CN117340601B

CN117340601B - Automatic product assembling equipment

Info

Publication number: CN117340601B
Application number: CN202311663525.9A
Authority: CN
Inventors: 钱根; 钱曙光; 汪炉生; 朱文兵; 柳洪哲; 罗时帅; 柳云鸿; 江斌
Original assignee: Rongcheer Industrial Technology Suzhou Co ltd
Current assignee: Rongcheer Industrial Technology Suzhou Co ltd
Priority date: 2023-12-06
Filing date: 2023-12-06
Publication date: 2024-02-23
Anticipated expiration: 2043-12-06
Also published as: CN117340601A

Abstract

The invention discloses automatic product assembling equipment, which belongs to the technical field of product assembling, and comprises the following components: the positioning device comprises a turnover mechanism and a receiving mechanism arranged adjacent to the turnover mechanism, the shell is suitable for being positioned on the turnover mechanism with the back face upwards, the turnover mechanism is suitable for turning the shell to the receiving mechanism, and the shell is positioned on the receiving mechanism with the front face upwards; the first handling device comprises a first manipulator, a first picking and placing component and a film tearing component, wherein the first picking and placing component is in transmission connection with the first manipulator, the first picking and placing component is suitable for placing the shell on the turnover mechanism under the driving of the first manipulator, and the film tearing component is suitable for tearing off a protective film on the back surface of the shell on the turnover mechanism under the driving of the first manipulator; the conveying device is used for conveying the product body; the second carrying device is suitable for taking the shell on the receiving mechanism off and assembling the shell to the product body. The invention adopts the structure, can accurately tear the protective film on the shell, and is convenient to carry and assemble.

Description

Automatic product assembling equipment

Technical Field

The invention relates to the technical field of product assembly, in particular to automatic product assembly equipment.

Background

In some electronic products, a step is to cover the housing on the product body, and in order to improve the assembly efficiency, the step is usually performed by an automatic assembly device. The automatic assembly equipment comprises a carrying device, and when the automatic assembly equipment works, the carrying device grabs the front face of the shell and carries and assembles the front face of the shell onto the product body in a positioning state. However, the back of the produced shell is usually covered with a protective film, so the automatic assembly equipment is also provided with a film tearing device, the handling device needs to be moved to the film tearing device before assembly, the film tearing device faces the back of the shell, and the film tearing device comprises clamping jaws capable of clamping or loosening the protective film and a mechanical arm for driving the clamping jaws to move along a film tearing path. By adopting the structure, the handling device and the film tearing device are not easy to accurately align, so that the film tearing reliability is lower.

Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.

Disclosure of Invention

The invention aims to provide automatic product assembling equipment which can accurately tear a protective film on a shell and is convenient to carry and assemble.

The invention aims at realizing the following technical scheme: an automatic product assembling apparatus for assembling a housing and a product body of a product, comprising:

the positioning device comprises a turnover mechanism and a receiving mechanism arranged adjacent to the turnover mechanism, the shell is suitable for being positioned on the turnover mechanism in a back face upward manner, and the turnover mechanism is suitable for turning the shell to the receiving mechanism and positioning the shell on the receiving mechanism in a front face upward manner;

the first handling device comprises a first manipulator, a first picking and placing component and a film tearing component, wherein the first picking and placing component is in transmission connection with the first manipulator, the first picking and placing component is suitable for placing the shell on the turnover mechanism under the driving of the first manipulator, and the film tearing component is suitable for tearing off a protective film on the back surface of the shell on the turnover mechanism under the driving of the first manipulator;

a conveying device for conveying the product body;

the second carrying device is suitable for taking the shell on the receiving mechanism off and assembling the shell to the product body.

Further, the turnover mechanism includes:

a rotating seat;

the turnover plate is rotationally connected with the rotating seat, and the rotating axis direction of the turnover plate is consistent with the Y-axis direction;

the overturning driving piece is in transmission connection with the overturning plate;

the first carrier is fixedly connected with the turnover plate and is provided with a profiling groove matched with the front outline of the shell, and the shell can be embedded in the profiling groove with the back face upwards;

the first carrier is suitable for being driven by the overturning driving piece to be in a first state or a second state, when the first carrier is in the first state, the notch of the profiling groove is arranged upwards, and when the second carrier is in the second state, the notch of the profiling groove is arranged downwards.

Further, the first carrier includes:

at least one suction nozzle piece positioned at the bottom of the profiling groove and suitable for adsorbing the front surface of the shell;

at least one first positioning column is positioned at the bottom of the profiling groove;

the top film structure is positioned at the bottom of the profiling groove and is suitable for lifting along the Z-axis direction;

the shell is provided with openings, the first positioning columns and the top film structures are in one-to-one correspondence with the openings, the first positioning columns are suitable for being in plug-in fit with the openings, and the top film structures are suitable for being pushed into the openings and pushing part of the protective films away from the back of the shell.

Further, the receiving mechanism includes:

a first Y-axis moving module;

the first Z-axis moving module is in transmission connection with the first Y-axis moving module;

the second carrier is in transmission connection with the first Z-axis moving module, the second carrier comprises a profiling block matched with the back profile of the shell and at least one second positioning column arranged at the top of the profiling block, the shell can be covered outside the profiling block in a right-side-up manner, openings are distributed on the shell, and the second positioning columns are in one-to-one correspondence with the openings and are suitable for being in plug-in fit with the openings;

when the first carrier is in the second state, the second carrier is suitable for receiving the shell in the first carrier under the drive of the first Y-axis moving module and the first Z-axis moving module.

Further, the first handling device comprises a first mounting plate connected with the output end of the first manipulator, the first picking and placing assembly comprises a lifting rotating module arranged on the first mounting plate and a first suction head connected with the lifting rotating module, and the film tearing assembly comprises at least one first clamping cylinder arranged on the first mounting plate and a first clamping piece in transmission connection with the first clamping cylinder.

Further, the conveying device includes:

the conveying line is arranged along the X-axis direction, a third carrier for accommodating the product body is carried on the conveying line, and a code scanning station and an assembling station are sequentially arranged along a conveying path of the conveying line;

the jacking mechanism is suitable for jacking the third carrier at the code scanning station along the Z-axis direction;

the first code scanner is suitable for scanning the code of the third carrier positioned at the code scanning station;

a rotation mechanism adapted to adjust the third carrier at the assembly station about a Z-axis direction;

the second code scanner is suitable for scanning codes of the shell at the assembling station;

wherein the second handling device is adapted to handle the housing between the assembly station and the receiving mechanism.

Further, the conveyor line is of a segmented structure, and the conveyor line comprises a floating section at the assembly station, the floating section being adapted to move along the Z-axis direction to lower the third carrier to the rotation mechanism or to lift the third carrier off the rotation mechanism.

Further, the second handling device includes:

a second manipulator;

the positioning camera is in transmission connection with the second manipulator;

the second picking and placing assembly is in transmission connection with the second manipulator;

the positioning camera is in communication connection with the jacking mechanism, and the second picking and placing assembly is suitable for assembling the shell on the product body after the position of the assembly station is adjusted.

Further, the conveying line is further provided with a pressure maintaining station positioned at the downstream of the assembling station, the automatic product assembling equipment comprises a pressure maintaining device, and the pressure maintaining device comprises:

at least one mobile platform;

at least one pressure maintaining mechanism is in one-to-one correspondence with the mobile platform;

the pressure maintaining carrying mechanism is suitable for conveying the third carrier between the moving platform and the pressure maintaining station;

the movable platform is suitable for moving the third carrier to or away from the position right below the pressure maintaining mechanism, and the pressure maintaining mechanism is suitable for maintaining pressure and detecting products on the third carrier right below the pressure maintaining mechanism.

Further, the product automatic assembly apparatus includes:

the first waste receiving device is used for receiving the torn protective film;

the second waste receiving device is used for receiving the shell with unqualified dyestripping;

the third waste receiving device is used for receiving the third carrier with unqualified pressure maintaining detection;

the first conveying device is suitable for conveying the torn protection film to the first waste collecting device, the second conveying device is suitable for conveying the shell with unqualified torn film to the second waste collecting device, and the pressure maintaining device is suitable for conveying a third carrier loaded with unqualified products to the third waste collecting device.

Compared with the prior art, the invention has the following beneficial effects: according to the invention, the positioning device comprises the turnover mechanism and the receiving mechanism, the first carrying device can carry the shell to be torn into the turnover mechanism through the first picking and placing component so as to enable the back of the shell to be positioned on the turnover mechanism upwards, the positioning precision of the shell is high, and then the first carrying device can tear the protective film on the back of the shell on the turnover mechanism through the tearing component so as to ensure the tearing precision; the turnover mechanism can turn the shell to the receiving mechanism so that the shell is positioned on the receiving mechanism with the right side facing upwards, and the second conveying device can conveniently convey and assemble the shell to the product body; in addition, first handling device and second handling device mutually support, can effectively improve and transport efficiency, avoid long-time waiting.

Drawings

Fig. 1 is a schematic structural view of an automatic product assembling apparatus according to the present invention.

Fig. 2 is a schematic view of the structure of fig. 1 in the other direction.

Fig. 3 is a schematic structural view of the positioning device in the present invention.

Fig. 4 is a schematic structural view of a first carrying device in the present invention.

Fig. 5 is a schematic structural view of a first waste collection device in the present invention.

Fig. 6 is a schematic structural view of a storage device in the present invention.

Fig. 7 is a schematic view of the structure of the conveying device according to the present invention after the return line and the receiving mechanism are removed.

Fig. 8 is a schematic structural view of a lifting mechanism in the present invention.

Fig. 9 is a schematic view of a rotary mechanism according to the present invention.

Fig. 10 is a schematic structural view of a second carrying device in the present invention.

Fig. 11 is a schematic structural view of a second pick-and-place assembly according to the present invention.

Fig. 12 is a schematic structural view of a second waste collection device according to the present invention.

Fig. 13 is a schematic structural view of the pressure retention device of the present invention.

Fig. 14 is a schematic structural view of the pressure-maintaining and conveying mechanism in the present invention.

Fig. 15 is a schematic structural view of a third carrier according to the present invention.

Fig. 16 is a schematic view showing the installation of the moving platform and the pressure maintaining mechanism in the present invention.

Fig. 17 is a schematic view of the structure of the inventive printhead assembly.

Fig. 18 is a schematic structural view of a third waste collection device in the present invention.

Reference numerals illustrate:

100. a positioning device; 110. a turnover mechanism; 111. a rotating seat; 112. a turnover plate; 113. a flip drive; 114. a first carrier; 1141. a simulated groove; 1142. a suction nozzle member; 1143. a first positioning column; 1144. a top film structure; 120. a receiving mechanism; 121. a first Y-axis moving module; 122. a first Z-axis moving module; 123. a second carrier; 1231. profiling blocks; 1232. a second positioning column; 130. a positioning table; 200. a first carrying device; 210. a first manipulator; 220. a first pick-and-place assembly; 221. a lifting rotation module; 222. a first suction head; 230. a dyestripping assembly; 231. a first clamping cylinder; 232. a first clamping member; 240. a first mounting plate; 300. a conveying device; 310. a conveying line; 311. a conveyor belt; 312. a floating section; 320. a third carrier; 321. a clamping hole; 330. a jacking mechanism; 331. jacking the driving piece; 332. a jacking plate; 340. a first code scanner; 350. a rotation mechanism; 351. a rotary driving member; 352. a rotating plate; 360. a second code scanner; 370. a stop mechanism; 380. a return line; 390. a receiving mechanism; 400. a second carrying device; 410. a second manipulator; 411. a second Y-axis moving module; 412. a first X-axis moving module; 413. a second Z-axis moving module; 414. a second mounting plate; 420. positioning a camera; 430. a second pick-and-place assembly; 431. a second suction head; 432. a first pressure sensor; 433. a first elastic member; 500. a first waste collection device; 510. a guide cylinder; 520. a waste bin; 600. a storage device; 610. a first material rack mechanism; 611. a material rack; 612. a lifting assembly; 620. a second material rack mechanism; 630. a tray transfer mechanism; 640. a material tray; 700. a second waste collection device; 710. a first waste wire collection; 720. a guide member; 721. a guide groove; 730. a first baffle; 740. an ion generator; 800. a pressure maintaining device; 810. a pressure maintaining and carrying mechanism; 811. a third manipulator; 812. a third pick-and-place assembly; 8121. a second clamping cylinder; 8122. a second clamping member; 8123. a clamping part; 820. a mobile platform; 821. a third Y-axis moving module; 822. a carrying plate; 830. a pressure maintaining mechanism; 831. a mounting frame; 832. a third Z-axis moving module; 833. a ram assembly; 8331. pressure maintaining pressure heads; 8332. a second pressure sensor; 8333. a second elastic member; 900. a third waste collection device; 910. a second waste wire collection; 920. and a second baffle.

Detailed Description

In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not limiting. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

The terms "comprising" and "having" and any variations thereof herein are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Referring to fig. 1 to 4, an automatic product assembling apparatus according to a preferred embodiment of the present invention is used for assembling a housing and a product body of a product (not shown).

The automatic product assembling apparatus includes: the positioning device 100 comprises a turnover mechanism 110 and a receiving mechanism 120 arranged adjacent to the turnover mechanism 110, wherein the shell is suitable for being positioned on the turnover mechanism 110 with the back face upwards, the turnover mechanism 110 is suitable for turning the shell to the receiving mechanism 120, and the shell is positioned on the receiving mechanism 120 with the front face upwards; the first handling device 200 comprises a first manipulator 210, a first picking and placing component 220 and a film tearing component 230, wherein the first picking and placing component 220 is in transmission connection with the first manipulator 210, the first picking and placing component 220 is suitable for placing a shell on the turnover mechanism 110 under the driving of the first manipulator 210, and the film tearing component 230 is suitable for tearing off a protective film on the back surface of the shell on the turnover mechanism 110 under the driving of the first manipulator 210; a conveying device 300 for conveying the product body; the second carrying device 400 is adapted to take the housing on the receiving mechanism 120 off and assemble the housing to the product body.

According to the invention, the positioning device 100 comprises the turnover mechanism 110 and the receiving mechanism 120, the first conveying device 200 can convey the shell to be torn into the turnover mechanism 110 through the first picking and placing component 220, so that the back of the shell is positioned on the turnover mechanism 110 upwards, the positioning precision of the shell is high, and then the first conveying device 200 can tear the protective film on the back of the shell on the turnover mechanism 110 through the tearing component 230, so that the tearing precision is ensured; the turnover mechanism 110 can turn the shell to the material receiving mechanism 120, so that the shell is positioned on the material receiving mechanism 120 with the right side facing upwards, and the second conveying device 400 can convey and assemble the shell to the product body conveniently; in addition, the first conveying device 200 and the second conveying device 400 are matched with each other, so that the transferring efficiency can be effectively improved, and long-time waiting is avoided.

In this embodiment, when the housing is assembled to the product body, the back surface of the housing is located in the product, and the front surface of the housing is exposed.

Further, the positioning device 100 includes a positioning table 130, and the turning mechanism 110 and the receiving mechanism 120 are both disposed on the positioning table 130.

The tilting mechanism 110 includes a rotating base 111, a tilting plate 112, a tilting drive 113, and a first carrier 114. The rotating base 111 is fixedly connected with the positioning table 130, the overturning plate 112 is rotatably connected with the rotating base 111, and the rotating axis direction of the overturning plate 112 is consistent with the Y axis direction. The inversion driving member 113 is a rotary cylinder fixed to the positioning table 130, and is in driving connection with the inversion plate 112 to drive the inversion plate 112 to rotate around the Y-axis direction.

In this embodiment, the overturning driving member 113 and the rotating base 111 are oppositely arranged in the Y-axis direction, and an output end of the overturning driving member 113 is fixedly connected with the overturning plate 112. The first carrier 114 is fixedly connected with the turnover plate 112, and the first carrier 114 has a profiling groove 1141 adapted to the front outline of the housing, so that the housing can be embedded in the profiling groove 1141 with the back face facing upwards. The first carrier 114 is adapted to be in a first state or a second state under the driving of the flip driving member 113, and when in the first state, the notch of the profiling groove 1141 is arranged upwards, so that the first conveying device 200 conveys the housing to the profiling groove 1141; when in the second state, the notch of the profiling groove 1141 is disposed downward to flip the housing onto the receiving mechanism 120.

In the present embodiment, the first carrier 114 includes a suction nozzle member 1142 located at a bottom of the profiling groove 1141, the suction nozzle member 1142 is a vacuum suction nozzle, and the number of the suction nozzle members 1142 is at least one, and the suction nozzle member 1142 is adapted to suck the front surface of the housing, so as to ensure that the housing is fastened in the profiling groove 1141.

In addition, a plurality of openings are distributed on the housing, the protective film covers the entire back surface of the housing, the first carrier 114 further includes a first positioning column 1143 and a top film structure 1144, and the first positioning column 1143 and the top film structure 1144 are in one-to-one correspondence with the openings. The number of the first positioning columns 1143 is at least one, and the first positioning columns 1143 are suitable for being in plug-in connection with the holes, so that the positioning accuracy of the shell is improved. The top film structure 1144 is a needle cylinder adapted to push into the aperture and push a portion of the protective film away from the back of the housing, thereby facilitating tearing of the protective film by the film tearing assembly 230.

Further, the material receiving mechanism 120 includes a first Y-axis moving module 121, a first Z-axis moving module 122, and a second carrier 123, the first Y-axis moving module 121 is fixedly connected to the positioning table 130, the first Z-axis moving module 122 is in transmission connection with the first Y-axis moving module 121, and the second carrier 123 is in transmission connection with the first Z-axis moving module 122. The second carrier 123 includes the profile modeling piece 1231 and the second reference column 1232, and the profile modeling piece 1231 is located the top of second carrier 123, and with casing back profile looks adaptation, and second reference column 1232 quantity is at least one, and sets up at profile modeling piece 1231 top, and the casing can openly cover up to establish outside the profile modeling piece 1231, and second reference column 1232 and the trompil one-to-one of casing are suitable for with the trompil grafting cooperation to improve positioning accuracy.

When receiving materials, the second carrier 123 can be moved to the receiving position under the driving of the first Y-axis moving module 121, the first carrier 114 is turned over to the second state, at this time, the first carrier 114 is located right above the second carrier 123, the second carrier 123 is lifted up under the driving of the first Z-axis moving module 122 and receives the shell, then the first carrier 114 releases the adsorption to the shell, and at the same time, the second carrier 123 is lowered to separate the shell from the first carrier 114, and the second carrier 123 is moved to the discharging position under the driving of the first Y-axis moving module 121, so that the second carrying device 400 grabs the shell at the discharging position.

Further, the first handling device 200 includes a first mounting plate 240 connected to the output end of the first manipulator 210, and the first pick-and-place assembly 220 and the film tearing assembly 230 are disposed on the first mounting plate 240. The first pick-and-place assembly 220 includes a lifting and rotating module 221 disposed on the first mounting plate 240 and a first suction head 222 connected to the lifting and rotating module 221, wherein an outer contour of the first suction head 222 is adapted to a back surface of the housing, the first suction head 222 is adapted to suck or release the housing, and the lifting and rotating module 221 may be formed by a linear cylinder and a rotating cylinder in a matching manner so as to drive the first suction head 222 to lift along a Z-axis direction and rotate around the Z-axis direction. The film tearing assembly 230 comprises at least one first clamping cylinder 231 arranged on the first mounting plate 240 and first clamping pieces 232 in transmission connection with the first clamping cylinders 231, each first clamping cylinder 231 is provided with two first clamping pieces 232, and the two first clamping pieces 232 can move oppositely or back to each other under the driving of the first clamping cylinders 231 so as to clamp or loosen the protective film. Preferably, in order to further improve the tearing reliability of the protective film, the protective film has a tearing portion located outside the housing, and the number of the first clamping cylinders 231 is two, wherein the first clamping member 232 on one first clamping cylinder 231 corresponds to the tearing portion, and the first clamping member 232 on the other first clamping cylinder 231 corresponds to a portion of the protective film that is lifted off by the top film structure 1144.

Further, referring to fig. 1 and 5, the product automatic assembly apparatus includes a first scrap receiving device 500 for receiving the protective film, the first scrap receiving device 500 is located within a stroke range of the first transporting device 200, and the first transporting device 200 is adapted to transport the torn protective film to the first scrap receiving device 500. The first waste collection device 500 comprises a guide cylinder 510 and a waste box 520, wherein the guide cylinder 510 is of a through structure in the Z-axis direction, the waste box 520 is in transmission connection with a driving structure so as to drive the waste box 520 to move to the position right below the guide cylinder 510 along the Y-axis direction, the first carrying device 200 can throw a protective film into the guide cylinder 510, the protective film can fall to the waste box 520 along the guide cylinder 510, and when the waste box 520 is fully loaded, the waste box 520 can move to a preset position so that an operator can take the protective film from the waste box 520.

Further, referring to fig. 1 and 6, the product automatic assembly apparatus includes a storage device 600 for storing the housing, and the first carrying device 200 is adapted to shuttle between the storage device 600 and the flipping mechanism 110 to continuously feed the housing to the flipping mechanism 110.

The storage device 600 includes a first material frame mechanism 610, a second material frame mechanism 620, and a material tray transferring mechanism 630, where the first material frame mechanism 610 and the second material frame mechanism 620 have the same structure, the material trays 640 with shells are stacked in the first material frame mechanism 610 along the Z-axis direction, the first transporting device 200 can transport the shells in the uppermost material tray 640 to the turnover mechanism 110, and when the uppermost material tray 640 is empty, the material tray transferring mechanism 630 can transport the empty material tray 640 to the second material frame mechanism 620.

Preferably, in order to facilitate the handling of the first handling device 200 and the tray transferring mechanism 630, in this embodiment, the first rack mechanism 610 and the second rack mechanism 620 each include a rack 611 and a lifting assembly 612, the tray 640 can be positioned and accommodated in the rack 611, the tray 640 is carried on the lifting assembly 612, and the lifting assembly 612 can drive the tray 640 to lift along the Z-axis direction, so as to adjust the picking and placing height in real time. Preferably, the rack 611 is a drawer type structure to facilitate the removal and placement of the trays 640 into and out of the rack 611.

Further, referring to fig. 1, 2 and 7, the conveying device 300 includes a conveying line 310 arranged along the X-axis direction, a third carrier 320 for accommodating the product body is carried on the conveying line 310, a code scanning station, an assembling station and a pressure maintaining station are sequentially arranged along a conveying path of the conveying line 310, and the third carrier 320 can be continuously input from an input end of the conveying line 310 and sequentially passes through the code scanning station, the assembling station and the pressure maintaining station. The conveying device 300 further comprises a jacking mechanism 330, a first code scanner 340 and a rotating mechanism 350, wherein the jacking mechanism 330 is suitable for jacking the third carriers 320 in the code scanning station along the Z-axis direction, the first code scanner 340 can scan the third carriers 320 in the jacking state so as to bind each third carrier 320, and the rotating mechanism 350 is suitable for adjusting the third carriers 320 in the assembling station around the Z-axis direction so as to improve the position accuracy of the product body in the assembling station. Preferably, the conveying device 300 is provided with a second code scanner 360 at the assembling station, and the second code scanner 360 can scan the shell assembled on the product body to bind the shell.

Specifically, the conveying line 310 is a belt conveying line, and conveying belts 311 are disposed on two sides of the conveying line 310 in the Y-axis direction, so as to cooperatively support the third carrier 320. The conveyor line 310 is provided with a stop mechanism 370 at the stacking station, the assembling station and the pressure maintaining station, the stop mechanism 370 is suitable for blocking the third carrier 320 when the third carrier 320 flows to each station, so as to ensure that the third carrier 320 accurately stays at each station, and the stop mechanism 370 is common knowledge in the art, and the disclosure of the present invention is not repeated here.

The lifting mechanism 330 is located below the conveying line 310, as shown in fig. 8, and the lifting mechanism 330 includes a lifting driving member 331 and a lifting plate 332 in transmission connection with the lifting driving member 331, where the lifting driving member 331 is specifically a linear cylinder, and the lifting plate 332 is adapted to lift the third carrier 320 under the driving of the lifting driving member 331, so as to improve the reliability of the code scanning of the first code scanner 340. Preferably, a jacking mechanism 330 is also arranged at the pressure maintaining station so as to facilitate the pressure maintaining operation.

The rotating mechanism 350 is located below the conveying line 310, and as shown in fig. 9, the rotating mechanism 350 includes a rotating driving member 351 and a rotating plate 352 in transmission connection with the rotating driving member 351, where the rotating driving member 351 is specifically a rotating cylinder, and when the third carrier 320 is placed on the rotating plate 352, the rotating plate 352 is adapted to drive the third carrier 320 to rotate synchronously under the driving of the rotating driving member 351.

In one embodiment, the conveying device 300 includes a lifting structure in driving connection with the rotating mechanism 350, and the lifting structure can drive the rotating mechanism 350 to lift along the Z-axis direction, so that the rotating mechanism 350 carries the third carrier 320 or replaces the third carrier 320 with the conveying line 310. However, with the above structure, the rotation position deviation of the rotation mechanism 350 is caused when the rotation mechanism 350 lifts the third carrier 320, resulting in poor rotation accuracy. To improve the precision, in the present embodiment, the conveying line 310 is of a segmented structure, and the conveying line 310 includes a floating segment 312 at an assembling station, where the floating segment 312 is adapted to move along the Z-axis direction to lift relative to the rotating mechanism 350, so as to lower the third carrier 320 to the rotating mechanism 350, or lift the third carrier 320 from the rotating mechanism 350.

In addition, returning to fig. 1 and 2, the conveying device 300 further includes a return line 380 disposed parallel to the conveying line 310 and a receiving mechanism 390 received between an output end of the conveying line 310 and an input end of the return line 380, where an operator can take a product off the third carrier 320 at the receiving mechanism 390, and the receiving mechanism 390 can flow the empty third carrier 320 onto the return line 380 to return the third carrier 320, so as to facilitate recycling of the third carrier 320.

Further, referring to fig. 1, 2 and 10, the second handling device 400 is adapted to assemble the housing to the product body of the third carrier 320 at an assembly station. The second handling device 400 includes a second manipulator 410, a positioning camera 420, and a second picking and placing assembly 430, wherein the positioning camera 420 and the second picking and placing assembly 430 are in transmission connection with the second manipulator 410, the positioning camera 420 is in communication connection with the jacking mechanism 330, the positioning camera 420 is suitable for shooting a product body on the third carrier 320, so as to drive the jacking mechanism 330 to adjust the position of the product body according to image adaptability, and the second picking and placing assembly 430 is suitable for assembling the shell onto the product body after the adjustment position to form a product in a matching manner.

Specifically, the second manipulator 410 includes a second Y-axis moving module 411, a first X-axis moving module 412 and a second Z-axis moving module 413, the first X-axis moving module 412 is in transmission connection with the second Y-axis moving module 411, the first X-axis moving module 412 is in transmission connection with a second mounting plate 414, the positioning camera 420 and the second Z-axis moving module 413 are both disposed on the second mounting plate 414, and the second pick-and-place assembly 430 is in transmission connection with the second Z-axis moving module 413. The positioning camera 420 may be moved to a position directly above the product body along the X-axis and Y-axis directions to photograph the product body, and the second pick-and-place assembly 430 may be moved along the X-axis, Y-axis and Z-axis directions to handle and assemble the housing to the product body.

Referring to fig. 11, the second pick-and-place assembly 430 includes a second suction head 431, a first pressure sensor 432 and a first elastic member 433, which are sequentially connected from bottom to top, the first elastic member 433 is fixedly connected with the output end of the second Z-axis moving module 413, the outer contour of the second suction head 431 is adapted to the front surface of the housing, the second suction head 431 can suck the front surface of the housing and press against the product body, the first pressure sensor 432 can acquire the pressing force on the second suction head 431 in real time so as to loosen the housing after reaching the preset pressure, and the first elastic member 433 can buffer the housing and/or the product body in the assembly process so as to avoid damage of the product caused by violent collision.

Preferably, referring to fig. 1 and 12, the automatic product assembling apparatus includes a camera assembly (not shown) and a second waste receiving device 700, which are located within the range of travel of the second handling device 400, the camera assembly is disposed upward, and when the second handling device 400 sucks the housing on the receiving mechanism 120, the camera assembly can move to a position right above the camera assembly, and the camera assembly can photograph the back of the housing to determine the film tearing condition of the back of the housing, and can also position the second handling device 400, so as to improve the positional accuracy of the subsequent assembly of the housing. When the casing tear film is qualified, the second conveying device 400 conveys the casing to the assembly station, and when the casing tear film is unqualified, the second conveying device 400 conveys the casing to the second waste collecting device 700.

The second waste collection device 700 includes a first waste collection line 710, a guide member 720 and a first baffle 730, the first waste collection line 710 is arranged along the Y-axis direction, the guide member 720 is located at the input end of the first waste collection line 710, a guide groove 721 is formed on the guide member 720, the guide groove 721 is used for receiving a shell with unqualified tear film and guiding the shell to the first waste collection line 710 under the action of gravity, and the first baffle 730 is located at the output end of the first waste collection line 710 to block the shell on the first waste collection line 710. Preferably, an ionizer 740 is provided above the first scrap line 710, which is capable of applying an ion wind to the housing as it flows through the ionizer 740 so that the protective film is detached from the housing, thereby facilitating subsequent re-flow of the housing into the assembly station.

When the device works, the shell flows to the first waste collection line 710 through the guide piece 720 and flows to the first baffle plate 730 under the conveying of the first waste collection line 710, and an operator can take the shell away from the first waste collection line 710 at the output end of the first waste collection line 710, or can cancel the first baffle plate 730 and set a box structure below the output end of the first waste collection line 710, so that the shell is collected into the box structure in a concentrated manner.

Further, referring to fig. 1, 2 and 13, the product automatic assembling apparatus includes a pressure maintaining device 800 located at one side of the conveyor 300 in the Y-axis direction, the pressure maintaining device 800 being adapted to receive and maintain the pressure of the product at a pressure maintaining station or to return the pressure maintained product to the conveyor 300. The pressure maintaining device 800 comprises a pressure maintaining carrying mechanism 810, a moving platform 820 and a pressure maintaining mechanism 830, wherein the pressure maintaining carrying mechanism 810 is suitable for conveying the third carrier 320 between the moving platform 820 and the conveying line 310, the moving platform 820 is suitable for moving the third carrier 320 to or away from the position right below the pressure maintaining mechanism 830, and the pressure maintaining mechanism 830 is suitable for maintaining and detecting the product on the third carrier 320 right below.

Further, referring to fig. 14 and 15, the pressure maintaining and carrying mechanism 810 includes a third manipulator 811 and a third picking and placing assembly 812 in transmission connection with the third manipulator 811, the third manipulator 811 has a structure similar to that of the second manipulator 410, the third manipulator 811 can drive the third picking and placing assembly 812 to move along the X-axis, Y-axis and Z-axis directions, and the third picking and placing assembly 812 can clamp or unclamp the third carrier 320.

The third picking and placing assembly 812 includes a second clamping cylinder 8121 and second clamping members 8122 in driving connection with the second clamping cylinder 8121, the number of the second clamping members 8122 is two, the second clamping cylinder 8121 is suitable for driving the two second clamping members 8122 to move in opposite directions or back directions along the X-axis direction, and the third carrier 320 can be clamped between the two second clamping members 8122.

Preferably, in order to improve the reliability of the transportation, in the present embodiment, the third carrier 320 is recessed with a clamping hole 321 at both sides of the X-axis direction, and the clamping surface of the second clamping member 8122 is provided with a clamping portion 8123, and the clamping portion 8123 may be embedded in the clamping hole 321, thereby improving the reliability of the third carrier 320 in the Z-axis direction. In this embodiment, two clamping holes 321 are disposed on each side of the third carrier 320, and the clamping portions 8123 are in one-to-one correspondence with the clamping holes 321.

Further, referring to fig. 16 and 17, the moving platform 820 includes a third Y-axis moving module 821 and a carrying plate 822 in driving connection with the third Y-axis moving module 821, and the third Y-axis moving module 821 can drive the carrying plate 822 to move to the loading and unloading position or the pressure maintaining position along the Y-axis direction. The carrier 822 is provided with a positioning structure, and the third carrier 320 can be positioned and carried on the carrier 822.

The pressure maintaining mechanism 830 comprises a mounting frame 831, a third Z-axis moving module 832 and a pressure head assembly 833 which are arranged on the mounting frame 831 and are in transmission connection with the third Z-axis moving module 832, the pressure head assembly 833 comprises a pressure maintaining pressure head 8331, a second pressure sensor 8332 and a second elastic piece 8333, the pressure maintaining pressure head 8331, the second pressure sensor 8332 and the second elastic piece 8333 are sequentially connected from bottom to top, the second elastic piece 8333 is fixedly connected with the output end of the third Z-axis moving module 832, the outer contour of the pressure maintaining pressure head 8331 is matched with the front surface of the shell, the pressure maintaining pressure head 8331 can be driven by the third Z-axis moving module 832 to descend to a preset height so as to press the front surface of the shell, and the pressure maintaining pressure sensor 8332 can acquire a pressure value for a certain time, when the pressure value is in a preset range, the pressure maintaining pressure is qualified for product assembly, the pressure maintaining mechanism 810 carries the third carrier 320 carrying the product, and the third carrier 320 carrying the product is carried by the pressure maintaining mechanism 810 to the reject the conveying line 310 when the pressure value is out of the preset range, the surface product assembly is not in place.

Because the time period of the pressure maintaining mechanism 830 is longer when the pressure maintaining operation is performed, for improving the efficiency, the number of the pressure maintaining mechanism 830 and the number of the moving platforms 820 are at least one, and the two are in one-to-one correspondence, in this embodiment, the number of the pressure maintaining mechanism 830 and the number of the moving platforms 820 are preferably two, and when one of the moving platforms 820 and the pressure maintaining mechanism 830 cooperate, the pressure maintaining conveying mechanism 810 can continuously convey the third carrier 320 on the conveying line 310 to the other moving platform 820.

Further, referring to fig. 1 and 18, the automatic product assembling apparatus further includes a third waste receiving device 900 located within a stroke range of the pressure maintaining and transporting mechanism 810, and when the pressure maintaining detection of the product on the third carrier 320 is not qualified, the pressure maintaining and transporting mechanism 810 can transport the third carrier 320 to the third waste receiving device 900.

The third waste collection device 900 includes a second waste collection line 910 and a second baffle 920, the second waste collection line 910 is arranged along the Y-axis direction, the second baffle 920 is located at an output end of the second waste collection line 910, the pressure maintaining and conveying mechanism 810 can convey the third carrier 320 to the output end of the second waste collection line 910, the third carrier 320 can flow to the output end under the driving of the second waste collection line 910 and is blocked by the second baffle 920, and an operator can recover the third carrier 320 at the output end.

The working process of the automatic product assembling equipment is as follows: the first carrying device 200 carries the shell to be assembled from the storage device 600 to the turnover mechanism 110, and the first carrying device 200 tears off the protective film of the shell on the turnover mechanism 110 and puts the protective film into the first waste receiving device 500; the turnover mechanism 110 turns the shell body after the protective film is torn off to the material receiving mechanism 120, the second conveying device 400 grabs the shell body on the material receiving mechanism 120 and moves to a camera component, the camera component can acquire the film tearing condition of the shell body and position the second conveying device 400, when the shell body is qualified in film tearing, the second conveying device 400 conveys the shell body to an assembly station, and when the shell body is unqualified in film tearing, the second conveying device 400 conveys the shell body to the second waste receiving device 700; the conveying line 310 drives the third carrier 320 with the product body to sequentially flow through the code scanning station, the assembling station and the pressure maintaining station, the second carrying device 400 assembles the shell onto the product body of the third carrier 320 at the assembling station, the pressure maintaining device 800 can receive the third carrier 320 at the pressure maintaining station so as to carry out pressure maintaining detection on the assembled product on the third carrier 320, when the detection is qualified, the pressure maintaining device 800 conveys the third carrier 320 back to the conveying line 310, and when the detection is unqualified, the pressure maintaining device 800 moves the third carrier 320 to the third waste collecting device 900; the third carrier 320 carrying the pressure maintaining acceptable product flows to the output end of the conveying line 310 and is received by the receiving mechanism 390, the operator performs blanking on the assembled product at the receiving mechanism 390, and the empty third carrier 320 is transferred to the return line 380 by the receiving mechanism 390 so as to flow into the conveying line 310 again.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the patent application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or direct or indirect application in other related technical fields are included in the scope of the patent protection of the present application.

Claims

1. An automatic product assembling apparatus for assembling a housing and a product body of a product, comprising:

the positioning device (100) comprises a turnover mechanism (110) and a receiving mechanism (120) arranged adjacent to the turnover mechanism (110), wherein the shell is suitable for being positioned on the turnover mechanism (110) in a way of facing upwards on the back, and the turnover mechanism (110) is suitable for turning the shell to the receiving mechanism (120) and positioning the shell on the receiving mechanism (120) in a way of facing upwards on the front; the tilting mechanism (110) includes:

a rotating base (111);

the overturning plate (112) is rotationally connected with the rotating seat (111), and the rotating axis direction of the overturning plate (112) is consistent with the Y-axis direction;

the overturning driving piece (113) is in transmission connection with the overturning plate (112);

the first carrier (114) is fixedly connected with the turnover plate (112), the first carrier (114) is provided with a profiling groove (1141) which is matched with the front outline of the shell, and the shell can be embedded in the profiling groove (1141) in a way that the back face of the shell faces upwards;

wherein the first carrier (114) is adapted to be in a first state or a second state under the drive of the turning drive (113), when in the first state, the notch of the profiling groove (1141) is arranged upwards, and when in the second state, the notch of the profiling groove (1141) is arranged downwards;

the first carrying device (200) comprises a first manipulator (210), a first picking and placing component (220) and a film tearing component (230), wherein the first picking and placing component (220) is in transmission connection with the first manipulator (210), the first picking and placing component (220) is suitable for placing the shell on the turnover mechanism (110) under the driving of the first manipulator (210), and the film tearing component (230) is suitable for tearing off a protective film on the back of the shell on the turnover mechanism (110) under the driving of the first manipulator (210);

-a conveyor (300) for transporting said product bodies, said conveyor (300) comprising:

the conveying line (310) is arranged along the X-axis direction, a third carrier (320) for accommodating the product body is carried on the conveying line (310), and the conveying line (310) is provided with an assembling station;

a rotation mechanism (350) adapted to adjust the third carrier (320) at the assembly station about the Z-axis direction;

the conveyor line (310) is of a segmented structure, the conveyor line (310) comprising a floating segment (312) at the assembly station, the floating segment (312) being adapted to move along a Z-axis direction to lower the third carrier (320) to the rotation mechanism (350) or to lift the third carrier (320) off the rotation mechanism (350);

-a second handling device (400) adapted to handle the shells between the assembly station and the receiving mechanism (120) for taking the shells on the receiving mechanism (120) off and assembling them to the product body.

2. The automatic product assembling apparatus according to claim 1, wherein the first carrier (114) comprises:

at least one suction nozzle (1142) located at the bottom of the profiling groove (1141) and adapted to suck the front surface of the housing;

at least one first positioning column (1143) located at the bottom of the profiling groove (1141);

the top film structure (1144) is positioned at the bottom of the profiling groove (1141) and is suitable for lifting along the Z-axis direction;

the shell is provided with holes, the first positioning columns (1143) and the top film structures (1144) are in one-to-one correspondence with the holes, the first positioning columns (1143) are suitable for being in plug-in fit with the holes, and the top film structures (1144) are suitable for being pushed into the holes and pushing part of the protective film away from the back surface of the shell.

3. The automatic product assembling apparatus according to claim 1, wherein the stock receiving mechanism (120) includes:

a first Y-axis moving module (121);

the first Z-axis moving module (122) is in transmission connection with the first Y-axis moving module (121);

the second carrier (123) is in transmission connection with the first Z-axis moving module (122), the second carrier (123) comprises a profiling block (1231) matched with the back profile of the shell and at least one second positioning column (1232) arranged at the top of the profiling block (1231), the shell can be covered outside the profiling block (1231) in a right-side-up manner, holes are distributed in the shell, and the second positioning columns (1232) correspond to the holes one by one and are suitable for being in plug-in fit with the holes;

wherein, when the first carrier (114) is in the second state, the second carrier (123) is adapted to receive the housing in the first carrier (114) under the drive of the first Y-axis moving module (121) and the first Z-axis moving module (122).

4. The automatic product assembling apparatus according to claim 1, wherein the first handling device (200) includes a first mounting plate (240) connected to an output end of the first manipulator (210), the first pick-and-place assembly (220) includes a lifting rotation module (221) disposed on the first mounting plate (240) and a first suction head (222) connected to the lifting rotation module (221), and the film tearing assembly (230) includes at least one first clamping cylinder (231) disposed on the first mounting plate (240) and a first clamping member (232) in driving connection with the first clamping cylinder (231).

5. The automatic product assembling apparatus according to claim 1, wherein the conveyor line (310) is provided with a code scanning station, the code scanning station and the assembling station being disposed in order along a conveying path of the conveyor line (310), the conveying device (300) comprising:

the jacking mechanism (330) is suitable for jacking the third carrier (320) at the code scanning station along the Z-axis direction;

a first code scanner (340) adapted to scan the third carrier (320) at the code scanning station;

a second code scanner (360) is adapted to scan the housing at the assembly station.

6. The automatic product assembling apparatus according to claim 5, wherein said second handling device (400) comprises:

a second robot (410);

a positioning camera (420) in transmission connection with the second manipulator (410);

the second picking and placing assembly (430) is in transmission connection with the second manipulator (410);

wherein the positioning camera (420) is in communication connection with the jacking mechanism (330), and the second pick-and-place assembly (430) is adapted to assemble the housing to the product body after the adjustment position at the assembly station.

7. The automatic product assembling apparatus according to claim 5, wherein the conveyor line (310) is further provided with a dwell station downstream of the assembling station, the automatic product assembling apparatus comprising a dwell device (800), the dwell device (800) comprising:

at least one mobile platform (820);

at least one pressure maintaining mechanism (830) in one-to-one correspondence with the moving platform (820);

a dwell handling mechanism (810) adapted to transport the third carrier (320) between the moving platform (820) and the dwell station;

wherein the moving platform (820) is adapted to move the third carrier (320) to or from directly under the pressure maintaining mechanism (830), the pressure maintaining mechanism (830) is adapted to maintain and detect the product on the third carrier (320) directly under it.

8. The automatic product assembling apparatus according to claim 7, wherein the automatic product assembling apparatus comprises:

a first waste collection device (500) for receiving the torn protective film;

a second waste receiving device (700) for receiving the casing with unqualified tear film;

the third waste receiving device (900) is used for receiving the third carrier (320) with unqualified pressure maintaining detection; the first conveying device (200) is suitable for conveying the torn protection film to the first waste collecting device (500), the second conveying device (400) is suitable for conveying the shell with unqualified torn film to the second waste collecting device (700), and the pressure maintaining device (800) is suitable for conveying a third carrier (320) loaded with the unqualified product to the third waste collecting device (900).