CN117358509A - Assembling device - Google Patents

Abstract

The application discloses an assembling device, which comprises a bearing mechanism, a grabbing mechanism, a dispensing mechanism, a first shooting assembly and a fixing mechanism; the bearing mechanism is used for bearing and positioning the workpiece; the grabbing mechanism is used for grabbing the workpiece and driving the workpiece to move; the dispensing mechanism comprises a dispensing assembly and a detection module, wherein the dispensing assembly is used for dispensing a workpiece, and the detection module is arranged on the dispensing assembly and is used for detecting a dispensing path of the workpiece after dispensing; the first shooting assembly is arranged on one side of the grabbing mechanism and used for detecting the position offset of the workpiece; the fixing mechanism comprises a fixing component and a second shooting component, the fixing component is used for bearing and positioning a product, and the second shooting component is arranged on the fixing component and used for detecting the position offset of the installation position of the product; the gripping mechanism mounts the workpiece onto the mounting position according to the positional offset of the workpiece and the positional offset of the mounting position. The assembling device can improve the efficiency and the precision of installing the workpiece.

Description

Assembling device

Technical Field

The application relates to the technical field of electronic product assembly, in particular to an assembly device.

Background

At present, when a workpiece such as a connecting piece and a sealing piece of a sound module and a charging module is mounted on a mounting hole of an electronic device, the workpiece is usually required to be subjected to dispensing treatment in a manual manner, and then the workpiece subjected to the dispensing treatment is manually mounted on the mounting hole of the electronic device for fixing. However, the efficiency of manually installing the work is low, and the installation accuracy is low.

Disclosure of Invention

In view of the above, it is necessary to propose an assembling device to improve the efficiency and accuracy of mounting a workpiece.

The embodiment of the application provides an assembling device which is used for installing a workpiece on an installation position of a product, and comprises a bearing mechanism, a grabbing mechanism, a dispensing mechanism, a first shooting assembly and a fixing mechanism; the bearing mechanism is used for bearing and positioning the workpiece; the grabbing mechanism is arranged on one side of the bearing mechanism and is used for grabbing the workpiece from the bearing mechanism and driving the workpiece to move; the dispensing mechanism comprises a dispensing assembly and a detection module, wherein the dispensing assembly is arranged on one side of the grabbing mechanism and is arranged at intervals with the bearing mechanism, and is used for performing dispensing treatment on the workpiece when the grabbing mechanism drives the workpiece to move to a position corresponding to the dispensing assembly, and the detection module is arranged on the dispensing assembly and is used for performing glue path detection on the workpiece after dispensing treatment; the first shooting assembly is arranged on one side of the grabbing mechanism, is arranged at intervals with the bearing mechanism and the dispensing mechanism, is coupled with the grabbing mechanism and is used for detecting the position offset of the workpiece when the grabbing mechanism drives the workpiece subjected to glue path detection to move to a position corresponding to the first shooting assembly; the fixing mechanism comprises a fixing component and a second shooting component, the fixing component is arranged adjacent to the first shooting component and used for bearing and positioning the product, and the second shooting component is arranged on the fixing component and coupled with the grabbing mechanism and used for detecting the position offset of the installation position; the grabbing mechanism is used for installing the workpiece on the installation position according to the position offset of the workpiece and the position offset of the installation position.

The assembling device is provided with the grabbing mechanism to grab the workpiece and drive the workpiece to move, so that the workpiece is convenient to carry out dispensing operation and mounting operation; the dispensing mechanism is arranged to perform dispensing treatment on the workpiece, and the detection module is arranged to detect the dispensing path after the dispensing treatment, so that the accuracy of the dispensing treatment on the workpiece is improved, and the influence of unqualified dispensing on the mounting quality of the workpiece is effectively avoided; the first shooting component is arranged to detect the position offset of the workpiece, and the second shooting component is arranged to detect the position offset of the installation position of the product, so that the grabbing mechanism can rapidly and accurately install the workpiece on the installation position of the product according to the position offset of the workpiece and the position offset of the installation position of the product. So, the assembly device of this application embodiment has realized the operation on the installation position of automatic installing the product with the work piece, has improved the efficiency of installing the work piece to snatch the mechanism and install the work piece to the operation on the installation position of product more accurate according to the position offset of work piece and the position offset of the installation position of product, improved the precision of installing the work piece.

In some embodiments, the bearing mechanism comprises a support frame, a bearing disc and a positioning block; the support frame is arranged on one side of the grabbing mechanism; the bearing plate is movably arranged on the supporting frame, a plurality of positioning grooves which are arranged at intervals are formed in the bearing plate, and the positioning grooves are used for accommodating and positioning the workpiece; the positioning block is arranged on the supporting frame and is abutted with the bearing plate and used for positioning the bearing plate.

In some embodiments, the gripping mechanism includes a robotic arm, a mounting bracket, a clamping assembly, and a buffer assembly; the mechanical arm is arranged among the bearing mechanism, the dispensing mechanism, the first shooting assembly and the fixed assembly, and the first shooting assembly and the second shooting assembly are coupled with the mechanical arm; the assembly frame is arranged on the mechanical arm so as to move under the drive of the mechanical arm; the clamping assembly is arranged on the assembly frame in a sliding manner and used for clamping the workpiece, and the workpiece is driven to move when the mechanical arm drives the assembly frame to move; the buffer component is connected with the assembly frame and the clamping component and is used for elastically supporting the clamping component.

In some embodiments, the grip assembly includes a slide, a grip drive, a plurality of grip fingers, and a stop block; the sliding seat is arranged on the assembly frame in a sliding manner, and the buffer assembly is connected with the assembly frame and the sliding seat; the clamping driving piece is arranged on the sliding seat; the clamping fingers are connected with the clamping driving piece and used for clamping the workpiece under the driving of the clamping driving piece; the stopper is located the centre gripping driving piece, and one end stretches into a plurality of between the centre gripping finger, the stopper stretches into a plurality of one end between the centre gripping finger has spacing portion, spacing portion be used for a plurality of when the centre gripping finger centre gripping work piece with the work piece butt is and the location work piece.

In some embodiments, the cushioning assembly includes a guide post and a cushioning spring; the guide post slides through the sliding seat and is connected with the assembly frame and used for guiding the sliding direction of the sliding seat; the buffer elastic piece is sleeved on the guide post, one end of the buffer elastic piece is connected with the guide post, and the other end of the buffer elastic piece is abutted to the sliding seat and used for elastically supporting the sliding seat.

In some embodiments, the grabbing mechanism further includes a position sensing element, where the position sensing element is disposed on the assembly frame and coupled to the mechanical arm, and is configured to sense a position of the dispensing assembly relative to the workpiece when the mechanical arm drives the assembly frame to move to a position corresponding to the dispensing assembly, so that the mechanical arm determines an initial dispensing position of the workpiece.

In some embodiments, the dispensing assembly comprises a dispensing station and a dispenser; the glue dispensing table is arranged on one side of the grabbing mechanism and is arranged at intervals with the bearing mechanism, and the detection module is arranged on the glue dispensing table; the glue dispenser comprises a mounting seat, a glue cylinder, an extrusion driving piece, an extrusion piece, a material mixing pipe, an adjusting plate, a glue stop valve and a needle head; the mounting seat is arranged on the dispensing table and positioned on one side of the detection module; the rubber cylinder is arranged on the mounting seat and used for accommodating the fixed rubber; the extrusion driving piece is arranged on the mounting seat and is positioned at one end of the rubber cylinder; the extrusion piece is inserted into the rubber cylinder in a sliding way and is connected with the extrusion driving piece, and is used for extruding the fixing rubber under the driving of the extrusion driving piece so as to enable the fixing rubber to be discharged from the other end of the rubber cylinder; the mixing pipe is arranged at the other end of the rubber cylinder and used for mixing the fixed rubber discharged by the rubber cylinder; the adjusting plate is arranged on the mounting seat in a sliding manner and is positioned at the other end of the rubber cylinder; the rubber stop valve is arranged on the adjusting plate and is connected with one end, far away from the rubber cylinder, of the mixing pipe; the needle is arranged on the glue stop valve and used for discharging the mixed fixed glue under the control of the glue stop valve, and the adjusting plate drives the glue stop valve to move so as to adjust the position and the verticality of the needle.

In some embodiments, the fixing assembly includes a fixing frame and a plurality of fixing modules, the fixing frame being disposed adjacent to the first photographing assembly; the fixed modules are arranged on the fixing frame at intervals and used for bearing and positioning the product; the second shooting assembly comprises a linear module and a shooting module, the linear module is arranged on the fixing frame and located below the fixing modules, the shooting module is arranged on the linear module and used for being driven by the linear module to move to positions opposite to the fixing modules respectively so as to detect the position offset of the installation positions of the products borne by the fixing modules.

In some embodiments, the plurality of fixing modules each include a positioning seat, a suction cup, a limiting block and a heating element; the positioning seat is arranged on the fixing frame; the sucking disc is arranged on the positioning seat and used for sucking the product; the limiting block is arranged on the positioning seat and is arranged at intervals with the sucker, and is used for abutting against the product and positioning the product; the heating piece is arranged on one side of the positioning seat, which is close to the linear module, and is used for abutting with the mounting position and heating and curing the fixing glue after the workpiece is mounted on the mounting position.

In some embodiments, the plurality of fixing modules each further comprises a pressing unit including a pressing member and a pressing driving member; the compressing piece is rotationally arranged on one side of the positioning seat, which is close to the linear module, and is arranged at intervals with the heating piece; the compressing driving piece is arranged on the positioning seat and connected with the compressing piece and used for driving the compressing piece to swing towards the direction close to or far away from the positioning seat, so that the product is compressed on the sucker when the compressing piece swings towards the direction close to the positioning seat.

Drawings

Fig. 1 is a schematic perspective view of an assembly device according to an embodiment of the present application, which is matched with a suitable product.

Fig. 2 is an exploded view of a suitable workpiece and suitable product provided in an embodiment of the present application.

Fig. 3 is a schematic perspective view of a bearing mechanism in the assembling device shown in fig. 1.

Fig. 4 is a schematic perspective view of the gripping unit of the assembly device shown in fig. 1 mated with a suitable workpiece.

Fig. 5 is a schematic perspective view of a dispenser in the assembly device shown in fig. 1.

Fig. 6 is a schematic perspective view of a limiting plate in the dispenser shown in fig. 5.

Fig. 7 is a schematic perspective view of the securing mechanism of the assembly device shown in fig. 1 mated with a suitable product.

Fig. 8 is a schematic perspective view of a fixing module in the fixing mechanism shown in fig. 7.

Description of the main reference signs

Assembly device 100

Bearing mechanism 10

Support frame 11

Carrier tray 12

Positioning groove 121

Positioning block 13

Gripping mechanism 20

Mechanical arm 21

Gripping unit 22

Mounting bracket 221

Guide slide 2211

Clamping assembly 222

Sliding seat 2221

Clamping drive 2222

Clamping finger 2223

Stopper 2224

Limit part 2224a

Cushioning assembly 223

Guide post 2231

Buffer elastic piece 2232

Position sensing element 224

Dispensing mechanism 30

Dispensing assembly 31

Dispensing table 311

Adhesive dispenser 312

Mounting seat 3121

Slide groove 3121a

Rubber 3122

Pipe 3122a

Squeeze drive 3123

Extrusion 3124

Mixing tube 3125

Adjusting plate 3126

Adjustment long hole 3126a

Stop valve 3127

Needle 3128

Limiting plate 3129

First limit groove 3129a

Second limit groove 3129b

Detection module 32

First photographing assembly 40

Fixing mechanism 50

Fixing assembly 51

Fixing rack 511

Fixing module 512

Positioning seat 5121

Suction cup 5122

Limiter 5123

Heating element 5124

Light source 5125

Compression unit 5126

Compression driving member 5126a

Pressing member 5126b

Second photographing assembly 52

Straight line module 521

Shooting module 522

Workpiece 600

Product 700

Mounting location 710

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "orientation" or "positional relationship" as used herein are merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more of the described features. In the description of the present application, it is to be noted that the meaning of "a plurality" is two or more, unless specifically defined otherwise.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the term "connected" should be construed broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; the two components can be connected in a mechanical mode, can be electrically connected or can be communicated with each other, can be directly connected, can be indirectly connected through an intermediate medium, and can be communicated with each other inside the two components or can be in interaction relation with each other. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be. Some embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an assembly device 100 is provided in the embodiment of the present application, and includes a carrying mechanism 10, a grabbing mechanism 20, a dispensing mechanism 30, a first photographing assembly 40 and a fixing mechanism 50.

Referring to fig. 1 and 2, the assembly device 100 of the present embodiment is used for mounting a workpiece 600 on a mounting position 710 of a product 700, wherein the workpiece 600 may be a sound module, a connector of a charging module, a sealing member, etc., the product 700 may be a housing of an electronic device such as a mobile phone, a tablet computer, a smart watch, etc., and the mounting position 710 of the product 700 may be a mounting protrusion provided on the housing, a mounting hole provided on a side wall of the housing, etc. For convenience of understanding and description, the workpiece 600 is taken as a connecting piece of the charging module, the product 700 is a housing of a tablet computer, and the mounting position 710 of the product 700 is taken as a mounting hole formed on a side wall of the housing for illustration, which is obviously not limited to the embodiment of the present application.

In this embodiment, the carrying mechanism 10 is used for carrying and positioning the workpiece 600; the grabbing mechanism 20 is disposed on one side of the carrying mechanism 10, and the grabbing mechanism 20 is used for grabbing the workpiece 600 from the carrying mechanism 10 and driving the workpiece 600 to move.

The dispensing mechanism 30 comprises a dispensing assembly 31 and a detection module 32, the dispensing assembly 31 is arranged on one side of the grabbing mechanism 20 and is arranged at intervals with the bearing mechanism 10, the dispensing assembly 31 is used for dispensing the workpiece 600 when the grabbing mechanism 20 drives the workpiece 600 to move to a position corresponding to the dispensing assembly 31, the detection module 32 is arranged on the dispensing assembly 31, and the detection module 32 is used for detecting a dispensing path of the workpiece 600 after dispensing. The detecting module 32 may be a CCD (Charge Coupled Cevice) camera, the detecting module 32 stores a photo of the workpiece 600 with accurate glue path and is used as a template glue path photo, when the detecting module 32 detects the glue path of the workpiece 600, the detecting module 32 photographs the glue path on the workpiece 600 to obtain a real-time glue path photo, compares the real-time glue path photo with the template glue path photo to obtain a glue path area ratio deviation and a glue path position deviation, then judges whether the glue path area ratio deviation and the glue path position deviation exceed a preset threshold, if the glue path area ratio deviation and the glue path position deviation exceed the preset threshold, then judges that the glue dispensing assembly 31 is not qualified, the grabbing mechanism 20 places the unqualified workpiece 600 in a fixed collecting position (not shown) for temporary storage, if the glue path area ratio deviation and the glue path position deviation do not exceed the preset threshold, then judges that the glue dispensing assembly 31 is glued at the point, and the grabbing mechanism 20 can continue to drive the workpiece 600 for subsequent installation work, so that the quality influence of the unqualified glue dispensing assembly 31 on the workpiece 600 can be effectively avoided.

The first shooting assembly 40 is disposed on the other side of the grabbing mechanism 20 and is spaced from the carrying mechanism 10 and the dispensing mechanism 30, and the first shooting assembly 40 is coupled to the grabbing mechanism 20, and the first shooting assembly 40 is configured to detect a position offset of the workpiece 600 when the grabbing mechanism 20 drives the workpiece 600 after the glue path detection to move to a position corresponding to the first shooting assembly 40.

The fixing mechanism 50 includes a fixing component 51 and a second shooting component 52, the fixing component 51 is disposed adjacent to the first shooting component 40, the fixing component 51 is used for carrying and positioning the product 700, the second shooting component 52 is disposed on the fixing component 51 and coupled to the grabbing mechanism 20, and the second shooting component 52 is used for detecting a position offset of the mounting position 710 of the product 700.

Specifically, the positional offset of the workpiece 600 is offset data between the current position of the workpiece 600 and the theoretical mounting position 710 of the product 700, and the positional offset of the mounting position 710 is offset data between the current position of the mounting position 710 of the product 700 and the theoretical mounting position 710 of the product 700. The first shooting component 40 and the second shooting component 52 detect offset data in a photo shooting mode, the first shooting component 40 stores a template grabbing photo, the template grabbing photo is a reference photo which is shot by the first shooting component 40 when the grabbing mechanism 20 grabs the workpiece 600 and is accurately installed on the installation position 710 of the product 700, then the grabbing mechanism 20 drives the workpiece 600 to move in the opposite direction to the first shooting component 40, and the first shooting component 40 can know the position offset of the workpiece 600 by comparing the real-time photo which is shot by the grabbing mechanism 20 and is shot by the workpiece 600 to move to the first shooting component 40 with the template grabbing photo. The second shooting component 52 stores a template hole position photo, the template hole position photo is a template photo of the product 700 shot by the second shooting component 52 after the grabbing mechanism 20 grabs the workpiece 600 and accurately installs the workpiece 600 on the installation site 710 of the product 700, and then the grabbing mechanism 20 drives the workpiece 600 to move out of the installation site 710, because the position of the product 700 may have slight deviation when the fixing component 51 carries the product 700 or the position of the installation hole may have slight deviation when the product 700 is provided with the installation hole, the deviation can affect the grabbing mechanism 20 to accurately install the workpiece 600 on the installation site 710, and the second shooting component 52 can obtain the position offset of the installation site 710 by comparing the template hole position photo with the real-time photo of the fixing component 51 shot by the second shooting component 52 when the fixing component 51 carries the product 700. After the first photographing module 40 and the second photographing module 52 acquire the position offset of the workpiece 600 and the position offset of the mounting position 710, respectively, the gripping mechanism 20 mounts the workpiece 600 onto the mounting position 710 according to the position offset of the workpiece 600 and the position offset of the mounting position 710, thereby facilitating improvement of the accuracy of mounting the workpiece 600 onto the mounting position 710 of the product 700.

Referring to fig. 1 and 3, in the present embodiment, the carrying mechanism 10 includes a supporting frame 11, a carrying tray 12 and a positioning block 13. The support frame 11 is arranged on one side of the grabbing mechanism 20; the bearing plate 12 is movably arranged on the supporting frame 11, so that the bearing plate 12 is convenient to replace, a plurality of positioning grooves 121 which are arranged at intervals are formed in the bearing plate 12, and the positioning grooves 121 are used for accommodating and positioning the workpieces 600; the positioning block 13 is arranged on the supporting frame 11 and is abutted against the bearing plate 12, and the positioning block 13 is used for positioning the bearing plate 12. The number of the positioning blocks 13 may be plural, and the positioning blocks 13 are disposed on the supporting frame 11 and spaced around the carrying tray 12. The positioning block 13 is arranged to position the carrying disc 12, and the plurality of positioning grooves 121 are formed in the carrying disc 12 to position the workpiece 600, so that the grabbing mechanism 20 can accurately take out the workpiece 600 from the carrying disc 12.

Referring to fig. 1 and 4, the gripping mechanism 20 includes a robot arm 21 and a gripping unit 22, and the gripping unit 22 includes a mounting frame 221, a clamping assembly 222, and a buffer assembly 223. The mechanical arm 21 is arranged among the bearing mechanism 10, the dispensing mechanism 30, the first shooting assembly 40 and the fixing assembly 51, and the first shooting assembly 40 and the second shooting assembly 52 are coupled with the mechanical arm 21; the assembly frame 221 is arranged on the mechanical arm 21, the assembly frame 221 moves under the drive of the mechanical arm 21, and the assembly frame 221 is provided with a guide slide rail 2211; the clamping assembly 222 is slidably arranged on the guide slide rail 2211 of the assembly frame 221, and the clamping assembly 222 is used for clamping the workpiece 600 and driving the workpiece 600 to move when the mechanical arm 21 drives the assembly frame 221 to move; the buffer member 223 is connected with the mounting frame 221 and the clamping member 222, and the buffer member 223 is used for elastically supporting the clamping member 222. When the grabbing mechanism 20 installs the workpiece 600 on the installation position 710 of the product 700, the clamping assembly 222 is slidably connected with the assembly frame 221, and the buffer assembly 223 is provided to elastically support the clamping assembly 222, so that the situation that the product 700 is damaged due to overlarge moving distance of the workpiece 600 driven by the grabbing mechanism 20 can be effectively avoided.

In this embodiment, the clamping assembly 222 includes a sliding seat 2221, a clamping driver 2222, a plurality of clamping fingers 2223 and a limiting block 2224. The sliding seat 2221 is slidably arranged on the guide slide rail 2211 of the assembly frame 221, and the buffer component 223 is connected with the assembly frame 221 and the sliding seat 2221; the clamping driving piece 2222 is arranged on the sliding seat 2221, and the clamping driving piece 2222 can be a clamping cylinder; the plurality of gripping fingers 2223 are connected to the gripping drive 2222, the plurality of gripping fingers 2223 gripping the workpiece 600 under the drive of the gripping drive 2222; the stopper 2224 is disposed on the clamping driving member 2222, and one end of the stopper 2224 extends between the plurality of clamping fingers 2223, one end of the stopper 2224 extending between the plurality of clamping fingers 2223 has a limiting portion 2224a, and the limiting portion 2224a is used for abutting against the workpiece 600 and positioning the workpiece 600 when the plurality of clamping fingers 2223 clamp the workpiece 600. Specifically, the limiting portion 2224a may be a bump, and the workpiece 600 may be sleeved on the limiting portion 2224a, when the clamping assembly 222 clamps the workpiece 600, the plurality of clamping fingers 2223 clamp the workpiece 600 under the driving of the clamping driving piece 2222, and the limiting portion 2224a abuts against the workpiece 600 so that positions of different workpieces 600 relative to the plurality of clamping fingers 2223 remain consistent, thereby being beneficial to the accuracy of dispensing the workpiece 600 by the dispensing assembly 31, and the accuracy of mounting the workpiece 600 on the mounting position 710 of the product 700 by the clamping assembly 222 driven by the mechanical arm 21.

In this embodiment, the cushioning assembly 223 includes a guide post 2231 and a cushioning spring 2232. The guide post 2231 slides through the slide base 2221 and is connected to the mount 221, and the guide post 2231 is used for guiding the sliding direction of the slide base 2221; the buffer elastic member 2232 may be a spring, where the buffer elastic member 2232 is sleeved on the guide post 2231, one end of the buffer elastic member 2232 is connected with the guide post 2231, the other end of the buffer elastic member 2232 abuts against the sliding seat 2221, and the buffer elastic member 2232 is used for elastically supporting the sliding seat 2221. In this way, the guide post 2231 is provided to guide the sliding direction of the sliding seat 2221, and the buffer elastic piece 2232 is provided to elastically support the sliding seat 2221, so that accuracy and stability of the elastic support of the buffer assembly 223 on the clamping assembly 222 are improved.

In this embodiment, the grabbing unit 22 of the grabbing mechanism 20 further includes a position sensing element 224, where the position sensing element 224 is disposed on the mounting frame 221 and coupled to the mechanical arm 21, the position sensing element 224 may be a tool setting gauge, and the position sensing element 224 is configured to sense a position of the glue dispensing assembly 31 relative to the workpiece 600 when the mechanical arm 21 drives the mounting frame 221 to move to a position corresponding to the glue dispensing assembly 31, so that the mechanical arm 21 determines an initial glue dispensing position of the workpiece 600. Because the position of the glue outlet of the glue dispensing assembly 31 can deviate after the fixed glue is replaced, the position of the glue outlet of the glue dispensing assembly 31 relative to the workpiece 600 is sensed by the position sensing piece 224, and then the initial point glue position of the workpiece 600 is determined, so that the time for adjusting the glue dispensing assembly 31 can be effectively saved, and the accuracy of glue dispensing treatment of the workpiece 600 can be improved.

Referring to fig. 1 and 5, in the present embodiment, the dispensing assembly 31 includes a dispensing table 311 and a dispenser 312. The dispensing table 311 is arranged at one side of the grabbing mechanism 20 and is arranged at intervals with the bearing mechanism 10, and the detection module 32 is arranged at the dispensing table 311; dispenser 312 includes a mounting seat 3121, a rubber cylinder 3122, an extrusion drive member 3123, an extrusion member 3124, a mixing tube 3125, an adjustment plate 3126, a stop valve 3127, and a needle 3128. The mounting seat 3121 is arranged on the dispensing table 311 and is positioned on one side of the detection module 32; the rubber sleeve 3122 is arranged on the mounting seat 3121, and the rubber sleeve 3122 is used for accommodating fixed rubber; the extrusion driving piece 3123 is arranged on the installation seat 3121 and is positioned at one end of the rubber cylinder 3122; extrusion 3124 is slidably inserted into rubber 3122 and coupled to extrusion driver 3123, extrusion 3124 being configured to extrude the fixing adhesive under the drive of extrusion driver 3123 such that the fixing adhesive is discharged from the other end of rubber 3122; the mixing tube 3125 is arranged at the other end of the rubber cylinder 3122, and the mixing tube 3125 is used for mixing the fixed rubber discharged by the rubber cylinder 3122; the adjusting plate 3126 is slidably disposed on the mounting seat 3121 and is disposed at the other end of the rubber 3122; the rubber stop valve 3127 is arranged on the adjusting plate 3126 and is connected with one end of the mixing pipe 3125 far away from the rubber cylinder 3122; the needle 3128 is disposed on the stop valve 3127, the needle 3128 is used for discharging mixed fixed glue under the control of the stop valve 3127, and the adjusting plate 3126 moves the stop valve 3127 to adjust the position and verticality of the needle 3128. Wherein, the extrusion driving member 3123 may be a servo motor, which is beneficial to accurately drive the extrusion member 3124 to move so as to control the glue outlet amount of the mixing tube 3125.

In the process of dispensing the workpiece 600 by the dispensing assembly 31, the extrusion driving member 3123 drives the extrusion member 3124 to move in the rubber barrel 3122, the extrusion member 3124 extrudes the fixed rubber and discharges the fixed rubber from the rubber barrel 3122 to the mixing tube 3125, the mixing tube 3125 mixes the fixed rubber and discharges the mixed rubber to the glue stop valve 3127, the glue stop valve 3127 controls the on-off state and the glue discharge flow of the needle 3128, the position sensing member 224 of the grabbing mechanism 20 senses the position of the glue outlet of the needle 3128 relative to the workpiece 600, the initial point glue position of the workpiece 600 is further determined, and the mechanical arm 21 drives the workpiece 600 to move relative to the needle 3128 according to the initial point glue position, so that the needle 3128 performs the dispensing treatment on the workpiece 600. In this way, the extrusion driving piece 3123 is provided to drive the extrusion piece 3124 to extrude the fixed glue in the mixing pipe 3125, and the glue stop valve 3127 is provided to control the on-off of the needle 3128 and the glue outlet flow, which is beneficial to improving the accuracy and stability of dispensing the workpiece 600 by the glue dispensing assembly 31. In addition, when the position and the verticality of the needle 3128 are inaccurate, the position and the verticality of the needle 3128 are adjusted by the adjusting plate 3126, which is further beneficial to improving the accuracy of dispensing the workpiece 600 by the dispensing assembly 31.

In this embodiment, the mixing tube 3125 includes a plurality of independent tubes 3122a, the tubes 3122a are connected to each other and have the same extending direction, the tubes 3122a have the same outlet, the mixing tube 3125 is connected to the same outlet of the tubes 3122a, different types of fixing adhesives are respectively received in the tubes 3122a, the extrusion piece 3124 is slidably inserted into the tubes 3122a, and the different types of fixing adhesives in the tubes 3122a are extruded to the mixing tube 3125 under the driving of the extrusion driving piece 3123, so that the mixing tube 3125 is convenient for mixing the different types of fixing adhesives.

In this embodiment, the installation seat 3121 is provided with a sliding groove 3121a, the adjusting plate 3126 is slidably abutted against the sliding groove 3121a, the sliding groove 3121a is used for limiting the moving direction of the adjusting plate 3126, the adjusting plate 3126 is provided with an adjusting long hole 3126a, the adjusting plate 3126 is inserted into the adjusting long hole 3126a through an adjusting bolt (not shown) to be fixed with the installation seat 3121, when the position and the verticality of the needle 3128 need to be adjusted, the position of the adjusting plate 3126 can be quickly adjusted by screwing the adjusting screw, and then the adjusting plate 3126 drives the stop valve 3127 to move to adjust the position and the verticality of the needle 3128.

Referring to fig. 6 in combination, in this embodiment, the glue dispenser 312 further includes a limiting plate 3129, the limiting plate 3129 is hinged with the adjusting plate 3126 and is located at one side of the glue stop valve 3127, the limiting plate 3129 is provided with a first limiting groove 3129a and a second limiting groove 3129b, the first limiting groove 3129a and the second limiting groove 3129b are communicated and are arranged in an angle, when the limiting plate 3129 rotates towards the adjusting plate 3126 and is covered on the adjusting plate 3126, the first limiting groove 3129a and the second limiting groove 3129b are respectively clamped with the mixing pipe 3125 and the glue stop valve 3127, so that the positions of the mixing pipe 3125 and the glue stop valve 3127 are limited, and because the positions of the mixing pipe 3125 are fixed, after the positions of the mixing pipe 3125 and the glue stop valve 3127 are limited by the first limiting groove 3129a and the second limiting groove 3129b, the position of the needle 3128 can be limited. Thus, by providing the limiting plate 3129 and providing the first limiting groove 3129a and the second limiting groove 3129b on the limiting plate 3129, the accuracy of the positions of the stop valve 3127 and the needle 3128 is facilitated to be improved.

Referring to fig. 1 and 7, the fixing assembly 51 includes a fixing frame 511 and a plurality of fixing modules 512, the first photographing assembly 40 is disposed on the fixing frame 511 and located at one side of the fixing frame 511, the plurality of fixing modules 512 are disposed on the fixing frame 511 at intervals, the plurality of fixing modules 512 are arranged in a straight line, and the plurality of fixing modules 512 are used for carrying and positioning the product 700. The second photographing assembly 52 includes a linear module 521 and a photographing module 522, the linear module 521 may be a linear sliding table, the linear module 521 is disposed below the fixing frame 511 and located below the plurality of fixing modules 512, an extending direction of the linear module 521 is the same as an arrangement direction of the plurality of fixing modules 512, the photographing module 522 is disposed on the linear module 521, and the photographing module 522 is configured to be driven by the linear module 521 to move to positions opposite to the plurality of fixing modules 512 respectively, so as to detect a position offset of the mounting position 710 of the product 700 carried by the plurality of fixing modules 512. The first photographing assembly 40 and the photographing module 522 may be CCD cameras, and the first photographing assembly 40 and the photographing module 522 may be controlled by a CCD controller (not shown) and communicate with the mechanical arm 21 through a TCP/Ethernet communication protocol, thereby facilitating improvement of accuracy in detecting the position offset of the workpiece 600 and the position offset of the mounting position 710.

In addition, by providing a plurality of fixing modules 512, a plurality of products 700 can be simultaneously carried and positioned, thereby facilitating an improvement in the efficiency of mounting the work 600 onto the mounting locations 710 of the products 700. Because the different fixing modules 512 bear deviations after positioning the product 700, the fixing modules 512 can be numbered, a plurality of template capture photos corresponding to the fixing modules 512 are stored in the first shooting module 40, a plurality of template hole site photos corresponding to the fixing modules 512 are stored in the shooting module 522, in the process that the capturing mechanism 20 installs the workpiece 600 subjected to glue path detection on the installation position 710 of the product 700, the clamping module 222 clamps the workpiece 600 and moves to the first shooting module 40 under the driving of the mechanical arm 21, the first shooting module 40 photographs the workpiece 600, the corresponding template capture photos are called to detect the position offset of the workpiece 600 according to the setting of the product 700 borne by a certain fixing module 512, the linear module 521 drives the shooting module 522 to move to the position opposite to the corresponding fixing module 512 according to the setting of the workpiece 600 borne by the workpiece 600, the shooting module 522 photographs the product 700, the corresponding template hole site photos are called to carry out the imaging, the CCD controller is used for calculating the position offset of the installation position of the CCD according to the coordinate of the installation position of the CCD controller 710, and the coordinate of the mechanical arm 600 is subtracted according to the coordinate of the installation position of the CCD controller. In this manner, the accuracy of the assembly of the workpiece 600 to the mounting locations 710 of the product 700 is facilitated.

In other embodiments, since the linear module 521 slightly vibrates the fixing frame 511 when driving the photographing module 522 to move, thereby affecting the detection accuracy of the first photographing assembly 40, the first photographing assembly 40 may be disposed on one side of the fixing frame 511 and adjacent to the fixing frame 511, which is not limited in this embodiment.

Referring to fig. 8 in combination, in the present embodiment, the plurality of fixing modules 512 each include a positioning seat 5121, a suction cup 5122 and a limiting block 5123. The positioning seat 5121 is arranged on the fixing frame 511; the suction cup 5122 is arranged on the positioning seat 5121, and the suction cup 5122 is used for sucking the product 700; the limiting block 5123 is disposed on the positioning seat 5121 and spaced from the suction cup 5122, and the limiting block 5123 is used for abutting against the product 700 and positioning the product 700. When the fixing module 512 is used for carrying and positioning the product 700, the product 700 can be placed at the positioning seat 5121 by a transfer mechanism (not shown) through a production line, the sucking disc 5122 sucks the product 700 and the limiting block 5123 is used for positioning the product 700. In this way, the sucking disc 5122 is provided to suck the product 700, so that damage to the product 700 can be effectively reduced, and the accuracy of the fixing module 512 when carrying the product 700 can be improved by arranging the limiting block 5123 to position the product 700, so that the grabbing mechanism 20 is beneficial to accurately installing the workpiece 600 on the installation position 710 of the product 700.

In this embodiment, the number of the limiting blocks 5123 may be plural, and the plurality of limiting blocks 5123 are disposed on the positioning seat 5121 at intervals, so that when the suction cup 5122 adsorbs the product 700, the plurality of limiting blocks 2224 are located around the product 700 and position the product 700 from a plurality of directions, thereby being beneficial to improving the accuracy of positioning the product 700.

In this embodiment, the fixing modules 512 further include heating elements 5124, the heating elements 5124 are disposed on one side of the positioning seat 5121 near the linear module 521, after the fixing modules 512 bear and position the product 700, the heating elements 5124 are opposite to and abutted against the mounting positions 710 of the product 700, and after the workpiece 600 is mounted on the mounting positions 710 of the product 700, the heating elements 5124 heat and cure the fixing adhesive on the workpiece 600, thereby being beneficial to improving the fixing efficiency of the workpiece 600 and the product 700.

In this embodiment, the plurality of fixing modules 512 further includes a light source 5125, the light source 5125 is disposed on one side of the positioning seat 5121 away from the linear module 521 and is opposite to the linear module 521, and when the photographing module 522 photographs the product 700, the light source 5125 supplements light to the photographing module 522, thereby being beneficial to improving the accuracy of detecting the position offset of the mounting position 710 of the product 700 by the photographing module 522.

In this embodiment, the plurality of fixing modules 512 further includes a pressing unit 5126, and the pressing unit 5126 includes a pressing driving member 5126a and a pressing member 5126b. The pressing member 5126b is rotatably disposed on one side of the positioning seat 5121 near the linear module 521 and spaced apart from the heating member 5124; the pressing driving member 5126a may be a telescopic cylinder, the pressing driving member 5126a is disposed on the positioning seat 5121 and connected with the pressing member 5126b, and the pressing driving member 5126a is used for driving the pressing member 5126b to swing in a direction close to or far away from the positioning seat 5121, so that the pressing member 5126b presses the product 700 on the suction cup 5122 when swinging in a direction close to the positioning seat 5121, thereby effectively avoiding the product 700 from swinging on the suction cup 5122 and being beneficial to improving the accuracy of positioning the product 700 by the fixing module 512.

The assembly device 100 of the embodiment of the present application generally mounts the workpiece 600 to the mounting location 710 of the product 700 by:

the sucking discs 5122 of the fixing module 512 suck the product 700 which is moved to the positioning seat 5121 by the transfer mechanism, and the plurality of limiting blocks 5123 position the product 700;

the clamping assembly 222 moves to the bearing disc 12 under the driving of the mechanical arm 21, the clamping driving piece 2222 drives the clamping fingers 2223 to clamp the workpiece 600, and the limiting block 2224 abuts against the workpiece 600 and positions the workpiece 600;

The clamping assembly 222 moves the workpiece 600 to the outlet of the needle 3128 of the dispenser 312 under the driving of the mechanical arm 21, the position sensing piece 224 senses the position of the glue outlet of the needle 3128 relative to the workpiece 600, so as to determine the initial glue position of the workpiece 600, the mechanical arm 21 drives the workpiece 600 to move relative to the needle 3128 through the clamping assembly 222 according to the initial glue position, and the needle 3128 discharges mixed fixed glue to dispense glue to the workpiece 600;

the clamping assembly 222 moves the workpiece 600 to a position corresponding to the detection module 32 under the drive of the mechanical arm 21, and the detection module 32 detects the glue path of the workpiece 600;

after the glue path is inspected to be qualified, the clamping assembly 222 moves the workpiece 600 to a position opposite to the first shooting assembly 40 under the driving of the mechanical arm 21, the first shooting assembly 40 detects the position offset of the workpiece 600, at this time, the linear module 521 drives the shooting module 522 to move to a position opposite to the corresponding fixed module 512 according to the setting that the workpiece 600 needs to be mounted on the product 700 carried by the corresponding fixed module 512, and the shooting module 522 detects the position offset of the mounting position 710 of the product 700;

the CCD controller performs geometric addition and subtraction calculation according to the position offset of the workpiece 600 and the position offset of the mounting position 710 of the product 700, and the mechanical arm 21 obtains the coordinates of the assembly point according to the calculation result of the CCD controller and drives the clamping assembly 222 and the workpiece 600 to move according to the coordinates of the assembly point, so that the workpiece 600 is mounted on the mounting position 710 of the product 700.

In summary, the assembling device 100 according to the embodiment of the present application, by providing the grabbing mechanism 20 to grab the workpiece 600 and drive the workpiece 600 to move, the dispensing operation and the mounting operation of the workpiece 600 are facilitated; the dispensing mechanism 30 is arranged to perform dispensing treatment on the workpiece 600, and the detection module 32 is arranged to detect the dispensing path after the dispensing treatment, so that the accuracy of the dispensing treatment on the workpiece 600 is improved, and the influence of unqualified dispensing on the mounting quality of the workpiece 600 is effectively avoided; by setting the first photographing assembly 40 to detect the position deviation amount of the workpiece 600 and the second photographing assembly 52 to detect the position deviation amount of the mounting position 710 of the product 700, the gripping mechanism 20 can rapidly and accurately mount the workpiece 600 on the mounting position 710 of the product 700 according to the position deviation amount of the workpiece 600 and the position deviation amount of the mounting position 710 of the product 700. Thus, the assembly device 100 of the embodiment of the application realizes the operation of automatically mounting the workpiece 600 on the mounting position 710 of the product 700, improves the efficiency of mounting the workpiece 600, and improves the precision of mounting the workpiece 600 by the grabbing mechanism 20 according to the position offset of the workpiece 600 and the position offset of the mounting position 710 of the product 700.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above embodiments are merely for illustrating the technical solution of the present application and not for limiting, 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 the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.

Claims (10)

1. An assembly device for mounting a workpiece to a mounting location of a product, the assembly device comprising:

the bearing mechanism is used for bearing and positioning the workpiece;

the grabbing mechanism is arranged on one side of the bearing mechanism and is used for grabbing the workpiece from the bearing mechanism and driving the workpiece to move;

The dispensing mechanism comprises a dispensing assembly and a detection module, wherein the dispensing assembly is arranged on one side of the grabbing mechanism and is arranged at intervals with the bearing mechanism, and is used for performing dispensing treatment on the workpiece when the grabbing mechanism drives the workpiece to move to a position corresponding to the dispensing assembly, and the detection module is arranged on the dispensing assembly and is used for performing glue path detection on the workpiece after dispensing treatment;

the first shooting assembly is arranged on one side of the grabbing mechanism, is arranged at intervals with the bearing mechanism and the dispensing mechanism, is coupled with the grabbing mechanism and is used for detecting the position offset of the workpiece when the grabbing mechanism drives the workpiece subjected to glue path detection to move to a position corresponding to the first shooting assembly;

the fixing mechanism comprises a fixing component and a second shooting component, the fixing component is arranged adjacent to the first shooting component and used for bearing and positioning the product, and the second shooting component is arranged on the fixing component and coupled with the grabbing mechanism and used for detecting the position offset of the installation position; wherein,

the grabbing mechanism installs the workpiece on the installation position according to the position offset of the workpiece and the position offset of the installation position.

2. The assembly device of claim 1, wherein the load bearing mechanism comprises:

the support frame is arranged on one side of the grabbing mechanism;

the bearing plate is movably arranged on the supporting frame, a plurality of positioning grooves which are arranged at intervals are formed in the bearing plate, and the positioning grooves are used for accommodating and positioning the workpiece;

the positioning block is arranged on the supporting frame and is in butt joint with the bearing plate and used for positioning the bearing plate.

3. The assembly device of claim 1, wherein the grasping mechanism comprises:

the mechanical arm is arranged among the bearing mechanism, the dispensing mechanism, the first shooting assembly and the fixed assembly, and the first shooting assembly and the second shooting assembly are coupled with the mechanical arm;

the assembly frame is arranged on the mechanical arm and is driven by the mechanical arm to move;

the clamping assembly is arranged on the assembly frame in a sliding manner and used for clamping the workpiece and driving the workpiece to move when the mechanical arm drives the assembly frame to move;

and the buffer component is connected with the assembly frame and the clamping component and is used for elastically supporting the clamping component.

4. The assembly device of claim 3, wherein the clamping assembly comprises:

The sliding seat is arranged on the assembly frame in a sliding manner, and the buffer assembly is connected with the assembly frame and the sliding seat;

the clamping driving piece is arranged on the sliding seat;

the clamping fingers are connected with the clamping driving piece and used for clamping the workpiece under the driving of the clamping driving piece;

the limiting block is arranged on the clamping driving piece, one end of the limiting block extends into the clamping fingers, one end of the limiting block extending into the clamping fingers is provided with a limiting part, and the limiting part is used for abutting against and positioning the workpiece when the clamping fingers clamp the workpiece.

5. The assembly device of claim 4, wherein the cushioning assembly comprises:

the guide column slides through the sliding seat and is connected with the assembly frame, and is used for guiding the sliding direction of the sliding seat;

the buffer elastic piece is sleeved on the guide post, one end of the buffer elastic piece is connected with the guide post, and the other end of the buffer elastic piece is abutted to the sliding seat and used for elastically supporting the sliding seat.

6. The assembly device of claim 3, wherein the gripping mechanism further comprises a position sensing member disposed on the mounting frame and coupled to the mechanical arm for sensing a position of the dispensing assembly relative to the workpiece when the mechanical arm moves the mounting frame to a position corresponding to the dispensing assembly, so that the mechanical arm determines an initial dispensing position of the workpiece.

7. The assembly device of claim 1, wherein the dispensing assembly comprises:

the glue dispensing table is arranged on one side of the grabbing mechanism and is arranged at intervals with the bearing mechanism, and the detection module is arranged on the glue dispensing table;

a dispenser, comprising:

the mounting seat is arranged on the dispensing table and positioned on one side of the detection module;

the rubber cylinder is arranged on the mounting seat and used for accommodating the fixed rubber;

the extrusion driving piece is arranged on the mounting seat and positioned at one end of the rubber cylinder;

the extrusion piece is inserted into the rubber cylinder in a sliding way and connected with the extrusion driving piece, and is used for extruding the fixing rubber under the driving of the extrusion driving piece so as to enable the fixing rubber to be discharged from the other end of the rubber cylinder;

the mixing pipe is arranged at the other end of the rubber cylinder and used for mixing the fixed rubber discharged by the rubber cylinder;

the adjusting plate is arranged on the mounting seat in a sliding manner and is positioned at the other end of the rubber cylinder;

the rubber stop valve is arranged on the adjusting plate and is connected with one end, far away from the rubber cylinder, of the mixing pipe;

the needle is arranged on the glue stop valve and used for discharging the mixed fixed glue under the control of the glue stop valve, and the adjusting plate drives the glue stop valve to move so as to adjust the position and the verticality of the needle.

8. The assembly device of claim 1, wherein the fixture assembly comprises a mount and a plurality of fixture modules, the mount disposed adjacent to the first shooting assembly; the fixed modules are arranged on the fixing frame at intervals and used for bearing and positioning the product;

the second shooting assembly comprises a linear module and a shooting module, the linear module is arranged on the fixing frame and located below the fixing modules, the shooting module is arranged on the linear module and used for being driven by the linear module to move to positions opposite to the fixing modules respectively so as to detect the position offset of the installation positions of the products borne by the fixing modules.

9. The assembly device of claim 8, wherein the plurality of securing modules each comprise:

the positioning seat is arranged on the fixing frame;

the sucker is arranged on the positioning seat and used for adsorbing the product;

the limiting block is arranged on the positioning seat and is arranged at intervals with the sucker, and is used for abutting against the product and positioning the product;

and the heating piece is arranged on one side of the positioning seat, which is close to the linear module, and is used for abutting against the mounting position and heating and curing the fixing glue after the workpiece is mounted on the mounting position.

10. The assembly device of claim 9, wherein a plurality of the fixing modules each further comprises a pressing unit including:

the compressing piece is rotationally arranged on one side of the positioning seat, which is close to the linear module, and is arranged at intervals with the heating piece;

and the compressing driving piece is arranged on the positioning seat and connected with the compressing piece and is used for driving the compressing piece to swing towards the direction close to or far away from the positioning seat so that the product is compressed on the sucker when the compressing piece swings towards the direction close to the positioning seat.