CN216758836U - Assembling equipment - Google Patents
Assembling equipment Download PDFInfo
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- CN216758836U CN216758836U CN202221208622.XU CN202221208622U CN216758836U CN 216758836 U CN216758836 U CN 216758836U CN 202221208622 U CN202221208622 U CN 202221208622U CN 216758836 U CN216758836 U CN 216758836U
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Abstract
The utility model discloses an assembling device which comprises a base, a fixing component, a first position measuring mechanism, a second position measuring mechanism and an assembling mechanism, wherein the base is provided with a measuring station and an assembling station; the assembling mechanism is used for picking up the flexible connector at the assembling station and assembling the flexible connector with the main body piece. In the technical scheme provided by the utility model, the position of the main body piece can be determined by the first position measuring mechanism, and then the assembling mechanism automatically assembles the flexible connector and the main body piece according to the state of the flexible connector measured by the second position measuring mechanism and the guide of the position of the main body piece, so that the assembling equipment which can improve the assembling efficiency and ensure the assembling quality is provided.
Description
Technical Field
The utility model relates to the field of automation equipment, in particular to assembling equipment.
Background
In the production process of products, more and more soft FPCs are assembled, most of the assembly modes are manual assembly at present, but the manual assembly has many problems. Firstly, when the assembly is carried out manually, the assembly pressure is not controlled, which easily causes the damage of the slot and the FPC and causes great waste. Secondly, the assembly state cannot be detected after manual assembly.
SUMMERY OF THE UTILITY MODEL
The utility model mainly aims to provide assembling equipment, and aims to provide assembling equipment which can improve assembling efficiency and ensure assembling quality.
To achieve the above object, the present invention provides an assembling apparatus, wherein the assembling apparatus includes:
the machine base is provided with a measuring station and an assembling station;
the fixing component is used for fixing a main body part pre-installed with a flexible connector, and is movably arranged on the base so as to reach the measuring station and the assembling station on the moving stroke of the fixing component;
the first position measuring mechanism comprises a first image acquisition device, wherein the first image acquisition device is used for acquiring position image information of the main body piece positioned at the measuring station so as to measure the position of the main body piece positioned at the measuring station;
the second position measuring mechanism comprises a second image acquisition device, and the second image acquisition device is used for acquiring the state information of the flexible connector positioned at the assembling station and the state information of the assembled main body part so as to measure the state of the flexible connector positioned at the assembling station; and the number of the first and second groups,
the assembling mechanism comprises a picking part for picking up the flexible connector at the assembling station, and the picking part is movably arranged on the base to have a movable stroke close to and far away from the fixed component so as to assemble the picked flexible connector and the main body part in a stroke close to the fixed component.
Optionally, the measuring station and the assembling station are arranged along the transverse direction;
the fixing component comprises a bearing part, a first fixing part and a second fixing part, wherein the first fixing part and the second fixing part are arranged on the bearing part;
the assembling equipment further comprises a linear driving device arranged on the base, the linear driving device is provided with a linear driving part which can be movably arranged along the transverse direction, and the linear driving part is connected with the bearing part, so that the bearing part can move between the measuring station and the assembling station.
Optionally, the bearing part extends longitudinally, a positioning pin is convexly arranged at the upper end of the bearing part, and the positioning pin is used for being sleeved in the positioning hole on the main body piece.
Optionally, the first fixing part includes:
the pressure head is movably arranged on the bearing part along the up-down direction; and the number of the first and second groups,
the first driving device is arranged on the bearing part and is provided with a first driving part which can be movably arranged along the vertical direction, and the pressure head is arranged on the first driving part, so that the pressure head can press the main body piece on the bearing part in a downward movable stroke.
Optionally, the second fixing portion includes:
the side pushing part is movably arranged on the bearing part along the longitudinal direction; and the number of the first and second groups,
the second driving device is arranged on the bearing part and is provided with a second driving part which can be movably arranged along the longitudinal direction, and the second driving part is provided with the side pushing part, so that the side pushing part fixes the flexible connector in the moving stroke along the longitudinal direction.
Optionally, the first position determination device further comprises:
the mounting seat is arranged on the base;
the adjusting part comprises a first adjusting part and a second adjusting part, the first adjusting part and the second adjusting part are movably arranged on the mounting seat along the vertical direction, and the first image acquisition device is arranged on the first adjusting part; and the number of the first and second groups,
and a light emitting part disposed on the second adjusting part.
Optionally, the pick-up part comprises a clamping jaw and a suction nozzle, wherein the clamping jaw is used for clamping the flexible connector, and the suction nozzle is used for sucking the flexible connector;
the assembling mechanism further comprises a driving structure, and the driving structure is used for driving the picking part to move vertically, transversely and longitudinally.
Optionally, the driving structure comprises a six-axis robot, the six-axis robot comprises an installation part which can be movably arranged in the vertical direction, the horizontal direction and the longitudinal direction, and the installation part is provided with the picking part and the second position measuring mechanism.
Optionally, the assembling mechanism further comprises:
a pressure sensor provided between the driving structure and the pickup unit, for measuring a pressing value of the pickup unit; and the number of the first and second groups,
and the controller is electrically connected with the pressure sensor, the picking part and the driving structure so as to control the picking part and the driving structure to work according to the pressure sensor.
Optionally, the second position determination mechanism comprises a second image capturing device for capturing status information of the flexible connector at the assembly station and status information of the assembled body piece.
Optionally, a loading station and a blanking station are further arranged on the machine base, and the loading station, the measuring station, the assembling station and the blanking station are sequentially arranged along the transverse direction;
the fixed assembly is movably arranged along the transverse direction so as to sequentially reach the measuring station, the assembling station and the discharging station from the feeding station in the moving process of the fixed assembly.
In the technical scheme provided by the utility model, a main body part pre-installed with a flexible connector is fixed by a fixing component, so that the flexible connector and the main body part have stable postures, a first position measuring mechanism acquires position image information of the main body part at a measuring station through a first image acquisition device and measures the position of the main body part at the measuring station, a second position measuring mechanism acquires state information of the flexible connector at an assembling station and state information of the assembled main body part through a second image acquisition device and measures the state of the flexible connector at the assembling station, the position of the main body part can be determined through the first position measuring mechanism, and then a picking part of the assembling mechanism can determine the guide of the position of the main body part according to the state of the flexible connector measured by the second position measuring mechanism, the picked flexible connector is assembled with the main body member in a stroke close to the fixing member to provide an assembling apparatus capable of improving assembling efficiency and ensuring assembling quality.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of an assembly apparatus according to an embodiment of the present invention;
FIG. 2 is a perspective view of the fixing assembly of FIG. 1;
FIG. 3 is a perspective view of the first position determining mechanism of FIG. 1;
fig. 4 is a perspective view of the assembly mechanism and the second position measuring mechanism in fig. 1.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) | |
| 100 | Assembling |
32 | Mounting seat | |
| 1 | |
33 | Regulating part | |
| a | Measuring station | 331 | A first regulating part | |
| | Assembly station | 332 | Second regulating part | |
| | Feeding station | 34 | Light emitting part | |
| | Blanking station | 4 | Second |
|
| 2 | |
41 | Second |
|
| 21 | Bearing |
5 | |
|
| 211 | Locating |
51 | |
|
| 22 | First fixed |
511 | Clamping |
|
| 221 | |
512 | |
|
| 222 | |
52 | |
|
| 23 | Second |
521 | Six- |
|
| 231 | |
53 | |
|
| 232 | Second driving device | 6 | |
|
| 3 | First |
61 | Linear driving |
|
| 31 | First image acquisition device |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In the production process of products, more and more soft FPCs are assembled, most of the assembly modes are manual assembly at present, but the manual assembly has many problems. Firstly, during manual assembly, the assembly pressure is not controlled, which easily causes damage to the slot and the FPC and causes great waste. Secondly, the assembly state cannot be detected after manual assembly.
In order to solve the above problems, the present invention provides an assembling apparatus 100, and fig. 1 to 4 are specific embodiments of the assembling apparatus provided by the present invention.
Referring to fig. 1, the assembling apparatus 100 includes a base, a fixing assembly 2, a first position measuring mechanism 3, a second position measuring mechanism 4 and an assembling mechanism 5, the base is provided with a measuring station a and an assembling station b, the fixing assembly 2 is used for fixing a main body member pre-installed with a flexible connector, and the fixing assembly 2 is movably disposed on the base to reach the measuring station a and the assembling station b on a moving stroke thereof; the first position measuring mechanism 3 comprises a first image acquisition device 31, wherein the first image acquisition device 31 is used for acquiring position image information of the main body piece at the measuring station a and measuring the position of the main body piece at the measuring station a; the second position measuring mechanism 4 includes a second image capturing device 41, where the second image capturing device 41 is configured to capture status information of the flexible connector located at the assembling station b and status information of the assembled main body, and is configured to measure a status of the flexible connector located at the assembling station b; and the assembling mechanism 5 is used for picking up the flexible connector at the assembling station b and assembling the flexible connector with the main body piece.
In the technical scheme provided by the utility model, a main body part pre-installed with a flexible connector is fixed by a fixing component 2, so that the flexible connector and the main body part have stable postures, a first position measuring mechanism 3 collects position image information of the main body part at a measuring station a through a first image collecting device 31, can determine the accurate position of the main body part, is convenient to guide an assembling mechanism 5 to accurately install the flexible connector on an area to be installed on the main body part and measure the position of the main body part at the measuring station a, a second position measuring mechanism 4 collects state information of the flexible connector at the assembling station b and state information of the main body part after assembling through a second image collecting device 41 and measures the state of the flexible connector at the assembling station b, the position of the main body can be determined by the first position measuring mechanism 3, and then the pick-up portion 51 of the assembling mechanism 5 assembles the picked-up flexible connector with the main body in a stroke close to the fixing member according to the state of the flexible connector measured by the second position measuring mechanism and the guide of the position of the main body, to provide an assembling apparatus 100 capable of improving assembling efficiency and ensuring assembling quality.
It should be noted that the first image capturing device 31 may be a planar 2D camera, and due to the variety of postures of the flexible connector, in order to make the position measurement more accurate, it is preferable that the second image capturing device 41 includes a 3D camera, and the spatial coordinates of the flexible connector can be obtained by 3D visual photographing, so that the pickup portion 51 can be adjusted according to the spatial coordinates.
Specifically, in order to separately measure the position of the main body at the measuring station a and the state of the flexible connector at the assembling station b, in this embodiment, the measuring station a and the assembling station b are arranged in the transverse direction, specifically, the fixing assembly 2 includes a bearing part 21, and a first fixing part 22 and a second fixing part 23 which are arranged on the bearing part 21, the bearing part 21 is used for bearing the main body pre-assembled with the flexible connector, the first fixing part 22 is used for fixing the main body, the second fixing part 23 is used for fixing the flexible connector, the assembling apparatus 100 includes a linear driving device 6 arranged on the machine base, the linear driving device 6 has a linear driving part 61 movably arranged in the transverse direction, and the linear driving part 61 is connected with the bearing part 21, so that the bearing part 21 is in survey station a with move between the equipment station b, because fixed subassembly 2 is driven survey station a with when moving between the equipment station b, flexible connector can take place to rock, and its gesture is unstable, for make flexible connector with main part spare can be in detect the station with equipment station b department can both be in stable state, prevents to appear the product skew when moving the process, so that guarantee survey the stability of mechanism, make things convenient for two position survey mechanisms clear accurate acquireing flexible connector with the position and the gesture information of main part spare, respectively through first fixed part 22 with second fixed part 23 respectively fix flexible connector with the main part spare.
Specifically, referring to fig. 2, in the present embodiment, the bearing portion 21 extends longitudinally, the upper end of the bearing portion 21 is provided with a positioning pin 211 in a protruding manner, and the positioning pin 211 is configured to be sleeved in a positioning hole of the main body, so that when the fixing assembly 2 moves transversely, the bearing portion 21 is fixed without any other fixing structure through the sleeved engagement of the positioning hole and the positioning pin 211, and the assembling apparatus 100 is simplified.
Specifically, referring to fig. 2, in the present embodiment, the first fixing portion 22 includes a pressing head 221 and a first driving device 222, the pressing head 221 is movably disposed on the bearing portion 21 in the up-down direction, the first driving device 222 is disposed on the bearing portion 21 and has a first driving portion movably disposed in the up-down direction, the pressing head 221 is disposed on the first driving portion, so that the pressing head 221 presses the main body member to the bearing portion 21 in the downward moving stroke, specifically, the first driving device 222 is a rotary pressing cylinder, and the first driving portion of the rotary pressing cylinder has a stroke moving in the up-down direction while rotating.
Specifically, referring to fig. 2, in this embodiment, the second fixing portion 23 includes a side pushing portion 231 and a second driving device 232, the side pushing portion 231 is movably disposed on the carrying portion 21 along the longitudinal direction, the second driving device 232 is disposed on the carrying portion 21 and has a second driving portion movably disposed along the longitudinal direction, the side pushing portion 231 is disposed on the second driving portion, so that the side pushing portion 231 fixes the flexible connector in the longitudinal moving stroke, and the flexible connector is pushed toward the longitudinal side, so that the flexible connector can be in a stable state in the longitudinal direction, which is favorable for the second position measuring mechanism 4 to measure the state of the flexible connector.
Specifically, in order to enable the first position measuring mechanism 3 to accurately acquire an image, in this embodiment, the first position measuring mechanism 3 includes an installation seat 32, an adjustment portion 33 and a light emitting portion 34, the installation seat 32 is disposed on the base, the adjustment portion 33 includes a first adjustment portion 331 and a second adjustment portion 332, the first adjustment portion 331 and the second adjustment portion 332 are both movably disposed on the installation seat 32 in the up-down direction, the first image acquisition device 31 is disposed on the first adjustment portion 331, the height of the first image acquisition device 31 from the main body member can be conveniently adjusted by adjusting the height of the first adjustment portion 331, the second adjustment portion 332 is disposed with the light emitting portion 34, and the fine adjustment of the polishing intensity is adjusted by adjusting the height of the second adjustment portion 332.
Specifically, because the flexible connector is flexible, in order to facilitate grasping the flexible connector and assembling the flexible connector at a desired angle and position, referring to fig. 4, in this embodiment, the assembling mechanism 5 includes a picking portion 51 and a driving structure 52 for driving the picking portion 51 to move vertically, horizontally and longitudinally, the picking portion 51 includes a clamping jaw 511 and a suction nozzle 512, the clamping jaw 511 is used for clamping the flexible connector, the suction nozzle 512 is used for sucking the flexible connector, two sides of the flexible connector can be fixed by the clamping jaw 511, and the suction nozzle 512 sucks a flexible and easily swaying area.
Specifically, referring to fig. 4, in this embodiment, the driving structure 52 includes a six-axis robot 521, the six-axis robot 521 includes a mounting portion that can be movably disposed along an up-down direction, a transverse direction and a longitudinal direction, the picking portion 51 and the second position measuring mechanism 4 are disposed on the mounting portion, and the picking portion 51 is controlled by the six-axis robot 521 to perform picking and mounting processes after the second position measuring mechanism 4 is driven to face the flexible connector for position measurement through the movement of the six-axis robot 521, so that a driving component is simplified.
Further, referring to fig. 4, in this embodiment, the assembling mechanism 5 further includes a pressure sensor 53 and a controller, the pressure sensor 53 is disposed between the driving structure 52 and the pickup portion 51, the controller is electrically connected to the pressure sensor 53, the pickup portion 51 and the driving structure 52, and the pressure sensor 53 is configured to measure a pressing value of the pickup portion 51; the controller controls the pickup unit 51 and the driving mechanism 52 to operate according to the pressing value measured by the pressure sensor 53, so that the driving mechanism 52 is guided to perform real-time position adjustment by the change of the force in the X/Y/Z direction.
Further, in order to improve the assembly efficiency of the assembly apparatus 100 and simultaneously improve the automation degree thereof, referring to fig. 1, in this embodiment, the base is further provided with a feeding station c and a discharging station d, the feeding station c, the measuring station a, the assembly station b and the discharging station d are sequentially arranged along the transverse direction, and the fixing component 2 is movably arranged along the transverse direction to sequentially reach the measuring station a, the assembly station b and the discharging station d from the feeding station c in the moving process. Thus, after the fixed component 2 can be located at the loading station c for loading, and then move to the measuring station a, the first image acquisition device 31 can be over against the main body piece, image acquisition is facilitated, initial position data is provided for assembly of the six-axis robot 521, then the fixed component 2 moves to the assembly station b, the six-axis robot 521 is adjusted to enable the second image acquisition device 41 to be over against the flexible connector, three-dimensional image acquisition is facilitated, the six-axis robot 521 and the pick-up part 51 are assembled according to the acquired three-dimensional image and the initial position data of the main body piece, the pressing installation angle and force of the pick-up part 51 are controlled in real time according to the pressure value of the pressure sensor 53, and after pressing is completed, the fixed component 2 moves to the blanking station d for blanking, and after the blanking is finished, the fixing assembly 2 returns to the feeding station c again, and the assembling process is repeated.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the technical solutions of the present invention, which are made by using the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An assembly apparatus, comprising:
the machine base is provided with a measuring station and an assembling station;
the fixing assembly is used for fixing a main body piece pre-installed with a flexible connector and movably arranged on the base so as to reach the measuring station and the assembling station on the moving stroke of the fixing assembly;
the first position measuring mechanism comprises a first image acquisition device, wherein the first image acquisition device is used for acquiring position image information of the main body piece positioned at the measuring station so as to measure the position of the main body piece positioned at the measuring station;
the second position measuring mechanism comprises a second image acquisition device, and the second image acquisition device is used for acquiring the state information of the flexible connector positioned at the assembling station and the state information of the assembled main body part so as to measure the state of the flexible connector positioned at the assembling station; and the number of the first and second groups,
the assembling mechanism comprises a picking part used for picking up the flexible connector at the assembling station, and the picking part is movably arranged on the base to have a movable stroke close to and far away from the fixed component, so that the picked flexible connector is assembled with the main body part in the stroke close to the fixed component.
2. The assembly machine of claim 1, wherein the measuring station and the assembly station are arranged in a transverse direction;
the fixing component comprises a bearing part, a first fixing part and a second fixing part, wherein the first fixing part and the second fixing part are arranged on the bearing part;
the assembling equipment further comprises a linear driving device arranged on the base, the linear driving device is provided with a linear driving part which can be movably arranged along the transverse direction, and the linear driving part is connected with the bearing part, so that the bearing part can move between the measuring station and the assembling station.
3. The assembly apparatus according to claim 2, wherein the bearing portion extends in a longitudinal direction, and a positioning pin is protruded from an upper end of the bearing portion and is configured to be inserted into a positioning hole of the main body member.
4. The assembly apparatus of claim 2, wherein the first fixing portion comprises:
the pressure head is movably arranged on the bearing part along the up-down direction; and the number of the first and second groups,
the first driving device is arranged on the bearing part and is provided with a first driving part which can be movably arranged along the vertical direction, and the pressure head is arranged on the first driving part, so that the pressure head can press the main body piece on the bearing part in a downward movable stroke.
5. The assembly apparatus of claim 2, wherein the second fixture comprises:
the side pushing part is movably arranged on the bearing part along the longitudinal direction; and the number of the first and second groups,
the second driving device is arranged on the bearing part and is provided with a second driving part which can be movably arranged along the longitudinal direction, and the second driving part is provided with the side pushing part, so that the side pushing part fixes the flexible connector in the moving stroke along the longitudinal direction.
6. The assembly apparatus of claim 1, wherein the first position determining mechanism further comprises:
the mounting seat is arranged on the base;
the adjusting part comprises a first adjusting part and a second adjusting part, the first adjusting part and the second adjusting part are movably arranged on the mounting seat along the vertical direction, and the first image acquisition device is arranged on the first adjusting part; and the number of the first and second groups,
and a light emitting part disposed on the second adjusting part.
7. The assembly apparatus according to claim 1, wherein the pickup portion includes a gripping jaw for gripping the flexible connector and a suction nozzle for sucking the flexible connector;
the assembling mechanism further comprises a driving structure, and the driving structure is used for driving the picking part to move vertically, transversely and longitudinally.
8. The assembling apparatus according to claim 7, wherein said driving mechanism comprises a six-axis robot including a mounting portion movably disposed in an up-down direction, a lateral direction and a longitudinal direction, said mounting portion being provided with said pickup portion and said second position measuring mechanism.
9. The assembly apparatus of claim 7, wherein the assembly mechanism further comprises:
a pressure sensor provided between the driving structure and the pickup unit, for measuring a pressing value of the pickup unit; and the number of the first and second groups,
and the controller is electrically connected with the pressure sensor, the picking part and the driving structure so as to control the picking part and the driving structure to work according to the pressure sensor.
10. The assembly equipment as claimed in claim 1, wherein a loading station and a blanking station are further arranged on the machine base, and the loading station, the measuring station, the assembly station and the blanking station are sequentially arranged along a transverse direction;
the fixed assembly is movably arranged along the transverse direction so as to sequentially reach the measuring station, the assembling station and the discharging station from the feeding station in the moving process of the fixed assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221208622.XU CN216758836U (en) | 2022-05-20 | 2022-05-20 | Assembling equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221208622.XU CN216758836U (en) | 2022-05-20 | 2022-05-20 | Assembling equipment |
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| Publication Number | Publication Date |
|---|---|
| CN216758836U true CN216758836U (en) | 2022-06-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221208622.XU Active CN216758836U (en) | 2022-05-20 | 2022-05-20 | Assembling equipment |
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| CN (1) | CN216758836U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117484177A (en) * | 2023-12-29 | 2024-02-02 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
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2022
- 2022-05-20 CN CN202221208622.XU patent/CN216758836U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117484177A (en) * | 2023-12-29 | 2024-02-02 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
| CN117484177B (en) * | 2023-12-29 | 2024-04-09 | 歌尔股份有限公司 | Assembling equipment and control method thereof |
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