CN218226652U - Mechanical arm and system for assembling flexible connector - Google Patents

Abstract

The application belongs to the technical field of mechanical arm, a arm and system for assembling flexible connector is related to, wherein, the arm includes: the device comprises a base, a rotary table arranged on the base, a large arm arranged on the rotary table, a small arm arranged on the large arm, a bearing frame arranged on the small arm, a first driving motor arranged on the bearing frame and a micro-motion mechanism connected with a transmission shaft of the first driving motor; the base includes: the second driving motor is in transmission connection with the rotary table driving shaft, the rotary table driving shaft is in transmission connection with the rotary table, and the rotary table is provided with a third driving motor in transmission connection with the large arm and a fourth driving motor in transmission connection with the small arm; the micro-motion mechanism comprises: the tool comprises a fixing part connected with the transmission shaft, a micro-motion part movably connected with the fixing part, and a connecting part arranged on the micro-motion part and used for installing a tail end tool. The application can provide a hardware basis for realizing automatic assembly of the flexible connector.

Description

Mechanical arm and system for assembling flexible connector

Technical Field

The application belongs to the technical field of mechanical arms, and particularly relates to a mechanical arm and a system for assembling a flexible connector.

Background

Flexible connectors (e.g., flexible Printed Circuit (FPC) connectors, flexible Flat Cable (FFC) connectors, micro coaxial Cable connectors, etc.) are widely used in the fields of 3C and automobiles.

The flexible connector has small structural size, light and thin material, flexibility, easy deformation, various types and different shapes, so the difficulty of the assembly process is higher. At present, on the actual production line, the flexible connector matrix basically depends on manual assembly to realize.

However, there are many problems in the manual assembly process of the flexible connector, for example, due to the structural material characteristics of the flexible connector, damage such as bending and wrinkling is easily caused in the manual assembly, the performance of the connector is affected, the manual assembly quality is difficult to ensure consistency, and the fatigue caused by long-time labor can cause the assembly quality to be reduced, thereby increasing the production cost.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a mechanical arm and a system for assembling a flexible connector, which can provide a hardware basis for realizing automatic assembly of the flexible connector.

A first aspect of embodiments of the present application provides a robot arm for assembling a flexible connector, including:

the device comprises a base, a rotary table arranged on the base, a large arm arranged on the rotary table, a small arm arranged on the large arm, a bearing frame arranged on the small arm, a first driving motor arranged on the bearing frame and a micro-motion mechanism connected with a transmission shaft of the first driving motor;

wherein, the base includes: the second driving motor is in transmission connection with the rotary table driving shaft, the rotary table driving shaft is in transmission connection with the rotary table, and the rotary table is provided with a third driving motor in transmission connection with the large arm and a fourth driving motor in transmission connection with the small arm;

the micro-motion mechanism comprises: the tool comprises a fixing part connected with a transmission shaft of the first driving motor, a micro-motion part movably connected with the fixing part, and a connecting part arranged on the micro-motion part, wherein the connecting part is used for installing a tail end tool.

Based on the first aspect, in a first possible implementation manner, the micro-motion part is movably connected with the fixing part through at least one shaft.

In a second possible implementation manner, based on the first possible implementation manner of the first aspect, the micro-motion mechanism further includes a fifth driving motor in transmission connection with the at least one shaft.

Based on the second possible implementation manner of the first aspect, in a third possible implementation manner of the present application, at least one of the first driving motor, the second driving motor, the third driving motor, the fourth driving motor, and the fifth driving motor is a servo motor including an absolute value encoder.

Based on the first aspect, or the first possible implementation manner of the first aspect of the present application, or the third possible implementation manner of the first aspect of the present application, in a fourth possible implementation manner of the present application, the connecting portion is provided with a hole for installing an end tool.

Based on the fourth possible implementation manner of the first aspect of the present application, in the fifth possible implementation manner, a preset included angle is formed between the assembling surface of the micro-motion portion and the position of the hole in the connecting portion, wherein the assembling surface is a surface where the micro-motion portion is connected with the connecting portion.

A second aspect of the present application provides a system for assembling a flexible connector, comprising:

the assembling table is used for placing the components to be assembled of the flexible connector;

at least one robot arm provided on the mounting table, the robot arm being the robot arm described in the first aspect or any one of the possible implementations of the first aspect.

Based on the second aspect of the present application, in a first possible implementation manner, the method further includes: the device comprises a bracket arranged on an assembly table, visual acquisition equipment arranged on the bracket, and control equipment in communication connection with the visual acquisition equipment and a mechanical arm respectively;

the image acquisition visual field of the vision acquisition equipment covers the assembly range of the mechanical arm, and the assembly range is the movement range of the connecting part of the mechanical arm in the mechanical arm assembly process.

Based on the first possible implementation manner of the second aspect of the present application, in a second possible implementation manner, the assembly table is provided with two or more mechanical arms;

the image acquisition field of the vision acquisition equipment covers the assembly range of each mechanical arm.

Based on the first possible implementation manner of the second aspect of the present application, in a third possible implementation manner, the assembly table is provided with two or more mechanical arms and two or more vision acquisition devices;

the image acquisition field of view of each vision acquisition device covers the assembly range of at least one mechanical arm.

From top to bottom, the arm that this application provided arranges second driving motor and revolving stage drive shaft in box-like casing to utilize revolving stage drive shaft and revolving stage to be connected and rotate with the drive revolving stage, reduced the weight of revolving stage, be favorable to deploying it on flexible connector's assembly bench. And the first driving motor of the mechanical arm is connected with a micro-motion mechanism, and relative to the overall motion of the mechanical arm, the micro-motion mechanism is beneficial to micro-adjustment of the pose in the process of assembling the flexible connector, so that the pose deviation between the actual pose and the target pose of the flexible connector is reduced or eliminated, and the assembly requirement is met. In practical application, the mechanical arm and the system provided by the application are simply configured, so that the automatic assembly of the flexible connector can be realized, namely, the mechanical arm and the system provide a hardware basis for realizing the automatic assembly of the flexible connector.

Drawings

In order to more clearly illustrate the method solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting in scope, and that for a person skilled in the art, other relevant drawings can be obtained from these drawings without inventive effort.

FIG. 1a is a schematic diagram of a robot arm for assembling a flexible connector according to an embodiment of the present disclosure;

FIG. 1b is a partial schematic view of a large arm, a small arm and a loading frame provided in an embodiment of the present application.

FIG. 2 is a partial schematic view of a base and a turntable provided in an embodiment of the present application;

FIG. 3 is a partial exploded view of a base and turntable provided by an embodiment of the present application;

FIG. 4 is a partially enlarged schematic view of a micro-motion mechanism provided in an embodiment of the present application;

fig. 5 is a schematic view of a suction cup type end tool a mounted on the connecting portion 16 according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a system for assembling a flexible connector according to embodiments of the present application;

fig. 7 is a schematic view of another system for assembling a flexible connector according to an embodiment of the present application.

Detailed Description

In order to make the objects, methods, and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In addition, in the description of the embodiments of the present application, "a plurality" means two or more (i.e., two or more), "at least one" means one, two or more, unless otherwise specified.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

Referring to fig. 1a and 1b (fig. 1a is a robot arm provided in an embodiment of the present application, and fig. 1b is a partial schematic view of a large arm, a small arm and a loading frame), the robot arm includes:

the robot comprises a base 11, a turntable 12 arranged on the base 11, a large arm 13 arranged on the turntable 12, a small arm 14 arranged on the large arm 13, a carrier 15 arranged on the small arm 14, a first driving motor 151 arranged on the carrier 15, and a micro-motion mechanism 16 connected with a transmission shaft (not shown in the figure) of the first driving motor 151.

In this embodiment, the carriage 15 may be fixedly disposed on the arm 14, and a portion for loading the first driving motor 151 may be kept horizontal, so that a transmission shaft of the first driving motor 151 loaded on the carriage 15 may be kept vertical to a horizontal plane. The micro-motion mechanism 16 is connected to a transmission shaft of the first driving motor 151, so that the micro-motion mechanism 16 can be driven by the first driving motor 151 to rotate.

Specifically, as shown in a partial schematic view of the base and the turntable in fig. 2 and a partial exploded view in fig. 3, the base 11 includes: a box-shaped housing 111 (fig. 3 shows a square as an example, and of course, the box-shaped housing 111 may also be cylindrical or in other shapes), and a receiving cavity is configured in the box-shaped housing 111, the receiving cavity is used for mounting the second driving motor 112 and the turntable driving shaft 113, the second driving motor 112 is in transmission connection with the turntable driving shaft 113, the turntable driving shaft 113 is in transmission connection with the turntable 12, and the turntable 12 is provided with a third driving motor 131 in transmission connection with the large arm 13 and a fourth driving motor 141 in transmission connection with the small arm 14.

In this embodiment, the second driving motor 112, the turntable driving shaft 113 and the turntable 12 are sequentially connected in a transmission manner, and the adopted transmission connection structure may include, but is not limited to, a synchronous belt speed reduction assembly, a gear speed reduction assembly, etc., and of course, the turntable 12 may also be directly connected with the turntable driving shaft 113 to rotate therewith. Optionally, the turntable driving shaft 113 is a hollow rotating shaft to route cables between the base 11 and the third and fourth driving motors 131 and 141 through the hollow rotating shaft. The base 11 in this embodiment reduces the weight of the turntable by disposing the second driving motor 112 and the turntable driving shaft 113 in the box-shaped housing 111 and connecting the turntable driving shaft 113 to the turntable 12 to drive the turntable to rotate, so as to improve the lifetime and accuracy of the second driving motor 112, reduce the power consumption of the second driving motor 112, and facilitate the robot arm to be disposed on the mounting table of the flexible connector.

Fig. 4 is a partially enlarged schematic view of the micro-motion mechanism 16 shown in fig. 1, and as can be seen from fig. 4, the micro-motion mechanism 16 includes: a fixing part 161 connected with a transmission shaft of the first driving motor 151, a fine movement part 162 movably connected with the fixing part 161, and a connecting part 163 provided at the fine movement part 162, the connecting part 163 being used for mounting a tip tool. In this embodiment, an interface (not shown) connected and matched with the transmission shaft may be disposed at the top of the fixing portion 161, and the micro-motion mechanism may be connected with the transmission shaft through the interface, or the fixing portion 161 may be connected with the transmission shaft by bolts or welding. The connecting portion 163 may be used to mount an end tool (e.g., a suction cup type end tool, a clamping type end tool, etc.) required for the assembly process. In one implementation, as shown in fig. 4, the connecting portion is provided with a hole 164 for installing an end tool, the hole 164 is adapted to install a corresponding end tool, as shown in fig. 5, a scene diagram of installing a suction cup type end tool a on the connecting portion 163 is shown, further, in order to facilitate the installation of the end tool, an installation surface of the micro-motion portion 162 (i.e., a surface where the micro-motion portion 162 is connected to the connecting portion 163) and a location surface of the hole 164 form a preset included angle, where the installation surface may be a plane or a curved surface. It should be noted that, fitting the corresponding end tool through the hole is only one implementation manner given in this embodiment, and in other implementation manners, the end tool may be mounted to the connection portion 163 by other manners (for example, magnetic attraction, a bolt, or the like), which is not limited herein.

In this embodiment, the fine movement portion 162 is movably connected to the fixing portion 161, so that the fine movement portion 162 can move in one or more degrees of freedom relative to the fixing portion 161 (e.g., the fine movement portion 162 can rotate, turn or move horizontally relative to the fixing portion 161). Specifically, the micro-motion part 162 and the fixing part 161 may be movably connected by one or more shafts, or may be movably connected by other devices (e.g., gear assemblies); the driving mode of the movement of the fine movement portion 162 relative to the fixing portion 161 may be motor driving, pneumatic driving, hydraulic driving or other driving modes, which are not limited herein. In one implementation, the fine movement portion 162 may be adaptively fine-adjusted depending on a force and a mechanical structure between the fine movement portion and the fixing portion 161, for example, in an actual assembling process, when the end tool reaches an initial assembling position, the fine movement portion 162 may be fine-adjusted based on a reaction force generated when the end tool is assembled, so that the flexible connector assembly clamped or adsorbed by the end tool can be accurately connected to the designated interface of the flexible assembling plate. In another implementation, when the fine motion portion 162 is movably connected to the fixing portion 161 by at least one shaft (for ease of understanding, the shaft connected between the fine motion portion 162 and the fixing portion 161 is described as a fine motion shaft), the fine motion mechanism 162 may further include a fifth driving motor in transmission connection with the fine motion shaft, and the fifth driving motor is configured to drive the fine motion mechanism 162 to move relative to the fixing portion 161 so as to drive the end tool to perform fine adjustment.

Further, at least one of the first drive motor 151, the second drive motor 112, the third drive motor 131, the fourth drive motor 141, and the fifth drive motor may be a servo motor, and an absolute value encoder is correspondingly configured to improve the control accuracy and the drive power, and compared with a general incremental encoder, the absolute value encoder does not need to be powered off and memorized, and needs to be powered on to make change or reference position again, so that the robot arm has strong interference resistance and high data reliability, thereby adapting the robot arm to industrial applications. Further, the absolute value encoder of the second driving motor, the third driving motor, the fourth driving motor, the fifth driving motor and the like can be specifically a multi-turn absolute value encoder, and compared with a single-turn absolute value encoder, the multi-turn absolute value encoder has the advantages of simplicity in installation and debugging, no need of finding a zero point, a multifunctional output method, long service life and the like.

Compared with the traditional mechanical arm, the mechanical arm provided by the embodiment has the advantages of being easy to deploy on an assembly table, and the micro-motion mechanism is beneficial to micro-adjustment of the pose in the process of assembling the flexible connector, so that the pose deviation between the actual pose and the target pose of the flexible connector is reduced or eliminated, and the assembly requirement is met. In practical applications, based on the hardware basis of the robot provided in this embodiment, the end tool can be mounted on the connection portion of the mechanical portion, and the robot can be simply configured (e.g., programmed) according to the actual flexible connector assembly scenario, so as to achieve automatic assembly of the flexible connector.

A system for assembling a flexible connector as shown in fig. 6 is provided for the present embodiment, including: the assembly table 61 is used for placing the components to be assembled of the flexible connector, and the at least one robot arm 62 is disposed on the assembly table 61.

In this embodiment, the assembly area and the transferred area may be divided on the assembly table 61, the assembly area is used for placing the assembly components (such as the flexible connector assembly and the flexible connector mounting plate) of the flexible connector, and the assembled area may be used for placing the assembled flexible connector.

In one implementation, the assembly area may be provided with a plurality of sub-areas at fixed positions, and the components to be assembled of the flexible connectors are placed in the designated sub-areas according to the fixed directions and positions, so that the robot arm 62 may perform the assembly process based on the configured assembly program, and then place the assembled flexible connectors in the specific positions of the assembled area.

In another implementation, a visual recognition technology may also be introduced, and the position and the placement direction of the component to be assembled are determined based on the visual recognition technology, so as to control the mechanical arm to move the end tool to the initial position and posture to perform the assembly of the flexible connector. In this implementation, the component to be assembled may be delivered to the area to be assembled manually or by a conveyor belt or the like, and the position and posture thereof may be randomly uncertain. In this implementation, as shown in fig. 7, the system further includes:

a support 611 provided on the assembly table 61, a vision collecting device 612 mounted on the support 611, and a control device (e.g., an upper computer, not shown) communicatively connected to the vision collecting device 612 and the robot arm 62, respectively. In practical applications, the image capture field of view of the vision capture device 612 covers the assembly range of the robot arm 62, which is the range of motion of the joint of the robot arm 62 during the assembly process of the robot arm 62. Of course, in a scenario where the assembly table 61 is divided into an assembly area and a transferred area, the assembly range also covers the assembly area and the transferred area.

Further, in order to improve the assembly efficiency, a plurality of mechanical arms can be introduced to realize the automatic assembly of a plurality of flexible connectors. That is, more than two mechanical arms are arranged on the assembly table, and further, in a scene of introducing a visual recognition technology, only one visual acquisition device can be used for assembly positioning (for example, determining the position and the posture of an assembly object of each mechanical arm and the placement position of a flexible connector after assembly), so that the image acquisition view field of the visual acquisition device covers the assembly range of each mechanical arm. Alternatively, each robot arm may be configured with one vision acquisition device, that is, two or more robot arms and two or more vision acquisition devices are arranged on the assembly table, and the image acquisition field of each vision acquisition device covers the assembly range of at least one robot arm, so as to perform assembly positioning of the corresponding robot arm based on each vision acquisition device pair. Specifically, a plurality of vision collecting devices may share one aforementioned support, that is, a plurality of structures for fixing the vision collecting devices are provided on the aforementioned support, or each vision collecting device may be provided with one aforementioned support, which is not limited herein.

As can be seen from the above, in the system provided in this embodiment, at least one of the aforementioned robot arms may be disposed on the assembling table, and the component to be assembled of the flexible connector may be placed on the robot arm. The micro-motion mechanism is beneficial to micro-adjustment of the pose in the process of assembling the flexible connector, so that the pose deviation between the actual pose and the target pose of the flexible connector is reduced or eliminated, and the assembly requirement is met. Furthermore, visual acquisition equipment and control equipment can be introduced, and automatic assembly of the flexible connector based on the visual technology can be realized by simply configuring the mechanical arm, the visual acquisition equipment and the control equipment.

An automated assembly scenario for a flexible connector based on the system shown in fig. 7 is described below.

In the application scenario, the automatic assembly method of the flexible connector can be mainly divided into the following stages: the method comprises a system preparation stage (comprising a mechanical arm preparation stage, a component to be assembled preparation stage and a vision measurement preparation stage), a vision measurement stage, a flexible connector taking stage, a flexible connector positioning stage, a flexible connector assembling stage and a system resetting stage. The stages will be described separately below.

A mechanical arm preparation stage: in the stage, system debugging is mainly performed on one or more mechanical arms on an assembly table, so that the performance and the state of the mechanical arms are ensured to be normal, and the mechanical arms are controlled to move to positions to be assembled and postures (hereinafter referred to as poses for short). The pose to be assembled can be set in a user-defined mode according to the practical application condition.

Preparation stage of the assembly to be assembled: in the stage, the assembly to be assembled is moved into an area to be assembled, placed in an image acquisition visual field of the visual acquisition equipment and waits for visual measurement. The assembly to be assembled can be conveyed to the area to be assembled in a manual mode or a conveying belt mode and the like, and is placed in a visual measurement range, and the position and the posture of the assembly to be assembled can be randomly uncertain.

Visual measurement preparation stage: the method mainly comprises the step of establishing a space relative position and posture relation between the vision acquisition equipment and the tail end of one or more mechanical arms through calibration, namely calculating a position and posture conversion matrix of a vision coordinate system and a tool coordinate system at the tail end of the mechanical arm. Based on the pose transformation, the coordinates of the measuring points in the visual coordinate system can be converted into the coordinate system of the tool at the tail end of the mechanical arm, and the tail end of the mechanical arm is controlled to reach the target position according to the mechanical arm kinematics model.

And (3) visual measurement stage: after the system preparation stage is completed, the poses of the flexible connector assemblies are determined through vision measurement and image processing, and therefore the picking pose pv1 and the placing pose pv2 of the flexible connector assemblies are determined. The positions of the flexible connector assembly can be taken or put, and the positions of the flexible connector assembly can be multiple, and the positions can be determined according to the structure and the specific application scene of the flexible connector.

A flexible connector taking stage: in the stage, the workpiece taking pose of the flexible connector assembly is distributed to one or more mechanical arms according to the workpiece taking pose pv1 of the flexible connector assembly, the number and the distribution of the workpiece taking poses of the flexible connector assembly and the like, and the one or more mechanical arms are controlled to move to each target pose to take workpieces of the flexible connector assembly.

Flexible connector location stage: the method mainly comprises the steps of distributing the placing poses of the flexible connector assembly to one or more mechanical arms according to the placing poses pv2 of the flexible connector assembly, the number and the distribution of the placing poses and the like, controlling the one or more mechanical arms to jointly move the assembly to be assembled to the installing poses after the assembly to be assembled is taken, and carrying out primary positioning on the assembly to be assembled. Due to factors such as visual measurement, the accuracy of the mechanical arm and the like, deviation exists in the positioning stage of the flexible connector, namely certain posture deviation exists between the actual posture of the flexible connector assembly after initial positioning and the target posture.

Flexible connector assembly stage: the flexible connector assembly is precisely positioned and is subjected to assembly operations such as insertion and pressing, so that the flexible connector assembly reaches an assembly completion state. After the flexible connector assembly completes initial positioning, pose adjustment is carried out based on a micro-motion mechanism of the mechanical arm so as to reduce or eliminate pose deviation between the actual pose and the target pose of the flexible connector assembly and meet assembly requirements. Furthermore, a force sensor or a torque sensor can be arranged on the mechanical arm, and when the flexible connector assembly is inserted, pressed and other assembly operations are carried out, the magnitude of the actual assembly force can be read through the force/torque sensor so as to reflect the state of the flexible connector assembly in the assembly stage. When the actual assembling force reaches the set assembling force range, the system triggers the assembling completion state and controls one or more mechanical arms to complete the placement of the flexible connectors.

And a system resetting stage: the stage is mainly to control one or more mechanical arms on the assembly table to move to the position to be assembled, the vision measuring system returns to the preparation state, and the next assembly instruction is waited.

In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.

The above embodiments are merely illustrative of the robotic arms and systems of the present application and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the method solutions described in the foregoing embodiments may be modified, or some of the method features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding method solutions, and are intended to be included within the scope of the present application.

Claims (10)

1. A robotic arm for assembling a flexible connector, comprising:

the device comprises a base, a rotary table arranged on the base, a large arm arranged on the rotary table, a small arm arranged on the large arm, a bearing frame arranged on the small arm, a first driving motor arranged on the bearing frame and a micro-motion mechanism connected with a transmission shaft of the first driving motor;

the base includes: the rotary table comprises a box-shaped shell, a second driving motor and a rotary table driving shaft, wherein the second driving motor and the rotary table driving shaft are arranged in the box-shaped shell, the second driving motor is in transmission connection with the rotary table driving shaft, the rotary table driving shaft is in transmission connection with the rotary table, and a third driving motor in transmission connection with the large arm and a fourth driving motor in transmission connection with the small arm are arranged on the rotary table;

the micro-motion mechanism comprises: the tool comprises a fixing part connected with the transmission shaft, a micro-motion part movably connected with the fixing part, and a connecting part arranged on the micro-motion part, wherein the connecting part is used for installing a terminal tool.

2. The mechanical arm as claimed in claim 1, wherein the micro-motion portion is movably connected to the fixed portion by at least one shaft.

3. A robotic arm as claimed in claim 2, in which the micro-motion mechanism further comprises a fifth drive motor drivingly connected to the at least one shaft.

4. A robotic arm as claimed in claim 3, in which at least one of the first, second, third, fourth and fifth drive motors is a servo motor comprising an absolute value encoder.

5. A robot arm as claimed in any of claims 1 to 4, wherein the attachment portion is provided with a hole for mounting a tip tool.

6. The mechanical arm as claimed in claim 5, wherein the assembling surface of the micro-motion part is a surface where the micro-motion part is jointed with the connecting part, and the surface of the micro-motion part is a preset included angle with the surface of the hole.

7. A system for assembling a flexible connector, comprising:

the assembling table is used for placing the components to be assembled of the flexible connector;

at least one robot arm disposed on the mounting station, the robot arm being as claimed in any one of claims 1 to 6.

8. The system of claim 7, further comprising: the device comprises a support arranged on the assembly table, visual acquisition equipment arranged on the support, and control equipment in communication connection with the visual acquisition equipment and the mechanical arm respectively;

the image acquisition visual field of the visual acquisition equipment covers the assembly range of the mechanical arm, and the assembly range is the movement range of the connecting part of the mechanical arm in the mechanical arm assembly process.

9. The system of claim 8, wherein more than two of said robotic arms are provided on said mounting station;

the image acquisition field of the vision acquisition equipment covers the assembly range of each mechanical arm.

10. The system of claim 8, wherein the assembly table is provided with two or more mechanical arms and two or more vision acquisition devices;

the image acquisition view of each vision acquisition device covers the assembly range of at least one mechanical arm.

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