CN114227219B - Assembling device and assembling method - Google Patents
Assembling device and assembling method Download PDFInfo
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- CN114227219B CN114227219B CN202111451093.6A CN202111451093A CN114227219B CN 114227219 B CN114227219 B CN 114227219B CN 202111451093 A CN202111451093 A CN 202111451093A CN 114227219 B CN114227219 B CN 114227219B
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- driver
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- mounting groove
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention belongs to the technical field of assembly, and particularly relates to an assembly device and an assembly method, which are used for assembling a part on a workpiece, wherein the workpiece is provided with an installation groove suitable for being matched with the part, and the assembly device comprises a workbench and a plurality of mounting grooves arranged on the workbench: the carrier is used for fixing the workpiece; the rotating table is used for placing the parts and driving the parts to rotate to a preset angle; and the manipulator is used for grabbing the part, and is also used for horizontally moving and vertically moving to press the part into the mounting groove. Through the structure, the automatic assembly function of the special-shaped buckle is realized, and the manual work is replaced, so that the labor is saved, and the production efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of assembly, and particularly relates to an assembly device and an assembly method.
Background
In the assembly production process of microelectronic products, the assembly of a special-shaped buckle is involved. Specifically, as shown in fig. 1, the special-shaped buckle comprises a workpiece and a special-shaped part, wherein the special-shaped part comprises a straight end and a bent end, the end surfaces of the straight end and the bent end form a certain included angle, and the special-shaped buckle is made of a material which cannot be deformed greatly due to certain rigidity; the upper surface of work piece has the mounting groove with special-shaped part shape adaptation, and in order to realize spacing to the installed part, the mounting groove is equipped with the dog in the straight adaptation end, cooperates the shape of mounting groove itself for the straight end cartridge of installed part after the assembly is in the cavity that dog and mounting groove are, the terminal surface and the mounting groove lateral wall backstop of bending end, and then realize the restriction to four positions about the installed part. But based on the setting of above-mentioned structure for the space of mounting groove top is less than the size of dysmorphism part in the work piece, L2< L1 promptly, and based on the restriction of dysmorphism part deformability, makes only can adopt artifical assembly in the actual production, and can't realize dysmorphism part and work piece automatic assembly through automation equipment, and then because of the operating efficiency of artifical assembly is low and has restricted production process.
Disclosure of Invention
The invention aims to provide an assembly device and an assembly method, which aim to realize automatic assembly of buckles and improve assembly efficiency.
The invention provides an assembling device which is used for assembling a part on a workpiece, wherein the workpiece is provided with a mounting groove suitable for being matched with the part, and the assembling device comprises a workbench and a plurality of mounting grooves arranged on the workbench: the carrier is used for fixing the workpiece; the rotating table is used for placing the parts and driving the parts to rotate to a preset angle; and the manipulator is used for grabbing the part, and is also used for horizontally moving and vertically moving to press the part into the mounting groove.
In the above-described assembling apparatus, it is further preferable that the rotary table includes: the mounting frame is arranged on the workbench; the carrier comprises a connecting cylinder and a material carrying platform which are connected; the connecting cylinder is movably arranged on the mounting frame; the upper surface of the material carrying platform is provided with a cavity communicated with the inner cavity of the connecting cylinder; the vacuum pump is connected with the inner cavity of the connecting cylinder; and the rotating motor is arranged on the mounting frame, is in transmission connection with the connecting cylinder and is suitable for driving the material carrying platform to rotate.
The above-described assembling device, further preferably, the manipulator includes: the first grabbing shaft is provided with a grabbing working face which is an inclined plane; the first driver is connected with the first grabbing shaft and drives the first grabbing shaft to horizontally move; the second driver is connected with the first grabbing shaft and drives the first grabbing shaft to vertically move; and the third driver is connected with the first grabbing shaft and drives the first grabbing shaft to rotationally move.
In the above-described assembly device, it is further preferable that two second drivers are mounted on the first driver, and each of the second drivers is connected to one of the first grasping shafts through one of the third drivers.
The above-described assembling device further preferably further comprises: the vacuum sensor is arranged in the cavity of the material carrying table and is suitable for detecting the vacuum degree in the cavity; the camera is arranged above the material carrying table and is suitable for acquiring the state of the part; and the driving controller is respectively and electrically connected with the vacuum sensor, the camera, the second driver and the third driver, and is suitable for driving the second driver according to the vacuum degree and driving the third driver according to the part state.
The assembly device as described above, further preferably, the work bench is further provided with a feed table adapted to supply the parts; the manipulator further comprises a second grabbing shaft, a fourth driver and a fifth driver which are respectively connected with the second grabbing shaft, and the grabbing working surface of the second grabbing shaft is a plane; the fourth driver and the fifth driver are suitable for driving the second grabbing shaft to move horizontally and vertically respectively.
In the above-described assembly device, it is further preferable that a horizontal truss is further provided on the table, and the first driver and the fourth driver are provided on the horizontal truss.
The invention discloses an assembly method, which is used for assembling a part on a workpiece, wherein an installation groove suitable for being matched with the part is formed in the workpiece, and the assembly method is realized by adopting the assembly device according to any one of the above steps, and comprises the following steps: (1) Fixing the workpiece by using the carrier in a mode that a mounting groove faces upwards; (2) Rotating the parts placed on the rotating table to a preset angle by using the rotating table; (3) Grabbing the part with a preset angle by using the manipulator and moving the part to the position above the workpiece mounting groove; (4) The part is mounted in a mounting slot of the workpiece using the robot in combination with vertical and horizontal movement.
The above-described assembling method further preferably further comprises the step (5): and grabbing parts on the feeding table by using the manipulator and placing the parts on the rotating table.
In the above-described assembly method, it is further preferable that in the step (4), the manipulator is first driven vertically so as to bring the part into contact with the bottom surface of the work mounting groove, then driven horizontally so as to clamp one end of the part into the mounting groove, and then driven horizontally and vertically in synchronization, so that the part is mounted in the mounting groove.
Compared with the prior art, the invention has the following advantages:
the device disclosed by the invention mainly comprises a workbench, a carrier, a rotary table and a manipulator, wherein the carrier is arranged on the workbench and is used for fixing the workpiece; the rotary table is used for placing the parts and driving the parts to rotate; the manipulator is used for grabbing the part, and is also used for horizontally moving and vertically moving to press the part into the mounting groove. The device enables the part to rotate to a preset angle through the rotary table, then the part is matched with the action of the mechanical arm, a certain angle is formed when the part is in contact with a workpiece, then the part is matched with the horizontal movement and the vertical movement of the mechanical arm, the part is deformed under the action of the mechanical arm after one end of the part is clamped into the mounting groove, and then the part is clamped into the mounting groove. Through the structure, the automatic assembly function of the parts and the workpieces is realized, and the manual work is replaced, so that the labor is saved, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a special-shaped buckle in the present invention, wherein fig. 1a is a schematic view of an unassembled state, and fig. 1b is a schematic view of an assembled state;
FIG. 2 is a schematic view of an assembly device according to the present invention;
FIG. 3 is a schematic view of a rotary table according to the present invention;
fig. 4 is a schematic diagram of an assembly process according to the present invention.
Reference numerals illustrate:
the device comprises a 1-carrier, a 2-rotating table, a 3-feeding table, a 4-first grabbing shaft, a 5-second grabbing shaft, a 6-truss, a 7-special-shaped part, an 8-workpiece, a 9-mounting groove, a 10-workbench, an 11-second driver, a 12-third driver, a 13-fifth driver, a 14-sixth driver, a 15-seventh driver, a 16-mounting frame, a 17-carrying table, an 18-connecting cylinder, a 19-cavity and a 20-rotating motor.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in the present invention will be understood in detail by those skilled in the art.
The assembly apparatus and the assembly method in some embodiments of the present invention are described below with reference to fig. 1-4.
The embodiment takes the special-shaped buckle shown in fig. 1 as an example for the assembly device and the assembly method in the embodiment, specifically, the special-shaped buckle comprises a special-shaped part 7 and a workpiece 8, wherein the special-shaped part 7 is of an integrated structure and comprises a straight end and a bent end, and the end face of the straight end is not parallel to the end face of the bent end; the workpiece 8 is provided with a mounting groove 9 which is suitable for being in snap fit with the special-shaped part 7, and in order to limit the special-shaped part 7, one end of the mounting groove 9 is a plug-in cavity. It should be emphasized that, although the special-shaped buckle shown in fig. 1 is taken as an example in the description of the specific embodiment, the assembly device and the assembly method provided by the invention are not limited to the special-shaped part shown in fig. 1 and the workpiece matched with the special-shaped part, and all parts and workpieces which can be assembled by performing operations such as horizontal movement, vertical movement, rotation and the like through the assembly device and the assembly method provided by the invention are within the application scope of the invention.
As shown in fig. 2-3, in order to realize the assembly of the special-shaped part 7 and the workpiece 8, the assembly device in this embodiment mainly includes a workbench 10, and a carrier 1, a rotary table 2, a feeding table 3 and a manipulator disposed on the workbench 10, where the carrier 1, the rotary table 2 and the feeding table 3 are sequentially disposed and located on the same straight line. Specifically, the straight line where the carrier 1, the rotary table 2, and the feed table 3 are located is taken as a Y axis, the vertical direction is taken as a Z axis, and the straight line perpendicular to the YOZ plane is taken as an X axis.
Wherein carrier 1 is used for fixed work piece 8, and specifically, the carrier is located on the first conveying structure on workstation 10, and first conveying structure is suitable for driving carrier 1 to convey along the X axle between three work position, and specifically, three work position are respectively the material loading position, the assembly position and the unloading position of work piece 8. Further, the upper part of the carrier 1 is also provided with a compaction tool which is suitable for compacting the workpiece 8, and the compaction tool is suitable for compacting the workpiece 8, so that the workpiece 8 can not move due to pushing action in a certain direction of the special-shaped part 7 during assembly, and the workpiece can be timely discharged to vacate a working position after the assembly is completed.
As shown in fig. 3, the rotary table 2 is used for placing the special-shaped part 7 and driving the special-shaped part to rotate to a preset angle. Specifically, the vacuum pump comprises a mounting frame 16, a plurality of carrying platforms, a vacuum pump (not shown in the figure) and a rotating motor 20, wherein the mounting frame 16 is erected on the workbench 10, and the upper end is provided with a mounting hole parallel to an X axis; each carrying platform comprises a connecting cylinder 18 and a carrying platform 17 which are connected; the connecting cylinder 18 is movably arranged in the mounting hole of the mounting frame 16 through a bearing; the upper surface of the material carrying table 17 is provided with a cavity 19 communicated with the inner cavity of the connecting cylinder 18, and the special-shaped part 7 arranged on the upper surface of the material carrying table 17 is covered above the cavity 19; the vacuum pump is connected with the inner cavity of the connecting cylinder 18 and is suitable for vacuumizing the cavity 19 of the carrying platform 17 through the connecting cylinder 18 so that the special-shaped part 7 is adsorbed on the upper surface of the carrying platform 17 and rotates together with the carrying platform 17; the rotating motor 20 is mounted on the mounting frame 16, and a first gear is arranged on the output shaft, and the first gear is meshed with a gear ring sleeved on the connecting tube 18 through a chain and is suitable for driving the connecting tube 18 to rotate so as to drive the material carrying table 17 to rotate. Specifically, after the special-shaped part 7 is placed on the upper surface of the carrying table 17, the vacuum pump is started to adsorb the special-shaped part 7 on the carrying table 17, then the rotating motor 20 is started to drive the carrying table 17 and the special-shaped part 7 to synchronously rotate to a preset angle, and when the special-shaped part is applied, the rotating angle is set based on the shape in the workpiece, so that the flat end of the special-shaped part 7 is firstly abutted with the mounting groove of the workpiece during assembly.
The feed table 3 is used for supplying profiled parts 7. Specifically, the feeding table is rectangular plate-shaped and is arranged on a second conveying structure on the workbench 10, and the second conveying structure is suitable for driving the feeding table 3 to convey along the X axis so as to convey the special-shaped parts 7 to a preset material taking position. Specifically, the special-shaped parts 7 on the feeding table are provided with a plurality of rows by the Y-axis, and the rows of special-shaped parts 7 synchronously reach the preset material taking position along with the transmission of the second transmission structure.
The manipulator is used for grabbing the profiled part 7 and also for horizontal and vertical movement to press the profiled part 7 into the mounting slot 9. In this embodiment, the manipulator includes two parts, specifically:
a part of the special-shaped part 7 is used for moving the special-shaped part 7 from the rotary table 2 to the carrier 1 to be assembled with the workpiece 8, and comprises a first grabbing shaft 4, a first driver, a second driver 11, a third driver 12 and a sixth driver 14 which are respectively connected with the first grabbing shaft 4, wherein the grabbing working surface of the first grabbing shaft 4 is an inclined surface, the inclined angle of the inclined surface is the same as the rotation angle of the special-shaped part 7, and the grabbing working surface is suitable for keeping the corresponding angle of the grabbed special-shaped part 7; the first driver is adapted to drive the first gripper shaft 4 in a horizontal movement, the second driver 11 and the sixth driver 14 are adapted to drive the first gripper shaft 4 in a vertical movement, and the third driver 12 is adapted to drive the first gripper shaft in a rotational movement. Preferably, one sixth driver 14 is mounted on the first driver, two second drivers 11 are mounted on the sixth driver 14, each second driver 11 is connected to one first grabbing shaft 4 through one third driver 12, the first grabbing shafts 4 are two, and there are separate second drivers 11 and third drivers 12, so that the two first grabbing shafts 4 can realize separate control of vertical movement and rotational movement.
The other part is used for moving the special-shaped part 7 from the feeding table 3 to the rotary table 2 so as to rotate the special-shaped part, and comprises a second grabbing shaft 5, a fourth driver, a fifth driver 13 and a seventh driver 15 which are respectively connected with the second grabbing shaft 5, wherein the grabbing working surface of the second grabbing shaft 5 is a plane; the fourth driver is adapted to drive the second gripping shaft 5 to move horizontally and the fifth driver 13 and the seventh driver 15 are adapted to drive the second gripping shaft 5 to move vertically. Preferably, a seventh driver 15 is mounted on the fourth driver, and two fifth drivers 13 are mounted on the seventh driver 15, each fifth driver 13 being connected to one second gripping shaft, i.e. two second gripping shafts, and having separate fifth drivers 13 to enable separate control of the vertical movement of the two second gripping shafts.
In order to achieve grabbing operation, in this embodiment, the first grabbing shaft 4 and the second grabbing shaft 5 are respectively provided with an air suction channel, one end of each air suction channel is connected with a vacuumizing device, and an air suction hole for vacuum-adsorbing the special-shaped part 7 is formed in the working surface at the other end of each air suction channel. I.e. the first gripping shaft 4 and the second gripping shaft 5 both perform gripping work by vacuum suction.
Further, as shown in fig. 2, the table 10 is further provided with a truss 6, and the truss 6 is suspended above the feeding table 3, the carrier 1 and the rotary table 2 and is parallel to the straight line formed by the feeding table 3, the carrier 1 and the rotary table 2. The first driver and the fourth driver are both arranged on the truss 6, and the driving directions are all the length directions of the truss 6.
The first driver, the fourth driver, the sixth driver 14 and the seventh driver 15 are all of screw transmission structures, and specifically comprise screw rods, sliding blocks and driving motors, wherein the screw rods of the first driver and the fourth driver are horizontally arranged and are suitable for enabling the sliding blocks to horizontally move along a Y axis; the sixth driver 14 is mounted on the slider of the first driver, the seventh driver 15 is mounted on the slider of the fourth driver, and the screw rods of the sixth driver 14 and the seventh driver 15 are vertically arranged and are suitable for enabling the slider to vertically move along the Z axis. The two second drivers 11 are all cylinders with piston rods facing downwards vertically and are arranged on the sliding blocks of the sixth driver 14; the third driver 12 is a rotating motor, two rotating motors 20 are respectively arranged on two connecting pieces which are slidably arranged with the sliding blocks of the sixth driver 14, and the connecting pieces are connected with the piston rods of the air cylinders and drive the rotating motors 20 on the connecting pieces to vertically move under the driving of the connecting pieces; the first grabbing shafts and the corresponding rotating motors are arranged on the same connecting piece, and the upper ends of the first grabbing shafts and the corresponding rotating motors are connected with output shafts of the rotating motors and are suitable for rotating under the driving of the first grabbing shafts and the corresponding rotating motors. The two fifth drivers 13 are also cylinders with the piston rods facing downwards vertically and are arranged on the sliding blocks of the seventh drivers 15; the two second gripping shafts are respectively slidably mounted on the slide blocks of the seventh driver 15 and are connected with the piston rods of the corresponding cylinders, and are adapted to vertically move under the driving of the same.
Further, the assembly device further comprises a plurality of vacuum sensors, a plurality of cameras and a driving controller, wherein the plurality of vacuum sensors are respectively arranged in the cavities 19 of the material loading tables 17 and are suitable for detecting the vacuum degree in the cavities 19; the cameras are respectively arranged above the material carrying tables 17 and are suitable for acquiring the states of the special-shaped parts 7; the driving controller is electrically connected with the vacuum sensor, the camera and the second driver 11 and the third driver 12 respectively, and is suitable for driving the second driver 11 according to the vacuum degree and driving the third driver 12 according to the state of the special-shaped part 7. Specifically, the vacuum sensor is used for detecting the vacuum degree of the hollow cavity 19 of the material carrying platform 17 after the vacuum pump is started, and sending a signal to the driving controller after the air pressure in the hollow cavity 19 of the material carrying platform 17 is changed, once the vacuum sensor cannot detect the air pressure change, the defect of the special-shaped part 7 is indicated, so that the upper part of the material carrying platform 17 cannot be covered, and the hollow cavity 19 cannot be in a low-pressure state under the action of the vacuum pump; the defective profiled element 7 falls onto the table 10 when the loading table 17 rotates. When the two first grabbing shafts move above the plurality of material loading tables 17 under the action of the first driver and the sixth driver 14, if the driving controller does not receive the vacuum degree information on the corresponding material loading table 17, it indicates that the special-shaped part 7 on the material loading table 17 has a defect, the corresponding second driver 11 is not driven, and the corresponding first grabbing shaft cannot move to the preset position. If the driving controller receives the vacuum degree information on the corresponding carrying table 17, it indicates that the special-shaped part 7 exists on the carrying table 17, at this time, the driving controller drives the corresponding second driver 11 to enable the corresponding first grabbing shaft to move to a preset position to grab the special-shaped part 7, then the state information of the special-shaped part 7 is obtained through the camera to judge whether deflection exists, and if the deflection exists, the driving controller drives the corresponding third driver 12 to enable the special-shaped part 7 to rotate so as to adjust the deflection position.
As shown in fig. 4, the embodiment also discloses an assembling method of the assembling device applied to the special-shaped buckle, wherein the assembling method specifically includes the following steps:
(1) The carrier 1 is used for fixing the workpiece in a way that the mounting groove 9 faces upwards; as shown in fig. 4 a;
(2) Rotating the special-shaped part 7 placed on the rotating table 2 to a preset angle; as shown in fig. 4 d;
(3) A mechanical arm is used for grabbing the special-shaped part 7 with a preset angle and moving the special-shaped part 7 to the position above the mounting groove 9 of the workpiece 8; as shown in fig. 4e to 4 f;
(4) Using a manipulator and combining the vertical movement and the horizontal movement to clamp the special-shaped part 7 into the mounting groove 9 of the workpiece 8; as shown in fig. 4g to 4h, the finally obtained special-shaped buckle is shown in fig. 4 i;
furthermore, in order to realize the automation of the assembly of the special-shaped part 7 and the workpiece 8 and improve the assembly efficiency, the assembly method of the special-shaped buckle of the embodiment further comprises the following steps (5): the profiled element 7 on the feed table 3 is grasped using a robot and placed on the rotary table 2, as shown in fig. 4b to 4 c.
Specifically, in step (4), the manipulator is driven vertically to make the lower end of the special-shaped part 7 contact with the bottom surface of the installation groove 9 of the workpiece 8, then the manipulator is driven horizontally to make the lower end of the special-shaped part 7 clamped into the insertion cavity at the end of the installation groove 9, and then horizontal driving and vertical driving are performed synchronously, so that the special-shaped part 7 is deformed while moving horizontally and clamped into the installation groove 9.
In the same step, step (5) precedes step (2), steps (1) and (2) are not in fixed order, and steps (3) and (4) are performed sequentially and after steps (1) and (2). Of course, step (5) and step (3) may be performed simultaneously when the production line is constructed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. An assembly method for assembling a part to a workpiece by an assembly device, the workpiece being provided with a mounting groove adapted to mate with the part, characterized in that the assembly device comprises a table and a mounting groove provided on the table:
the carrier is used for fixing the workpiece;
the rotating table is used for placing the parts and driving the parts to rotate to a preset angle;
the manipulator is used for grabbing the part and also used for horizontally moving and vertically moving to press the part into the mounting groove;
the assembly method comprises the following steps:
(1) Fixing the workpiece by using the carrier in a mode that a mounting groove faces upwards;
(2) Rotating the parts placed on the rotating table to a preset angle by using the rotating table;
(3) Grabbing the part with a preset angle by using the manipulator and moving the part to the position above the workpiece mounting groove;
(4) The mechanical arm is used for installing the part in the installation groove of the workpiece by combining vertical movement and horizontal movement, and the method is specifically as follows: the mechanical arm is vertically driven to enable the part to be in contact with the bottom surface of the workpiece mounting groove, then the mechanical arm is horizontally driven to enable one end of the part to be clamped into the mounting groove, and then horizontal driving and vertical driving are synchronously carried out to enable the part to be mounted in the mounting groove.
2. The method of assembling of claim 1, wherein the rotary stage comprises:
the mounting frame is arranged on the workbench;
the carrier comprises a connecting cylinder and a material carrying platform which are connected; the connecting cylinder is movably arranged on the mounting frame; the upper surface of the material carrying platform is provided with a cavity communicated with the inner cavity of the connecting cylinder;
the vacuum pump is connected with the inner cavity of the connecting cylinder;
and the rotating motor is arranged on the mounting frame, is in transmission connection with the connecting cylinder and is suitable for driving the material carrying platform to rotate.
3. The method of assembling of claim 2, wherein the manipulator comprises:
the first grabbing shaft is provided with a grabbing working face which is an inclined plane;
the first driver is connected with the first grabbing shaft and drives the first grabbing shaft to horizontally move;
the second driver is connected with the first grabbing shaft and drives the first grabbing shaft to vertically move;
and the third driver is connected with the first grabbing shaft and drives the first grabbing shaft to rotationally move.
4. A method of assembling as claimed in claim 3 wherein two said second drives are mounted on said first drive, each of said second drives being connected to one of said first gripping shafts by one of said third drives.
5. The method of assembling of claim 4, further comprising:
the vacuum sensor is arranged in the cavity of the material carrying table and is suitable for detecting the vacuum degree in the cavity;
the camera is arranged above the material carrying table and is suitable for acquiring the state of the part;
and the driving controller is respectively and electrically connected with the vacuum sensor, the camera, the second driver and the third driver, and is suitable for driving the second driver according to the vacuum degree and driving the third driver according to the part state.
6. A method of assembling as claimed in claim 3 wherein the table is further provided with a feed station adapted to supply the parts; the manipulator further comprises a second grabbing shaft, a fourth driver and a fifth driver which are respectively connected with the second grabbing shaft, and the grabbing working surface of the second grabbing shaft is a plane; the fourth driver and the fifth driver are suitable for driving the second grabbing shaft to move horizontally and vertically respectively.
7. The method of assembling of claim 6, wherein a horizontal truss is further provided on the table, and wherein the first driver and the fourth driver are provided on the horizontal truss.
8. The method of assembling of claim 7, further comprising step (5) prior to step (2): and grabbing parts on the feeding table by using the manipulator and placing the parts on the rotating table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111451093.6A CN114227219B (en) | 2021-11-30 | 2021-11-30 | Assembling device and assembling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111451093.6A CN114227219B (en) | 2021-11-30 | 2021-11-30 | Assembling device and assembling method |
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| CN114227219A CN114227219A (en) | 2022-03-25 |
| CN114227219B true CN114227219B (en) | 2023-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108393663B (en) * | 2018-02-27 | 2019-12-10 | 温州市贝佳福自动化技术有限公司 | full-automatic manufacturing process method of connector |
| CN209335060U (en) * | 2018-11-30 | 2019-09-03 | 广东欧乐亚智能科技有限公司 | A kind of assembling equipment of grating assembly |
| CN112440104B (en) * | 2019-08-27 | 2024-05-14 | 苏州汉扬精密电子有限公司 | Automatic product assembling equipment and method |
| CN211687325U (en) * | 2019-11-13 | 2020-10-16 | 杭州会锋科技有限公司 | Spare part transport mechanism |
| CN212886101U (en) * | 2020-08-19 | 2021-04-06 | 苏州鑫信腾科技有限公司 | Assembling device |
| CN213827880U (en) * | 2020-11-09 | 2021-07-30 | 东莞市沃德精密机械有限公司 | Special-shaped part assembling equipment |
| CN112518299A (en) * | 2020-11-25 | 2021-03-19 | 浪潮电子信息产业股份有限公司 | Automatic assembling platform for CPU and bracket |
| CN112496703A (en) * | 2020-11-28 | 2021-03-16 | 郁佳杰 | Automatic assembling equipment for double-end sealing ring of pipe |
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