CN114473409A

CN114473409A - Assembling equipment, assembling method and assembling control device

Info

Publication number: CN114473409A
Application number: CN202111681704.6A
Authority: CN
Inventors: 黄文锋
Original assignee: Shenzhenshi Yuzhan Precision Technology Co Ltd
Current assignee: Shenzhenshi Yuzhan Precision Technology Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-05-13
Anticipated expiration: 2041-12-30
Also published as: CN114473409B

Abstract

The application provides an equipment for through first work piece of sizing material bonding and second work piece, include: the feeding mechanism is used for transferring at least one rubber material, and each rubber material is provided with a first attaching surface and a second attaching surface which are arranged oppositely; the first transfer mechanism is used for transferring at least one first workpiece; the second transfer mechanism is used for transferring at least one second workpiece; and the assembling mechanism is coupled with the feeding mechanism, the first transfer mechanism and the second transfer mechanism and is used for: transferring at least one first workpiece from the first transfer mechanism to the feeding mechanism, and bonding each first workpiece with a corresponding first bonding surface; and transferring the bonded at least one first workpiece from the feeding mechanism to the second transfer mechanism to bond each second workpiece with the corresponding second bonding surface. The production efficiency of the workpiece bonding is improved, and the labor cost is reduced. The application also provides an assembly method and an assembly control device.

Description

Assembling equipment, assembling method and assembling control device

Technical Field

The present disclosure relates to the field of workpiece assembly, and more particularly, to an assembly apparatus, an assembly method, and an assembly control device.

Background

At present, two independent workpieces are bonded by a sizing material, material taking and placing are carried out manually, only one group of products can be assembled each time, the production efficiency is low, and the manual labor intensity is high. When the basic size of the workpiece is mostly smaller than 1cm, for example, the length and/or width and/or height is smaller than 1cm, the manual material taking and placing can result in lower assembly precision due to the smaller size of the workpiece, and in some high-precision assembly occasions, the manual material taking and placing can not reach higher yield.

Disclosure of Invention

In view of the above, it is desirable to provide an assembling apparatus, an assembling method and an assembling control device, which solve the disadvantages of the prior art.

To achieve the above object, the present application provides an assembling apparatus for bonding a first workpiece and a second workpiece by a glue, comprising:

the feeding mechanism is used for transferring at least one rubber material, and each rubber material is provided with a first attaching surface and a second attaching surface which are arranged oppositely;

the first transfer mechanism is used for transferring at least one first workpiece;

the second transferring mechanism is used for transferring at least one second workpiece; and

the assembling mechanism is coupled with the feeding mechanism, the first transferring mechanism and the second transferring mechanism, and transfers at least one first workpiece from the first transferring mechanism to the feeding mechanism, so that each first workpiece is bonded with one corresponding first bonding surface; the assembling mechanism transfers at least one first workpiece bonded with the sizing material from the feeding mechanism to the second transfer mechanism, so that each second workpiece is bonded with one corresponding second bonding surface.

The present application further provides an assembly method for bonding a first workpiece and a second workpiece with a glue, comprising: the control assembly mechanism transfers at least one first workpiece loaded on the first transfer mechanism to the feeding mechanism, the feeding mechanism carries at least one glue material, and each glue material is provided with a first binding surface and a second binding surface which are arranged oppositely;

controlling the assembling mechanism to bond each first workpiece with the corresponding first bonding surface;

controlling the assembling mechanism to transfer at least one first workpiece bonded with the sizing material to a second transfer mechanism; and

and controlling the assembling mechanism to adhere the second adhering surface of each glue material to the corresponding second workpiece.

The present application further provides an assembly control apparatus comprising a controller coupled to a memory, the memory storing instructions that, when executed by the controller, perform the assembly method.

Compared with the prior art, the technical effect of this application is: through the cooperation of the first transfer mechanism, the second transfer mechanism and the assembly mechanism, the bonding of at least one first workpiece and at least one second workpiece is realized, the production efficiency of workpiece bonding is improved, the labor intensity of workers is reduced, the assembly precision can be improved, and the yield of assembly parts is further improved.

Drawings

FIG. 1 is a schematic structural diagram of an assembly apparatus provided herein;

FIG. 2 is a schematic structural view of a feeding mechanism of the assembly apparatus shown in FIG. 1;

fig. 3 is a schematic view of a connection structure between the first transfer mechanism and the first light source of the assembly apparatus shown in fig. 1;

FIG. 4 is a schematic view of an assembly mechanism, a detection mechanism and a second light source connection structure of the assembly apparatus shown in FIG. 1;

fig. 5 is an enlarged view of a portion a of the first transfer mechanism shown in fig. 2;

FIG. 6 is an enlarged view of portion B of the assembly apparatus of FIG. 4;

FIG. 7 is a schematic structural diagram of a compound provided in an example of the present application;

FIG. 8 is a schematic diagram of a first workpiece according to an embodiment of the present disclosure;

FIG. 9 is a schematic illustration of bonding of a first workpiece to a second workpiece provided by an embodiment of the present application;

FIG. 10 is a schematic flow chart of an assembly method provided by an embodiment of the present application;

FIG. 11 is a schematic flow chart of an assembly method according to another embodiment of the present application;

FIG. 12 is a schematic flow chart of step S205 in the assembly method of FIG. 11;

fig. 13 is a schematic flowchart of S205 when the first detection information is image information in the assembling method of fig. 11;

FIG. 14 is a flowchart illustrating a relative position error between the first workpiece and the first contact surface according to the second detection information in the assembling method of FIG. 11;

FIG. 15 is a flow chart of the assembly process of FIG. 10 showing the removal of unfinished adhesive from the protective film;

fig. 16 is a connection block diagram of an assembly control device according to an embodiment of the present application.

Description of the main elements

Assembly device 100

Feeding mechanism 10

Transfer assembly 11

Feed end 111

Discharge end 112

Membrane removal assembly 12

Connecting part 121

First mating end 1211

Supporting part 122

First portion 1221

Second part 1222

Second mating end 1223

Material receiving and discharging assembly 13

First receiving case 131

Second material receiving case 132

Roll cartridge 133

First transfer mechanism 20

Transmission assembly 21

First detection position 213

Loading terminal 211

Load/unload end 212

Second transfer mechanism 30

Load bearing assembly 31

Adjustment assembly 32

Assembly mechanism 40

Moving assembly 41

First guide rail 411

Second guide 412

Connecting arm 413

Connecting end 4131

Free end 4132

Adsorbent assembly 42

Suction head 421

First direction x

Second direction y

Third direction z

Detection mechanism 50

Imaging assembly 51

Light source assembly 60

First light source 61

Second light source 62

Controller 70

Rubber compound 80

First bonding surface 81

Second abutting surface 82

First workpiece 90

Third attaching face 91

Second workpiece 110

Memory 120

Tray 130

Assembly control device 200

Detailed Description

In order that the above objects, features and advantages of the present application can be more clearly understood, a detailed description of the present application will be given below with reference to the accompanying drawings and detailed description.

In the following description, numerous specific details are set forth to provide a thorough understanding of the present application, and the described embodiments are merely a subset of the embodiments of the present application, rather than all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Referring to fig. 1-6, the present application provides an assembly apparatus 100, the assembly apparatus 100 for bonding a first workpiece 90 and a second workpiece 110 with a glue 80. The assembling apparatus 100 includes a feeding mechanism 10, a first transfer mechanism 20, a second transfer mechanism 30, and an assembling mechanism 40.

The feeding mechanism 10 is used for transferring at least one adhesive material 80, and each adhesive material 80 has a first attaching surface 81 and a second attaching surface 82 (see fig. 7) which are opposite to each other. The first attaching surface 81 and the second attaching surface 82 are provided with a protective film (not shown).

In the present embodiment, referring to fig. 2, the feeding mechanism 10 includes a transfer module 11, a film removing module 12, and a material receiving and discharging module 13.

The transfer assembly 11 is used for transferring at least one glue 80. The transfer assembly 11 includes an inlet end 111 and an outlet end 112 disposed opposite to each other. The discharge end 112 is provided with a second detection site (not shown).

Referring to fig. 2 and 5, the membrane removing assembly 12 includes a connecting portion 121 and a supporting portion 122, one end of the connecting portion 121 is connected to the transfer unit 11, and the other end of the connecting portion 121 is provided with a first engagement end portion 1211. In this embodiment, the first mating end 1211 is a wedge-shaped table. The supporting portion 122 includes a first portion 1221, a second portion 1222 and a second mating end portion 1223 connected in sequence, the first portion 1221 is connected to the feeding mechanism 10, in this embodiment, the second mating end portion 1223 is a wedge-shaped platform, and the second mating end portion 1223 is arranged at a distance from the first mating end portion 1211 in a staggered manner, and is used for removing the glue 80 on the protective film, which is not attached to the first workpiece 90, by mating with the first mating end portion 1211. In this embodiment, the angle between the second portion 1222 and the connecting portion 121 is an acute angle, and the acute angle is 30-40 degrees. The acute angle set up can avoid causing the receipts material unevenness with the scraping of the sizing material 80 of not being laminated by first work piece 90, and then influence the material loading position of sizing material 80, avoid causing the error of laminating.

Referring to fig. 2, the material receiving and releasing assembly 13 is used for providing the adhesive material 80, and a protective film is connected to the first attaching surface 81 and the second attaching surface 82 of the adhesive material 80. The material collecting and discharging assembly 13 is also used for stripping the protective film and collecting the stripped protective film. The material receiving and discharging assembly 13 includes a first material receiving box 131, a second material receiving box 132 and a material rolling box 133. The first material collecting box 131 is used for collecting the protective film stripped from the first bonding surface 81, the second material collecting box 132 is used for collecting the protective film stripped from the second bonding surface 82, and the material coiling box 133 is used for loading the sizing material 80 with the protective film.

In some embodiments, after the adhesive 80 not adhered to the first workpiece 90 is scraped, the protective film connected to the second adhering surface 82 is passed through the gap between the first fitting end 1211 and the second fitting end 1223 and is collected in the second material collecting box 132.

The first transferring mechanism 20 is used for transferring at least one first workpiece 90, and referring to fig. 3, in this embodiment, the first transferring mechanism 20 includes a conveying assembly 21, and the conveying assembly 21 is used for receiving a tray 130 carrying at least one first workpiece 90. The transport assembly 21 includes a load port 211 and a load port 212 disposed opposite to each other. The loading end 212 is provided with a first detection bit 213. After the loading of the loading end 211 is completed, the transport assembly 21 transfers the tray 130 to the first detection position 213 of the loading end 212.

The second transferring mechanism 30 is used for transferring at least one second workpiece 110, and referring to fig. 1, the second transferring mechanism 30 includes a bearing component 31 and an adjusting component 32, and the bearing component 31 is used for bearing the at least one second workpiece 110. The adjusting assembly 32 is connected to the carrier assembly 31 for adjusting the position of the at least one second workpiece 110. In the present embodiment, the adjustment assembly 32 includes a DD motor, and the accuracy of the assembly apparatus 100 can be improved by using the DD motor. In use, the adjusting assembly 32 drives the carrier assembly 31 to rotate, so as to drive the at least one second workpiece 110 to rotate.

The assembling mechanism 40 is coupled to the feeding mechanism 10, the first transferring mechanism 20 and the second transferring mechanism 30, and the assembling mechanism 40 is configured to transfer at least one first workpiece 90 from the first transferring mechanism 20 to the feeding mechanism 10, so that each first workpiece 90 is adhered to a corresponding one of the first attaching surfaces 81. The assembling mechanism 40 is further configured to transfer at least one first workpiece 90 with the adhesive 80 adhered thereto from the feeding mechanism 10 to the second transferring mechanism 30, so as to adhere the second adhering surface 82 of each adhesive 80 to a corresponding second workpiece 110.

In the present embodiment, referring to fig. 4 and 6, the assembling mechanism 40 includes a moving component 41 and a suction component 42, the suction component 42 is provided to the moving component 41, and the suction component 42 is used for sucking at least one first workpiece 90.

As a specific example, referring to fig. 4, the moving assembly 41 includes two first rails 411, one second rail 412 and one connecting arm 413. The two first guide rails 411 are arranged in parallel at intervals and extend along the first direction x, so that the overall stability of the moving assembly 41 can be increased, and the connecting arm 413 can also bear more assemblies. The second guide rail 412 is connected between the two first guide rails 411 and extends in a second direction y perpendicular to the first direction x. The connecting arm 413 includes a connecting end 4131 and a free end 4132 disposed opposite to each other, and the connecting end 4131 is slidably connected to the second rail 412. In the present embodiment, the suction assembly 42 is provided at the free end 4132. The suction assembly 42 slides along the third direction z, and linear movement along the third direction z may be accomplished, for example, by a lead screw or a guide rail. The third direction z is perpendicular to the first direction x and the second direction y. With the above arrangement, the adsorption assembly 42 achieves three-dimensional movement.

As a specific example, referring to fig. 6, the adsorption assembly 42 includes at least one suction head 421, and in this embodiment, the adsorption assembly 42 includes 4 suction heads 421, and the suction heads 421 are arranged in parallel. The plurality of suction assemblies 42 increases the efficiency of operation of the assembly apparatus 100.

In the present embodiment, referring to fig. 6 and 11, the assembly apparatus 100 may further include a detection mechanism 50 and a controller 70. The detection mechanism 50 includes an imaging assembly 51, and the imaging assembly 51 is connected to the assembly mechanism 40. Specifically, the imaging assembly 51 is disposed at the free end 4132 and opposite the absorbent assembly 42. Therefore, the mutual interference between the imaging assembly 51 and the adsorption assembly 42 can be avoided, and only the preset angle needs to be set, so that the imaging assembly can enable the suction head 421 to adsorb the rubber material 80, and the imaging of the suction head 421 and other mechanisms or assemblies or environments is clear, and the description is omitted here.

The controller 70 is coupled to the detecting mechanism 50 and the assembling mechanism 40, and the controller 70 is used for controlling the assembling mechanism 40 to drive the imaging assembly 51 to move. In some embodiments, the controller 70 is further configured to control the assembling mechanism 40 to drive the imaging assembly 51 to the first detection position 213, so as to obtain a first image representing the at least one first workpiece 90 carried by the tray 130, and control the assembling mechanism 40 to transfer the at least one first workpiece 90 to the feeding mechanism 10 according to a preset requirement according to the first image.

Illustratively, 100 first workpieces 90 are loaded in one tray 130, and the controller 70 determines, according to the acquired first image, all the first workpieces 90 which are not in the correct positions, for example, the third fitting surface 91 of the first workpiece 90 is displayed in the first image, for example, if there is a symbol or a groove on the third fitting surface 91, it can be directly determined whether the third fitting surface 91 is displayed in the first image by visual means, only that the symbol or the groove of the other surface is different from or does not have the symbol or the groove of the third fitting surface 91, or vice versa, and the symbol or the groove of the other surface is not present on the third fitting surface 91. The controller 70 groups the first workpieces 90 on the tray 130 according to the number of the suction heads 421, for example, if 4 suction heads 421 arranged side by side correspond to 4 first workpieces 90 arranged side by side on the tray 130, there are 25 groups of first workpieces 90 in one tray 130, and each group has 4 first workpieces 90. All the groups corresponding to the first workpieces 90 which are not in the correct positions are identified as not to be transferred by the controller 70, for example, the 25 groups of the first workpieces 90 are sequentially divided into the 1 st, 2 nd, … … th and 25 th groups, if the third joint surface 91 of at least one first workpiece 90 in the 2 nd group is displayed on the first image, which indicates that the first workpiece 90 is not placed in the correct position (placed reversely), then the controller 70 controls the assembling mechanism 40 not to transfer the group of the first workpieces 90 which are not in the correct position according to the preset requirement, and the assembling mechanism 40 directly skips the 2 nd group of the first workpieces when transferring the 25 groups of the first workpieces 90, and transfers only the group of the first workpieces which are in the correct position in each third joint surface 91 of the 1 st group, the 3 rd group and other first workpieces 90 to the feeding mechanism 10. This can ensure accurate assembly without consuming more time in this step, thereby improving the assembly efficiency of the entire assembly apparatus 100.

In some embodiments, the controller 70 is further configured to control the assembling mechanism 40 to drive the imaging assembly 51 to the second detection position, obtain a second image representing at least one glue 80, and adjust the position of at least one first workpiece 90 on the assembling mechanism 40 according to the second image, so that each first workpiece 90 is bonded to a corresponding one of the first attachment surfaces 81 according to a preset requirement.

For example, when the assembly mechanism 40 drives the imaging assembly 51 to the second detection position, the suction assembly 42 also carries a set of first workpieces 90 to the upper side of the feeding mechanism 10. When a group of first workpieces 90 is 4, the glue 80 is also 4, and it is determined whether the position of the group of first workpieces 90 or the group of glue 80 is correct according to the position of the group of glue 80 in the second image through the conversion of the machine coordinate system and the camera coordinate system, which is a conventional technical means and is not described herein again. The preset requirement may be that the position of the at least one first workpiece 90 or the group of first workpieces 90 is directly above the corresponding at least one glue 80 or the corresponding group of glues 80, and the controller 70 determines, according to the preset requirement, that the position of the glue 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 is correct, that is, the glue 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 can be accurately adhered according to the precision requirement, and controls the assembling mechanism 40 to control the at least one first workpiece 90 or the group of first workpieces 90 to move along the third direction z until the at least one first workpiece 90 or the group of first workpieces 90 is pressed against the corresponding at least one glue 80 or the corresponding group of glues 80. If the controller 70 determines that the position of the at least one first workpiece 90 or the group of first workpieces 90 is incorrect according to the preset requirements, the position of the at least one first workpiece 90 or the group of first workpieces 90 is adjusted until the sizing material 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 can be accurately bonded according to the precision requirements. It will be appreciated that the pressing may be maintained for a period of time to ensure the bonding effect. In this way, the assembly efficiency of the entire assembly apparatus 100 can be improved by batch bonding while ensuring the assembly accuracy.

In the above embodiments, the controller 70 controls the adhesion of at least one first workpiece 90 to the corresponding glue 80 according to the image information, and in other embodiments, the controller 70 may control the adhesion of the first workpiece 90 to the glue 80 according to other information, such as reflectivity, i.e. determining the position by light reflection, which is not described herein again.

Thus, after a group of first workpieces 90 and the glue 80 are adhered, the second adhering surface 82 is separated from the protective film by the suction force of the assembling mechanism 40, the adhering force of the first workpieces 90 and the first adhering surface 81 of the glue 80, and the structure of the connecting portion 121 and the second material receiving box 132, and the assembling mechanism 40 drives the adhered group of first workpieces 90 and the glue 80 to be directly above the bearing assembly 31 of the second transfer mechanism 30, which bears the corresponding second workpiece 110, and the adhering process of the first workpieces 90 and the second workpieces 110 through the glue 80 is completed by the movement along the third direction z.

In the present embodiment, in order to provide the light source to the detection mechanism 50, the assembly apparatus 100 may further include a light source assembly 60. Referring to fig. 1 and 3, the light source assembly 60 includes a first light source 61 and a second light source 62. The first light source 61 is disposed at one side of the first detection position 213, the first light source 61 is a profiling annular light source, and the first light source 61 is configured to emit light toward the tray 130 and the first workpiece 90 on the tray 130. The second light source 62 is disposed at the free end 4132 and is located at a side of the imaging assembly 51 away from the connecting end 4131. The second light source 62 is an annular light source, and the second light source 62 is used for emitting light towards the glue 80 and the protective film thereof at the second detection position. In this embodiment, the imaging assembly 51 photographs the at least one first workpiece 90 located at the first detection position 213 through the opening of the first light source 61, and the imaging assembly 51 photographs the glue 80 located at the second detection position through the opening of the second light source 62. The arrangement of the first light source 61 and the second light source 62 facilitates the imaging assembly 51 to obtain a clearer image.

The specific operation is as follows: when the imaging assembly 51 takes a picture of the first workpiece 90, the first light source 61 is turned on, and the second light source 62 is turned off; when the imaging assembly 51 takes a picture of the glue 80, the first light source 61 is turned off and the second light source 62 is turned on. In this embodiment, the imaging component 51 is a CCD camera, and in other embodiments, the imaging component 51 may be selected according to actual needs. When the first detection position 213 is located, the second light source 62 is turned on, and the first light source 61 is turned off, so that the overexposure problem is prevented, and because the first light source 61 is a profiling annular light source, the charging tray 130 with a large area and the first workpiece 90 thereon can be exposed uniformly, and the imaging quality is improved. While in the second detection position, the first light source 61 is turned on to provide a light source for position detection of the glue 80.

In the above embodiment, the first transfer mechanism 20, the second transfer mechanism 30 and the assembling mechanism 40 are matched to bond at least one first workpiece 90 and at least one second workpiece 110, so as to improve the production efficiency of workpiece bonding and reduce the labor intensity. In addition, the controller 70 is added to the assembly apparatus 100, so that the automation of the assembly apparatus 100 is realized, and the production efficiency is further improved.

In another embodiment, the present application further provides an assembly method for the glue 80 to bond the first workpiece 90 and the second workpiece 110, which can be implemented by the assembly apparatus 100 described above, and the assembly method can be implemented by the controller 70 of the assembly apparatus 100, but is not limited thereto. Referring to fig. 10, the assembly method includes the steps of:

s201: controlling the assembling mechanism 40 to transfer the at least one first workpiece 90 carried on the first transferring mechanism 20 to the feeding mechanism 10, wherein the feeding mechanism 10 carries at least one glue material 80, and each glue material 80 has a first attaching surface 81 and a second attaching surface 82 which are arranged oppositely;

s202: controlling the assembling mechanism 40 to bond each first workpiece 90 with the corresponding first bonding surface 81 of the glue 80;

s203: the assembling mechanism 40 is controlled to transfer at least one first workpiece 90 adhered with the glue 80 to the second transfer mechanism 30, and the assembling mechanism 40 is controlled to adhere the second adhering surface 82 of each glue 80 to a corresponding second workpiece 110.

In still other embodiments, referring to fig. 11, the first workpiece 90 has a third adhering surface 91 (see fig. 8), the third adhering surface 91 is used for adhering to the first adhering surface 81, and the assembling mechanism 40 obtains a group of the first workpieces 90 at a time, wherein the group of the first workpieces 90 includes a plurality of the first workpieces 90. Before step S201, it is necessary to determine whether the third attaching surfaces are all in the correct positions, and the method further includes the following steps:

s204: the inspection mechanism 50 is controlled to acquire first inspection information of a set of first workpieces 90.

Illustratively, the first detection information includes, but is not limited to, picture information and reflectivity information.

S205: based on the first detection information, it is determined whether a set of first workpieces 90 is in the correct position.

In some embodiments, referring to fig. 12, step S205 includes:

s2051: determining that at least one third faying surface 91 in the group of first workpieces 90 is not in the correct position based on the first detection information;

s2052: based on the fact that the at least one third faying surface 91 in the group of first workpieces 90 is not in the correct position, the assembling mechanism 40 is controlled to skip the acquisition of the corresponding group of first workpieces 90.

Therefore, errors in initially acquiring a group of first workpieces 90 can be avoided, and subsequent attaching processes are prevented from being affected.

S2053: determining that each third bonding surface 91 in the group of first workpieces 90 is in the correct position according to the first detection information;

s2054: based on the correct position of each third bonding surface 91 of the first workpieces 90, the assembly mechanism 40 is controlled to transfer the first workpieces 90 loaded on the first transfer mechanism 20 to the feeding mechanism 10.

In some embodiments, referring to fig. 13, the first inspection information is a first image including a representation of a set of first workpieces 90, the inspection mechanism 50 includes an imaging assembly 51, and step S205 further includes:

s2051 a: determining, from the first image, that at least one third faying surface 91 in the set of first workpieces 90 does not have an identifying feature;

s2052 a: based on at least one third faying surface 91 of a group of first workpieces 90 not having an identifying feature, the assembly mechanism 40 is controlled to skip the acquisition of the corresponding group of first workpieces 90.

Similarly, step S205 further includes:

s2053 a: determining, from the first image, that each third faying surface 91 of the set of first workpieces 90 has an identifying feature;

s2054 a: based on the fact that each third bonding surface 91 of the group of first workpieces 90 has the identification feature, it is determined that each third bonding surface 91 of the group of first workpieces 90 is at the correct position, and the assembly mechanism 40 is controlled to transfer the group of first workpieces 90 carried by the first transfer mechanism 20 to the feeding mechanism 10.

Specifically, the mark features are a smooth surface and a pattern, the third attaching surface 91 is a smooth surface, and a surface opposite to the third attaching surface 91 has a pattern, so that each first workpiece 90 in the first image captured by the imaging assembly 51 has a pattern thereon, it is determined that each third attaching surface 91 in the group of first workpieces 90 is in a correct position, and if any image of the group of first workpieces 90 in the first image does not have a pattern, it is determined that at least one third attaching surface 91 of the group of first workpieces 90 is not in a correct position.

Illustratively, 100 first workpieces 90 are loaded in one tray 130, and the controller 70 determines, according to the acquired first image, that all the first workpieces 90 which are not in the correct positions are displayed, for example, the third fitting surface 91 of the first workpiece 90 is displayed in the first image, for example, a symbol or a groove is provided on the third fitting surface 91, and it can be directly determined whether the third fitting surface 91 is displayed in the first image through visual means, that is, it is determined that a group of first workpieces 90 all have an identification feature representing the third fitting surface 91, only that the symbol or the groove of the other side is different from that of the third fitting surface 91 or no symbol or groove is provided, or vice versa, that the symbol or the groove of the other side is provided and the third fitting surface 91 is not provided. The controller 70 groups the first workpieces 90 on the tray 130 according to the number of the suction heads 421, for example, if 4 suction heads 421 arranged side by side correspond to 4 first workpieces 90 arranged side by side on the tray 130, there are 25 groups of first workpieces 90 in one tray 130, and each group has 4 first workpieces 90. All the groups corresponding to the first workpieces 90 which are not in the correct positions are identified as not to be transferred by the controller 70, for example, the 25 groups of the first workpieces 90 are sequentially divided into the 1 st, 2 nd, … … th and 25 th groups, if the third joint surface 91 of at least one first workpiece 90 in the 2 nd group is displayed on the first image, which indicates that the first workpiece 90 is not placed in the correct position (placed reversely), the controller 70 controls the assembling mechanism 40 not to transfer the group of the first workpieces 90 which are not in the correct position according to the preset requirement, and the assembling mechanism 40 directly skips the 2 nd group of the first workpieces when transferring the 25 groups of the first workpieces 90, and only transfers the group of the first workpieces 90 in which each third joint surface 91 in the 1 st group, the 3 rd group and other first workpieces 90 is in the correct position. This can ensure that the assembly is accurate without excessive time remaining in this step, thereby improving the assembly efficiency of the entire assembly apparatus 100.

In some further embodiments, referring to fig. 11, the assembly method further comprises, after step S201:

step S206: after transferring at least one first workpiece 90 to the feeding mechanism 10, controlling the detecting mechanism 50 to obtain second detection information representing the relative position of each first workpiece 90 and a corresponding one of the first abutting surfaces 81;

step S207: and determining that the relative position of each first workpiece 90 and a corresponding one of the first abutting surfaces 81 is correct according to the second detection information.

Step S208: based on the correct relative position between each first workpiece 90 and the corresponding one of the first contact surfaces 81, the assembling mechanism 40 is controlled to bond each first workpiece 90 to the corresponding one of the first contact surfaces 81.

In some other embodiments, referring to fig. 11 and 14, after step S206 and before step S207, the method further includes:

step S2061: determining a relative position error of at least one first workpiece 90 and a corresponding one of the first abutting surfaces 81 according to the second detection information;

step S2062: based on the relative position error of at least one first workpiece 90 and a corresponding one of the first abutting surfaces 81, the assembling mechanism 40 is controlled to adjust the position of at least one first workpiece 90 until the relative position of each first workpiece 90 and a corresponding one of the first abutting surfaces 81 is correct.

In other embodiments, referring to fig. 15, after each of the first work pieces 90 is adhered to a corresponding one of the first adhering surfaces 81, the second adhering surface 82 is further adhered with a protective film. Further included after step S202 is:

step S209: determining that each first workpiece 90 is not bonded to the first bonding surface 81 of the corresponding glue 80;

step S210: based on that each first workpiece 90 is not bonded with the first bonding surface 81 of the corresponding glue 80, the feeding mechanism 10 is controlled to remove the glue 80 which is not bonded on the protective film.

For example, when the assembly mechanism 40 drives the imaging assembly 51 to the second detection position, the suction assembly 42 also carries a set of first workpieces 90 to the upper side of the feeding mechanism 10. When a group of first workpieces 90 is 4, the glue 80 is also 4, and it is determined whether the position of the group of first workpieces 90 or the group of glue 80 is correct according to the position of the group of glue 80 in the second image through the conversion of the machine coordinate system and the camera coordinate system, which is a conventional technical means and is not described herein again. The preset requirement may be that the position of the at least one first workpiece 90 or the group of first workpieces 90 is directly above the corresponding at least one glue 80 or the corresponding group of glues 80, and the controller 70 determines, according to the preset requirement, that the position of the glue 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 is correct, that is, the glue 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 can be accurately adhered according to the precision requirement, and controls the assembling mechanism 40 to control the at least one first workpiece 90 or the group of first workpieces 90 to move along the third direction z until the at least one first workpiece 90 or the group of first workpieces 90 is pressed against the corresponding at least one glue 80 or the corresponding group of glues 80. If the controller 70 determines that the position of the at least one first workpiece 90 or the group of first workpieces 90 is incorrect according to the preset requirements, the position of the at least one first workpiece 90 or the group of first workpieces 90 is adjusted until the sizing material 80 or the corresponding at least one first workpiece 90 or the group of first workpieces 90 can be accurately bonded according to the precision requirements. It will be appreciated that the pressing may be maintained for a period of time to ensure the bonding effect. In this way, the assembly efficiency can be improved by batch bonding while ensuring the assembly accuracy.

Referring to fig. 16, in some embodiments, there is further provided an assembly control apparatus 200, including a controller 70, the controller 70 being coupled to a memory 120, the memory 120 storing instructions that when executed by the controller 70 perform the assembly method of any of the above embodiments.

In the above embodiment, as a specific example, referring to fig. 9, the first workpiece 90 is a pad of a bluetooth headset, and the diameter of the pad is 4-7 mm. The second workpiece 110 is a button of a Bluetooth headset, a groove is arranged on the button, the aperture of the groove is 4.2-7.2mm, and during assembly, the gasket is bonded in the groove through the glue material 80. In order to accommodate the small-sized first and

second workpieces

90 and 110, the distance between the axes of the suction heads 421 is 4 to 7m in the above-described embodiment. In other embodiments, the adsorbent assembly 42 is adapted according to the dimensions of the first and

second workpieces

90, 110. The first workpiece 90 and the second workpiece 110 are selected according to actual needs.

Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present application and not to limit the same, and although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. An assembly apparatus for bonding a first workpiece and a second workpiece with a glue, comprising:

the assembling mechanism is coupled with the feeding mechanism, the first transferring mechanism and the second transferring mechanism, and transfers at least one first workpiece from the first transferring mechanism to the feeding mechanism, so that each first workpiece is bonded with one corresponding first bonding surface; the assembling mechanism transfers at least one adhered first workpiece from the feeding mechanism to the second transfer mechanism, so that each second workpiece is adhered to one corresponding second adhering surface.

2. The assembling apparatus according to claim 1, wherein the feeding mechanism moves the second adhering surface of the glue to be provided with a protective film, and the feeding mechanism includes:

the transferring component is used for transferring at least one rubber material; and

a membrane removal assembly comprising:

one end of the connecting part is connected with the transfer assembly, and the other end of the connecting part is provided with a first matching end part; and

the supporting part comprises a second matching end part, the second matching end part and the first matching end part are arranged at intervals in a staggered mode and used for being matched with the first matching end part to remove the sizing material which is not attached to the first workpiece on the protective film.

3. The assembly apparatus of claim 1, wherein the assembly apparatus further comprises:

the detection mechanism comprises an imaging assembly, and the imaging assembly is connected with the assembling mechanism; and

and the controller is coupled with the detection mechanism and the assembling mechanism and used for controlling the assembling mechanism to drive the imaging assembly to move.

4. The assembly device of claim 3, wherein

The first transfer mechanism comprises a transmission assembly, and the transmission assembly is used for receiving a material tray bearing at least one first workpiece and transferring the material tray to a first detection position;

the controller is further configured to:

controlling the assembling mechanism to drive the imaging assembly to the first detection position so as to obtain a first image representing at least one first workpiece carried by the material tray;

and controlling the assembling mechanism to transfer at least one first workpiece to the feeding mechanism according to the first image according to a preset requirement.

5. The assembly device of claim 3, wherein

The feeding mechanism comprises a transfer assembly, and the transfer assembly is used for transferring at least one rubber material to a second detection position;

the controller is further configured to:

controlling the assembling mechanism to drive the imaging assembly to the second detection position, and acquiring a second image representing at least one glue material;

and adjusting the position of at least one first workpiece on the assembling mechanism according to the second image so as to enable each first workpiece to be bonded with the corresponding first bonding surface according to a preset requirement.

6. The assembly apparatus according to claim 1, wherein the second transfer mechanism includes:

the bearing assembly is used for bearing at least one second workpiece; and

and the adjusting assembly is connected with the bearing assembly and is used for adjusting the position of at least one second workpiece.

7. The assembly apparatus of claim 1, wherein the assembly mechanism comprises:

a moving assembly; and

and the adsorption component is arranged on the moving component and is used for adsorbing at least one first workpiece.

8. An assembly method for bonding a first workpiece and a second workpiece by means of a glue material, comprising:

the control assembly mechanism transfers at least one first workpiece loaded on the first transfer mechanism to the feeding mechanism, the feeding mechanism carries at least one piece of glue, and each piece of glue is provided with a first binding surface and a second binding surface which are arranged in a reverse manner;

controlling the assembling mechanism to bond each first workpiece with the corresponding first bonding surface of the sizing material;

controlling the assembly mechanism to transfer at least one first workpiece bonded with the glue stock to a second transfer mechanism; and

9. The assembly method of claim 8, wherein the first work piece has a third faying surface for adhering to the first faying surface, the assembly mechanism obtaining a set of first work pieces at a single time, the set of first work pieces including a plurality of the first work pieces, the assembly method further comprising:

controlling a detection mechanism to acquire first detection information of the group of first workpieces;

determining that each third bonding surface in the group of first workpieces is in a correct position according to the first detection information; and

controlling the assembling mechanism to transfer the group of first workpieces to the feeding mechanism based on that each third joint surface of the group of first workpieces is at a correct position.

10. The assembly method of claim 9, wherein the assembly method further comprises:

determining that at least one third bonding surface in the group of first workpieces is not in a correct position according to the first detection information; and

controlling the assembling mechanism to skip the acquisition of the corresponding group of first workpieces based on that at least one third joint surface of the group of first workpieces is not in a correct position.

11. The assembly method of claim 9, wherein the first inspection information is a first image including features characterizing the set of first workpieces, the inspection mechanism includes an imaging component, the assembly method further comprising:

determining, from the first image, that the set of first workpieces all have identifying features that characterize the third faying surface; and

determining that each of the third faying surfaces in the set of first workpieces is in a correct position based on the set of first workpieces having identifying features that characterize the third faying surfaces.

12. The assembly method of claim 8, further comprising:

after at least one first workpiece is transferred to the feeding mechanism, controlling the detection mechanism to acquire second detection information representing the relative position of each first workpiece and one corresponding first binding surface;

determining that the relative position of each first workpiece and a corresponding first binding surface is correct according to the second detection information;

and controlling the assembling mechanism to enable each first workpiece to be bonded with the corresponding first bonding surface based on the fact that the relative position of each first workpiece and the corresponding first bonding surface is correct.

13. The assembly method of claim 12, further comprising:

determining the relative position error of at least one first workpiece and a corresponding first binding surface according to the second detection information;

and controlling the assembling mechanism to adjust the position of at least one first workpiece based on the relative position error of at least one first workpiece and a corresponding first abutting surface until the relative position of each first workpiece and the corresponding first abutting surface is correct.

14. The assembly method of claim 8, wherein after each of the first work pieces is bonded to a corresponding one of the first faying surfaces, the second faying surface is further bonded with a protective film; the assembling method further comprises the following steps:

determining that the bonding of each first workpiece and the first bonding surface of the corresponding glue material is not completed;

and controlling the feeding mechanism to remove the adhesive which is not bonded on the protective film based on that the bonding of each first workpiece and the first bonding surface of the corresponding adhesive is not bonded.

15. An assembly control apparatus comprising a controller coupled with a memory, the memory storing instructions that, when executed by the controller, perform the assembly method of any of claims 8-14.