the embodiment of the invention can be applied to the assembling process of various products. Preferably, the assembly device can be used in the assembly process of the magnet. Taking the magnet with each workpiece 4 being an arc as an example, the assembling device of the embodiment of the invention can be used for conveniently assembling a plurality of magnet workpieces 4 into an arc or ring magnet according to a certain arrangement sequence. The entire assembly process is described below in conjunction with fig. 1-16.

The guide block 32 moves to the feeding position, so that the third opening 321b of the first guide groove 321 is aligned with the discharge opening of the feeding port. The feeding device screens and separates the workpiece 4 and conveys the workpiece 4 to the discharge port, and the workpiece 4 moves into the first guide groove 321. The optical fiber sensor detects that four workpieces 4 pass through the discharge port, and the positioning sensor detects that the four workpieces 4 are arranged in the guide groove 321, the stopper moves to the discharge port to stop the discharge port, and the guide block 32 moves to enable the second guide groove 321 to move to the discharge port to receive the workpieces 4 conveyed by the feeding device. After the alignment sensor detects that the second guide groove 321 is filled, the guide block 32 moves to the discharging position, and the second openings 321a of the two guide grooves 321 are aligned with the first openings 311a of the corresponding alignment grooves 311, respectively. The ejector pin mechanism 33 operates, the ejector pin 331 pushes the workpiece 4 in the guide groove 321 into the corresponding arrangement groove 311, and the workpieces 4 are arranged in the arrangement groove 311 in a corresponding arc shape. The guide block 32 moves back to the feeding position for the next round of feeding. When the moving device 2 operates to align the second positioning center 212 with the third positioning center 312, the two taking heads 211 are aligned with the corresponding alignment slots 311. The first moving unit 231 drives the two taking heads 211 to move downwards to suck the workpieces 4 in the arrangement groove 311, then the first moving unit 231 drives the two taking heads 211 to rise, and the X-axis moving module 22 drives the moving block 21 to move to the upper side of the assembly carrier 1 along the X-axis direction, so that the second positioning center 212 corresponding to the first taking head 211 is aligned with the first positioning center 12. The rotating mechanism 5 rotates the empty arc segment 111 to the receiving position, the first taking head 211 is lowered by the corresponding second moving unit 232, the workpiece 4 is placed in the corresponding arc slot, and then the first taking head 211 is raised. The movable positioning block 13 positions the workpiece 4 in the arc-shaped groove. The X-axis moving module 22 drives the moving block 21 to move a certain distance along the X-axis direction, so that the second positioning center 212 corresponding to the second taking head 211 is aligned with the first positioning center 12. The rotating mechanism 5 drives the assembly carrier 1 to rotate, so that the next empty arc-shaped section 111 rotates to the receiving position, and the second taking head 211 is driven by the corresponding second moving unit 232 to descend, so as to place the workpiece 4 into the corresponding arc-shaped groove. The second pick-up head 211 generates gas, and then the X-axis moving device 2 drives the moving block 21 to move along the X-axis direction and return to the arrangement groove 311 to pick up the workpiece 4 again. After the positioning groove 11 is filled, the assembled product is taken out, and then the next assembly operation can be performed.

The embodiment of the invention provides assembling equipment, which comprises an assembling carrier and a moving device; the assembly carrier is provided with a positioning groove and a first positioning center, the positioning groove is configured to position a plurality of workpieces, the positioning groove comprises an arc-shaped section, the first positioning center is arranged at the center of the arc-shaped section, and the distance between the first positioning center and the arc-shaped section is a first distance; the moving device is configured to move the workpiece into the positioning groove and comprises a moving block, the moving block is provided with at least one taking head and a second positioning center corresponding to the taking head, the taking head corresponds to the arc-shaped section and is used for taking the workpiece, the second positioning center is arranged at the circle center of the taking head, the distance between the second positioning center and the taking head is a second distance, and the second distance is equal to the first distance. Therefore, the assembling equipment provided by the embodiment of the invention can be used for conveniently positioning and correcting, and can effectively improve the assembling precision of workpieces and the assembling efficiency.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An assembly apparatus, comprising:

an assembly carrier (1) having a positioning slot (11) and a first positioning center (12), the positioning slot (11) being configured to position a plurality of workpieces (4), the positioning slot (11) comprising an arc-shaped section (111), the first positioning center (12) being arranged at a center of the arc-shaped section (111), a distance between the first positioning center (12) and the arc-shaped section (111) being a first distance;

-a movement device (2) configured to move a workpiece (4) into the positioning slot (11), the movement device (2) comprising a moving block (21), the moving block (21) having at least one taking head (211) and a second positioning center (212) corresponding to the taking head (211), the taking head (211) corresponding to the arc-shaped section (111), the taking head (211) being for taking a workpiece (4), the second positioning center (212) being arranged at the centre of the taking head (211), the distance between the second positioning center (212) and the taking head (211) being a second distance, the second distance being equal to the first distance; and

-an alignment device (3), said alignment device (3) comprising:

an arrangement rack (31), wherein the arrangement rack (31) is provided with at least one arrangement groove (311) and a third positioning center (312) corresponding to the arrangement groove (311), the arrangement groove (311) corresponds to the shape of the arc-shaped section (111), the arrangement groove (311) is configured to accommodate the workpiece (4), one end of the arrangement groove (311) is provided with a first opening (311 a) for the workpiece (4) to pass through, the third positioning center (312) is arranged at the center of the arrangement groove (311), the distance between the third positioning center (312) and the center of the arrangement groove (311) is a third distance, and the third distance is equal to the second distance;

a guide block (32) having at least one guide groove (321), the guide groove (321) having a width matching the workpiece (4), the guide groove (321) having a second opening (321 a) opposite to the first opening (311 a); and

an ejector pin mechanism (33) including an ejector pin (331) corresponding to the guide groove (321), the ejector pin (331) being configured to be movable along the guide groove (321) to move the workpiece (4) in the guide groove (321) out of the second opening (321 a);

wherein the moving device (2) is configured to move the workpiece (4) from the arrangement groove (311) to the positioning groove (11).

2. The assembly apparatus according to claim 1, wherein the assembly vehicle (1) further has a first auxiliary positioning point, the first auxiliary positioning point being spaced from the first positioning center (12) by a certain distance, the moving block (21) further having a second auxiliary positioning point corresponding to the first auxiliary positioning point.

3. The assembly apparatus according to claim 2, wherein the alignment rack (31) further has a third auxiliary positioning point corresponding to the second auxiliary positioning point.

4. The assembly plant according to claim 1, characterized in that it further comprises a feeding device for conveying the work pieces (4) to the alignment device (3), the feeding device having a discharge opening for the work pieces (4) to pass through;

the thimble (331) is arranged opposite to the first opening (311 a);

the guide block (32) is configured to be movable between a feeding position and a discharging position, the guide groove (321) further having a third opening (321 b) disposed opposite to the second opening (321 a); when the guide block (32) moves to the feeding position, the third opening (321 b) is opposite to the discharging hole; when the guide block (32) moves to the discharging position, the second opening (321 a) is opposite to the first opening (311 a), and the third opening (321 b) is opposite to the thimble (331).

5. The assembly apparatus according to claim 1, wherein the alignment device (3) comprises a plurality of the alignment grooves (311), and the first openings (311 a) of the plurality of the alignment grooves (311) are in the same direction.

6. The assembly device according to claim 1, characterized in that the positioning slot (11) has a positioning rim comprising a plurality of spaced-apart projections (112), the projections (112) being intended to be positioned in contact with a side of the workpiece (4).

7. The assembly apparatus according to claim 6, wherein the assembly vehicle (1) further comprises:

a movable positioning block (13) arranged opposite to the positioning rim, the movable positioning block (13) being configured to cooperate with the positioning rim to position the workpiece (4).

8. The assembly apparatus according to claim 7, wherein the assembly vehicle (1) further comprises:

and the positioning driving mechanism (14) is connected with the movable positioning block (13) and is used for driving the movable positioning block (13) to move relative to the positioning edge.

9. The assembly apparatus according to claim 1, wherein the moving device (2) further comprises:

an X-axis moving module (22) configured to drive the moving block (21) to move in an X-axis direction; and

a Y-axis moving module (23) configured to drive the pick-up head (211) to move along a Y-axis direction, the Y-axis direction intersecting the X-axis direction and being perpendicular to the positioning groove (11).

10. The assembly device according to claim 9, characterized in that the moving block (21) comprises a plurality of taking heads (211), two adjacent taking heads (211) being spaced apart by a certain distance;

the Y-axis moving module (23) comprises a first moving unit (231) and a plurality of second moving units (232), the second moving units (232) are in one-to-one correspondence with the taking heads (211), the first moving unit (231) is configured to drive the plurality of taking heads (211) to move along the Y-axis direction, and the second moving unit (232) is configured to drive a corresponding one of the taking heads (211) to move along the Y-axis direction.

11. The assembly apparatus according to claim 1, wherein the assembly vehicle (1) comprises a plurality of said arc-shaped segments (111), the plurality of said arc-shaped segments (111) being arranged around the first positioning center (12), the distance between the plurality of arc-shaped segments (111) and the first positioning center (12) being equal;

the assembling apparatus further includes:

and the rotating mechanism (5) drives the assembly carrier (1) to rotate by taking the first positioning center (12) as a rotating shaft.

12. The assembly apparatus according to claim 1, wherein the arc-shaped segment (111) is configured to position a plurality of the workpieces (4);

the taking head (211) is configured to take a plurality of the works (4), and the taking head (211) has a plurality of air holes (211 a) corresponding to the plurality of works (4) for sucking the works (4).