CN220515946U - Assembling equipment - Google Patents

Abstract

The utility model relates to an assembly device comprising: the first feeding device comprises a first positioning platform, a first carrier and a first carrying mechanism; the first positioning platform is used for positioning a first workpiece, and the first carrier is provided with a first positioning mark; the first carrying mechanism can carry the first carrier to the first positioning platform to adsorb the first workpiece; the second feeding device comprises a second positioning platform, a second carrier, a conveying mechanism and a second carrying mechanism; the second positioning platform is used for positioning a second workpiece, and the second carrier is provided with a second positioning mark; the second carrying mechanism can carry the second workpiece to the second carrier and adjust the position of the second workpiece relative to the second positioning mark according to the position relation between the first workpiece and the first positioning mark; the conveying mechanism can convey the second carrier to the assembly station; and the manipulator is used for carrying the first carrier adsorbing the first workpiece to the assembly station so as to be matched with the second carrier, so that the second workpiece is aligned with the first workpiece and assembled.

Description

Assembling equipment

Technical Field

The utility model relates to the technical field of assembly, in particular to an assembly device.

Background

When two workpieces are to be assembled together, it is often necessary to align the two workpieces. For example, in-vehicle displays, a glass sheet needs to be assembled to a rigid frame, and before the glass sheet is assembled to the rigid frame, the glass sheet and the rigid frame are often placed on a carrier, and the position of the glass sheet on the carrier is adjusted according to a photographing result, so that the position of the glass sheet relative to the rigid frame is adjusted, and the glass sheet is aligned with the rigid frame.

When the glass sheet is large or a curved screen is adopted, the corresponding carrier is large, and the accurate position of the glass sheet in the carrier cannot be obtained by adopting the traditional technology, so that the accurate alignment of the glass sheet and the rigid frame is difficult to realize, and the assembly precision is poor.

Disclosure of Invention

In view of the above, it is necessary to provide an assembling apparatus capable of improving alignment accuracy of workpieces to achieve precise assembly.

An assembly apparatus, comprising:

the first feeding device comprises a first positioning platform, a first carrier and a first carrying mechanism; the first positioning platform is used for positioning a first workpiece, and the first carrier is provided with a first positioning mark; the first carrying mechanism can carry the first carrier to the first positioning platform to adsorb the first workpiece;

the second feeding device comprises a second positioning platform, a second carrier, a conveying mechanism and a second carrying mechanism; the second positioning platform is used for positioning a second workpiece, and the second carrier is provided with a second positioning mark; the second carrying mechanism can carry the second workpiece to the second carrier, and adjusts the position of the second workpiece relative to the second positioning mark according to the position relation between the first workpiece and the first positioning mark; the conveying mechanism can convey the second carrier to an assembling station;

and the manipulator is used for carrying the first carrier adsorbing the first workpiece to the assembly station so as to be matched with the second carrier, so that the second workpiece and the first workpiece are aligned and assembled.

Above-mentioned equipment, when first work piece and second work piece adsorb respectively or place before first carrier and second carrier, first work piece location is in first location platform, and the second work piece location is in second location platform to the off tracking of its position when avoiding first carrier to adsorb first work piece, and the off tracking of its position when can avoid second transport mechanism to carry the second work piece, guarantee that first work piece is in preset position on first carrier, and guarantee that the second work piece is in preset position on second transport mechanism. When the first workpiece is adsorbed to the first carrier, first position information of the first workpiece in a coordinate system constructed by taking the first positioning mark as a reference point is acquired. When the second workpiece is placed on the second carrier, second position information in a coordinate system constructed by taking the second positioning mark as a reference point is acquired. When the first carrier and the second carrier are matched, the relative positions of the first positioning mark and the second positioning mark are unchanged, so that whether the second workpiece is deviated from the first workpiece or not is judged according to the relation between the first position information and the second position information, if so, the specific deviation value of the second workpiece relative to the first workpiece is calculated according to the deviation value, and the second conveying mechanism accurately adjusts the position of the second workpiece until the second workpiece is accurately aligned with the first workpiece.

In one embodiment, the first feeding device further includes a first visual positioning mechanism, where the first visual positioning mechanism is configured to construct a coordinate system with the first positioning identifier as a reference point, so as to obtain first position information of the first workpiece;

the second feeding device further comprises a second visual positioning mechanism, wherein the second visual positioning mechanism is used for constructing a coordinate system by taking the second positioning mark as a reference point so as to acquire second position information of the second workpiece;

the assembly equipment further comprises a controller, and the controller can control the second carrying mechanism to adjust the position of the second workpiece relative to the second positioning mark according to the relation between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

In one embodiment, the first visual positioning mechanism includes a first triaxial linear module and a first camera, where the first triaxial linear module can drive the first camera to move in three directions perpendicular to each other; and/or

The second visual positioning mechanism comprises a second triaxial linear module and a second camera, and the second triaxial linear module can drive the second camera to move in three mutually perpendicular directions.

In one embodiment, the first positioning platform comprises a placement stage for placing the first workpiece and a positioning mechanism for positioning the first workpiece on the placement stage.

In one embodiment, the positioning mechanism comprises a plurality of positioning components, and the positioning components are arranged around the placing table;

each positioning assembly comprises a driving piece, a positioning column and an elastic piece, wherein the positioning column is connected with the driving piece, the elastic piece is connected with the positioning column, and the driving piece can drive the positioning column to be close to or far away from the first workpiece; when the positioning column is close to the first workpiece, the elastic piece is abutted and compressed with the first workpiece until the positioning column is abutted with the first workpiece.

In one embodiment, the first loading device further has a buffer platform and a loading platform for carrying the first carrier; the first carrying mechanism can place the first carrier adsorbing the first workpiece on the cache platform, and the manipulator can grasp the first carrier from the cache platform;

the feeding platform, the first positioning platform and the buffer platform are sequentially arranged in the horizontal direction; the first handling mechanism comprises a horizontal moving assembly, a vertical moving assembly and a first handling assembly, wherein the vertical moving assembly is fixedly arranged on the horizontal moving assembly, the first handling assembly is connected with the vertical moving assembly, the horizontal moving assembly can drive the first handling assembly to move between the feeding platform and the first positioning platform through the vertical moving assembly, and the vertical moving assembly can drive the first handling assembly to move in the vertical direction so as to take and place the first carrier.

In one embodiment, when the first carrier and the second carrier are clamped, the first positioning mark and the second positioning mark are aligned.

In one embodiment, the conveying mechanism can sequentially convey the second carriers to the shaping station and the assembling station;

the second carrier is provided with a shaping curved surface, and the second carrying mechanism can press the second workpiece on the second carrier positioned at the shaping station and shaped through the shaping curved surface.

In one embodiment, the conveying mechanism can sequentially convey the second carrier to the shaping station, the dispensing station, the detecting station and the assembling station;

the assembly equipment further comprises a dispensing device and a detection device, wherein the dispensing device is used for dispensing the second workpiece on the second carrier at the dispensing station, and the detection device is used for detecting the dispensing quality of the second workpiece on the second carrier at the detection station.

In one embodiment, the conveying mechanism can convey the mold clamping carrier formed after the assembly of the assembly station to the pressure maintaining station, the curing station and the disassembly station.

Drawings

FIG. 1 is a schematic view of an assembly apparatus according to an embodiment of the present application;

fig. 2 is a front view of the first feeding device;

FIG. 3 is an isometric view of a second loading device;

FIG. 4 is a top view of the first loading device shown in FIG. 2;

FIG. 5 is a plan view of a first carrier;

FIG. 6 is a plan view of a second carrier;

FIG. 7 is an isometric view of a first visual positioning mechanism of the first loading device shown in FIG. 2;

FIG. 8 is an isometric view of a second visual positioning mechanism of the second loading device shown in FIG. 3;

fig. 9 is a block diagram of a first handling mechanism and a loading platform of the first loading device shown in fig. 2;

FIG. 10 is a top view of the first positioning platform of the first loading device shown in FIG. 2;

FIG. 11 is a plan view of an assembly apparatus provided in another embodiment of the present application;

fig. 12 is a block diagram of a mold clamping carrier formed after the first carrier and the second carrier of the assembly apparatus provided in fig. 1 or 11 are clamped.

100. Assembling equipment; 10. a first feeding device; 11. a first positioning platform; 111. a placement table; 1111. a light hole; 112. a positioning assembly; 1121. a driving member; 1122. positioning columns; 1123. an elastic member; 12. a first carrier; 121. a first bearing surface; 122. a first adsorption unit; 123. a first positioning mark; 124. a first body; 125. a pin sleeve; 13. a first carrying mechanism; 131. a horizontal movement assembly; 132. a vertical movement assembly; 133. a first handling assembly; 14. a cache platform; 15. a first visual positioning mechanism; 151. a first triaxial linear module; 152. a first camera; 16. a feeding platform; 161. a first positioning pin; 20. a second feeding device; 21. a second positioning platform; 22. a second carrier; 221. a second bearing surface; 222. a second adsorption unit; 223. a second positioning mark; 224. a second body; 225. a second positioning pin; 23. a conveying mechanism; 24. a second carrying mechanism; 241. a third triaxial linear module; 242. a second handling assembly; 25. a second visual positioning mechanism; 251. the second triaxial linear module; 252. a second camera; 30. a manipulator; 40. a locking mechanism; A. an assembly station; B. shaping stations; C. a dispensing station; D. detecting a station; E. a pressure maintaining station; F. a curing station; G. and (5) disassembling the station.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

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 at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Referring to fig. 1, an embodiment of the present application provides an assembly apparatus 100 for assembling a second workpiece to a first workpiece. In some embodiments, the first workpiece is a rigid frame and the second workpiece is a glass sheet, and the assembly apparatus 100 is capable of assembling the glass sheet to the rigid frame to form an in-vehicle display. Of course, in other embodiments, the types of the first workpiece and the second workpiece are not limited.

Referring to fig. 1-3, an assembling apparatus 100 includes a first loading device 10 and a second loading device 20, where the first loading device 10 and the second loading device 20 are used for loading a first workpiece and a second workpiece, respectively.

Referring to fig. 2, 4 and 5, the first loading device 10 includes a first positioning platform 11, a first carrier 12, a first carrying mechanism 13 and a buffer platform 14. The first positioning platform 11 is used for positioning a first workpiece, the first carrier 12 has a first positioning identifier 123, specifically, the first carrier 12 has a first carrying surface 121, the first carrying surface 121 is provided with a first adsorbing portion 122 and a first positioning identifier 123, and the first adsorbing portion 122 can adsorb the first workpiece. The first carrying mechanism 13 is capable of carrying the first carrier 12 to the first positioning stage 11 to adsorb the first workpiece, and carrying the first carrier 12 adsorbed with the first workpiece to the buffer stage 14. That is, when the first workpiece is fed, the first workpiece is first positioned on the first positioning table 11, the first carrying mechanism 13 can carry the first carrier 12 to the first positioning table 11, the first adsorbing portion 122 can adsorb the first workpiece, and the first carrying mechanism 13 carries the first carrier 12 adsorbed with the first workpiece to the buffer table 14 for waiting. Generally, the buffer platform 14 is provided with a vacuum adsorption device, which can continuously perform vacuum adsorption on the first carrier 12, so as to avoid displacement of the first carrier 12 and the first workpiece.

Referring to fig. 3 and 6, the second loading device 20 includes a second positioning platform 21, a second carrier 22, a conveying mechanism 23 and a second carrying mechanism 24. The second positioning platform 21 is used for positioning a second workpiece, the second carrier 22 has a second positioning identifier 223, specifically, the second carrier 22 has a second carrying surface 221, the second carrying surface 221 is provided with a second adsorbing portion 222 and the second positioning identifier 223, and the second adsorbing portion 222 can adsorb the second workpiece. The second conveying mechanism 24 can convey the second workpiece onto the second carrier 22, and adjust the position of the second workpiece relative to the second positioning mark 223 according to the positional relationship between the first workpiece and the first positioning mark 123, and the conveying mechanism 23 can convey the second carrier 22 to the assembly station a. That is, when the second workpiece is fed, the second workpiece is first positioned on the second positioning platform 21, the second conveying mechanism 24 can convey the second workpiece to the second carrier 22, and adjust the position of the second workpiece relative to the second positioning mark 223, and the conveying mechanism 23 can convey the second carrier 22 bearing the second workpiece to the assembly station a for waiting.

With continued reference to fig. 1, the assembly apparatus 100 further includes a manipulator 30, where the manipulator 30 is capable of grabbing the first carrier 12 located on the buffer platform 14, and transporting the first carrier 12 with the first workpiece absorbed to the assembly station a, and closing the first carrier 12 and the second carrier 22, so as to align and assemble the second workpiece with the first workpiece on the first workpiece. It should be understood that, in other embodiments, the first loading device 10 may omit the buffer platform 14, and the manipulator 30 directly grabs the first carrier 12 carried by the first carrying mechanism 13.

Generally, when the first carrier 12 and the second carrier 22 are clamped, the first carrier 12 is located above the first carrier 12, and at this time, the second carrier 22 serves as a lower mold and the first carrier 12 serves as an upper mold.

In the assembly device 100 provided in this embodiment, when the first workpiece and the second workpiece are respectively adsorbed or placed before the first carrier 12 and the second carrier 22, the first workpiece is positioned on the first positioning platform 11, and the second workpiece is positioned on the second positioning platform 21, so as to avoid the deviation of the position of the first carrier 12 when the first workpiece is adsorbed, and avoid the deviation of the position of the second carrier 24 when the second carrier 24 carries the second workpiece, so as to ensure that the first workpiece is at the preset position on the first carrier 12, and ensure that the second workpiece is at the preset position on the second carrier 24. When the first workpiece is adsorbed onto the first carrier 12, first position information of the first workpiece in a coordinate system constructed with the first positioning mark 123 as a reference point is acquired. When the second workpiece is placed on the second carrier 22, second position information in the coordinate system constructed with the second positioning mark 223 as a reference point is acquired. When the first carrier 12 and the second carrier 22 are clamped, the relative positions of the first positioning mark 123 and the second positioning mark 223 are unchanged, so that whether the second workpiece has a position deviation from the first workpiece or not is judged according to the relation between the first position information and the second position information, if the second workpiece has a position deviation from the first workpiece, a specific deviation value of the second workpiece relative to the first workpiece is calculated according to the deviation value, and the second carrying mechanism 24 accurately adjusts the position of the second workpiece until the second workpiece is accurately aligned with the first workpiece, thereby realizing the accurate assembly of the first workpiece and the second workpiece.

Further, with continued reference to fig. 2, the first feeding device 10 includes a first visual positioning mechanism 15, where the first visual positioning mechanism 15 is configured to construct a coordinate system with the first positioning identifier 123 as a reference point, so as to obtain first position information of the first workpiece. With continued reference to fig. 3, the second feeding device 20 further includes a second visual positioning mechanism 25, where the second visual positioning mechanism 25 is configured to construct a coordinate system with the second positioning identifier 223 as a reference point, so as to obtain second position information of the second workpiece. The assembly apparatus 100 further includes a controller configured to control the second handling mechanism 24 to adjust a position of the second workpiece relative to the second positioning identifier 223 according to a relationship between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

In the above arrangement, the first visual positioning mechanism 15 photographs the positions of the first workpiece and the first positioning mark 123, and constructs the first coordinate system with the first positioning mark 123 as a reference point (generally, the origin of the coordinate system), thereby obtaining the coordinate values of the first workpiece in the first coordinate system. The second visual positioning mechanism 25 photographs the positions of the second workpiece and the second positioning mark 223, and constructs a second coordinate system with the second positioning mark 223 as a reference point (generally, the origin of the coordinate system), thereby obtaining the coordinate values of the second workpiece in the second coordinate system. And comparing and analyzing the coordinate value of the second workpiece with the coordinate value of the first workpiece by the controller, so as to judge whether the second workpiece has position deviation relative to the first workpiece. Based on the difference between the two coordinate systems, the controller may calculate a specific deviation value of the second workpiece relative to the first workpiece, and the second handling mechanism 24 may accurately adjust the position of the second workpiece according to the deviation value until the second workpiece is aligned with the position of the first workpiece.

Referring to fig. 7, the first visual positioning mechanism 15 includes a first triaxial linear module 151 and a first camera 152, and the first triaxial linear module 151 can drive the first camera 152 to move in three directions perpendicular to each other. Specifically, two first cameras 152 are provided, and the two first cameras 152 can move in three mutually perpendicular directions, and the two first cameras 152 cooperate with each other to obtain coordinate values of the first workpiece in the first coordinate system. Referring to fig. 8, the second visual positioning mechanism 25 includes a second triaxial linear module 251 and a second camera 252, and the second triaxial linear module 251 can drive the second camera 252 to move in three directions perpendicular to each other. Specifically, two second cameras 252 are provided, and the two second cameras 252 can move in three mutually perpendicular directions, and the two second cameras 252 cooperate with each other to obtain coordinate values of the second workpiece in the second coordinate system.

In some embodiments, the first positioning mark 123 is aligned with the second positioning mark 223 when the first carrier 12 and the second carrier 22 are clamped. In this way, the first coordinate system and the second coordinate system can be regarded as the same coordinate system, and after the coordinate values of the first workpiece and the second workpiece are obtained, it is possible to determine whether or not there is a positional deviation of the second workpiece with respect to the first workpiece without performing conversion of the coordinate systems.

Specifically, the first positioning identifier 123 and the second positioning identifier 223 are protruding columns protruding on the corresponding bearing surfaces. Of course, in other embodiments, the first positioning mark 123 and the second positioning mark 223 may be holes or other pattern marks.

In some embodiments, the first positioning marks 123 and the second positioning marks 223 are multiple and equal in number, and when the first carrier 12 and the second carrier 22 are clamped, the first positioning marks 123 and the second positioning marks 223 are aligned one by one. In this way, when the coordinate values of the first workpiece are acquired, the plurality of first positioning marks 123 can be used as reference points, respectively, and when the coordinate values of the second workpiece are acquired, the plurality of second positioning marks 223 can be used as reference points, respectively. Thus, the alignment accuracy of the first workpiece and the second workpiece is further ensured through mutual comparison of a plurality of coordinate values.

In some embodiments, referring to fig. 2 and 9, the first loading device 10 further has a loading platform 16 for carrying the first carrier 12, where the loading platform 16, the first positioning platform 11 and the buffer platform 14 are sequentially arranged in a horizontal direction. The first carrying mechanism 13 comprises a horizontal moving assembly 131, a vertical moving assembly 132 and a first carrying assembly 133, wherein the vertical moving assembly 132 is fixedly arranged on the horizontal moving assembly 131, and the first carrying assembly 133 is connected with the vertical moving assembly 132. The horizontal moving assembly 131 can drive the first carrying assembly 133 to move among the feeding platform 16, the first positioning platform 11 and the buffer platform 14 through the vertical moving assembly 132, and the vertical moving assembly 132 can drive the first carrying assembly 133 to move in the vertical direction. In this way, the first carrying assembly 133 of the second carrying mechanism 24 can move between the feeding platform 16, the first positioning platform 11 and the buffer platform 14 by moving in two directions, and realize corresponding picking and placing actions, so that the second carrying mechanism 24 has a simple structure.

It is contemplated that in other embodiments, the first handling mechanism 13 may be configured in other ways, such as by a three-axis movement mechanism to effect movement of the first handling assembly 133 in three directions, which is not limited herein.

Further, the horizontal moving assembly 131 includes a horizontal moving member and two guide rails extending along the horizontal direction, and the horizontal moving member drives the first carrying assembly 133 to move along the horizontal direction under the guiding action of the guide rails.

In some embodiments, the first handling assembly 133 includes a plurality of jaws that cooperate to pick and place the first carrier 12. Of course, in other embodiments, the first carrying assembly 133 may be disposed in other manners, such as, for example, the first carrying assembly 133 includes a suction cup, and the first carrier 12 is sucked by the suction cup, which is not limited herein.

Referring to fig. 5 and 9, the loading platform 16 is provided with a first positioning pin 161, the first carrier 12 includes a first body 124 and a pin sleeve 125, and the first bearing surface 121 and the pin sleeve 125 are both disposed on the first body 124. When the first carrier 12 is located on the loading platform 16, the pin sleeve 125 thereof is matched with the first positioning pin 161, so that the first carrier 12 is positioned on the loading platform 16. Further, referring to fig. 6, the second carrier 22 includes a second body 224 and a second positioning pin 225, and the second bearing surface 221 and the second positioning pin 225 are disposed on the second body 224. When the first carrier 12 and the second carrier 22 are clamped, the pin sleeve 125 of the first carrier 12 is matched with the second positioning pin 225 of the second carrier 22, so as to reduce the alignment time of the first carrier 12 and the second carrier 22, improve the operation efficiency and reduce the alignment error.

In some embodiments, referring to fig. 10, the first positioning platform 11 includes a placement stage 111 and a positioning mechanism, where the placement stage 111 is used to place the first workpiece, and the positioning mechanism is used to position the first workpiece on the placement stage 111. Further, the positioning mechanism includes a plurality of positioning assemblies 112, and the plurality of positioning assemblies 112 are respectively disposed around the placement table 111. Each positioning assembly 112 comprises a driving member 1121, a positioning column 1122 and an elastic member 1123, wherein the positioning column 1122 is connected with the driving member 1121, the elastic member 1123 is connected with the positioning column 1122, and the driving member 1121 is a cylinder or a motor and can drive the positioning column 1122 to be close to or far from the first workpiece. When the positioning column 1122 approaches the first workpiece, the elastic member 1123 is compressed against the first workpiece until the positioning column 1122 abuts against the first workpiece. That is, when the first workpiece is positioned, the elastic member 1123 is brought into contact with the first workpiece to initially position the first workpiece, and then the elastic member 1123 is compressed to a certain extent, and the positioning column 1122 is brought into contact with the first workpiece to thereby complete the positioning of the first workpiece.

It is contemplated that in other embodiments, the positioning mechanism may be provided in other manners, as long as the positioning of the first workpiece is achieved, and the positioning mechanism is not limited herein.

Referring to fig. 2 and 10, the first visual positioning mechanism 15 is located below the first positioning platform 11 in the vertical direction, and the placement table 111 has a light hole 1111. When the first carrying component 133 of the first carrying mechanism 13 carries the first carrier 12 from the loading platform 16 to the first positioning platform 11 to absorb the first workpiece, that is, after the first workpiece is absorbed by the first carrier 12, the first visual positioning mechanism 15 can obtain the coordinate value of the first workpiece in the first coordinate system through the light hole 1111.

It should be noted that, the first triaxial linear module 151 of the first visual positioning mechanism 15 can drive the first camera 152 to move along the horizontal direction and the vertical direction. When the first carrying mechanism 13 carries the first carrier 12 to adsorb the first workpiece, the first adsorbing portion 122 and the first positioning mark 123 face downward to face the first workpiece so as to adsorb the first workpiece.

In some embodiments, with continued reference to fig. 1, the conveying mechanism 23 is capable of sequentially conveying the second carriers 22 to the shaping station B and the assembling station a. The second carrier 22 is provided with a shaping curved surface, and the second carrying mechanism 24 can press the second workpiece onto the second carrier 22 of the shaping station B, and shape the second workpiece into a curved surface through the shaping curved surface. Thus, when the second workpiece is a glass sheet, the second conveying mechanism 24 can convey the planar glass sheet to the shaping station B and press the planar glass sheet onto the second carrier 22, and the shaping curved surface of the second carrier 22 can shape the glass sheet into curved glass. And when the curved glass is assembled with the rigid frame, the curved screen vehicle-mounted display is formed.

In some embodiments, the second handling mechanism 24 is mounted above the conveying mechanism 23, so that the second handling mechanism 24 punches the second workpiece located at the shaping station B downward. Further, referring to fig. 3, the second carrying mechanism 24 includes a third triaxial linear module 241 and a second carrying assembly 242, where the third triaxial linear module 241 can drive the second carrying assembly 242 to move in three mutually perpendicular directions, for example, the third triaxial linear module 241 can drive the second carrying assembly 242 to move in the horizontal direction, the vertical direction and the directions perpendicular to the horizontal direction and the vertical direction, so as to press the second workpiece down into the second carrier 22 located at the shaping station B. After the shaping of the second workpiece is completed, the second visual positioning mechanism 25 can acquire the coordinate value of the second workpiece in the second coordinate system, and the controller is used for comparing and analyzing the coordinate value of the second workpiece with the coordinate value of the first workpiece, so as to determine whether the second workpiece has a position deviation relative to the first workpiece. If there is a positional deviation of the second workpiece relative to the first workpiece, the second conveyance mechanism 24 is controlled to move the position of the second workpiece and press again until the second workpiece is aligned with the position of the first workpiece.

In some embodiments, with continued reference to fig. 1, the assembly apparatus 100 further has a dispensing station C and a detecting station D, and the conveying mechanism 23 can sequentially convey the second carrier 22 to the shaping station B, the dispensing station C, the detecting station D and the assembly station a. The assembly apparatus 100 further includes a dispensing device for dispensing the second workpiece on the second carrier 22 at the dispensing station C, and a detecting device for detecting a dispensing quality of the second workpiece on the second carrier 22 at the detecting station D. Thus, after the first carrier 12 and the second carrier 22 are clamped, the second workpiece can be bonded to the first workpiece by glue, so that the first workpiece and the second workpiece are conveniently fixed to each other.

Further, referring to fig. 11, the assembling apparatus 100 further includes a pressure maintaining station E, a curing station F, and a disassembling station G, and the conveying mechanism 23 can convey the mold-closing carrier after mold closing at the assembling station a to the pressure maintaining station E, the curing station F, and the disassembling station G. The second workpiece can be stably assembled with the first workpiece through the pressure maintaining station E and the curing station F for curing. Referring to fig. 12, after the first carrier 12 and the second carrier 22 are clamped, the first carrier is locked by a locking mechanism 40 (a screw assembly or a buckle assembly), and the locking mechanism 40 can be unlocked at a disassembling station G to discharge the first workpiece and the second workpiece assembled together. Finally, the first carrier 12 is transported to the loading platform 16 by the robot 30 or other mechanism for attracting a new first workpiece, and the second carrier 22 is reflowed for carrying a new second workpiece.

By adopting the assembly device 100 provided in the embodiment of the present application, the flow of assembling the first workpiece and the second workpiece is as follows:

the first workpiece is fed onto the placing table 111 of the first positioning platform 11, and the plurality of positioning assemblies 112 simultaneously position the first workpiece, meanwhile, the first carrier 12 is positioned on the feeding platform 16, and the pin sleeves 125 of the first carrier are matched and positioned with the first positioning pins 161 of the feeding platform 16. The first carrying assembly 133 grabs the first carrier 12 and carries it to the first positioning platform 11 to adsorb the first workpiece. The first visual positioning mechanism 15 acquires the coordinate values of the first workpiece and the first positioning mark 123, and determines the position of the first workpiece on the first carrier 12. The first carrying mechanism 13 carries the first carrier 12 having the first workpiece adsorbed thereon to the buffer stage 14, waiting for mold clamping with the second carrier 22.

The second workpiece is fed onto the second positioning platform 21, and the second carrying mechanism 24 grabs the second workpiece, and meanwhile, the conveying mechanism 23 conveys the second carrier 22 to the shaping station B. The second conveying mechanism 24 presses the second workpiece down to adjust the second carrier 22 to the second workpiece 3D from 2D. The second visual positioning mechanism 25 acquires the coordinate values of the second workpiece and the second positioning mark 223. The controller compares and analyzes the coordinate value of the second workpiece with the coordinate value of the first workpiece, and can judge whether the second workpiece has position deviation relative to the first workpiece. Based on the difference between the two coordinate systems, the controller may also calculate a specific deviation value of the second workpiece relative to the first workpiece, and the second handling mechanism 24 may accurately adjust the position of the second workpiece according to the deviation value until the second workpiece is aligned with the position of the first workpiece. Generally, after the position of the second workpiece is adjusted for three times, the material throwing treatment is performed if the position is still overrun. If OK, the second suction part 222 performs vacuum suction on the second workpiece to fix the positions of the second workpiece and the second positioning mark 223.

The conveying mechanism 23 conveys the second carrier 22 to the dispensing station C, and the dispensing device dispenses the first workpiece. The conveying mechanism 23 conveys the second carrier 22 to the detection station D, and the detection device detects the dispensing quality. The conveying mechanism 23 conveys the second carrier 22 to the assembly station a, and the manipulator 30 grabs the first carrier 12 located on the buffer platform 14 to clamp the second carrier 22 to form a clamping carrier. When the first carrier 12 and the second carrier 22 are clamped, the second positioning pins 225 of the second carrier 22 are inserted into the pin sleeves 125 of the first carrier 12, and the locking mechanism 40 locks the first carrier 12 and the second carrier 22. When the first carrier 12 and the second carrier 22 are clamped to form a clamping carrier, the positions of the second workpiece and the first workpiece are precisely aligned, and the second workpiece is attached to the first workpiece through glue, so that precise assembly of the second workpiece and the first workpiece is realized.

The conveying mechanism 23 can convey the mold clamping carriers after mold clamping at the assembly station a to the pressure maintaining station E, the curing station F and the disassembly station G. The second workpiece can be stably assembled with the first workpiece through the pressure maintaining station E and the curing station F for curing. After the first carrier 12 and the second carrier 22 are clamped, the locking mechanism 40 (screw assembly or buckle assembly) is locked, and the locking mechanism 40 can be unlocked at the disassembling station G, so that the assembled first workpiece and second workpiece are discharged. Finally, the first carrier 12 is transported to the loading platform 16 by the robot 30 or other mechanism for attracting a new first workpiece, and the second carrier 22 is reflowed for carrying a new second workpiece.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the utility model, which are described in detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model. Accordingly, the scope of protection of the present utility model is to be determined by the appended claims.

Claims (10)

1. An assembly apparatus, comprising:

the first feeding device (10) comprises a first positioning platform (11), a first carrier (12) and a first conveying mechanism (13); the first positioning platform (11) is used for positioning a first workpiece, and the first carrier (12) is provided with a first positioning mark (123); the first carrying mechanism (13) can carry the first carrier (12) to the first positioning platform (11) to adsorb the first workpiece;

the second feeding device (20) comprises a second positioning platform (21), a second carrier (22), a conveying mechanism (23) and a second conveying mechanism (24); the second positioning platform (21) is used for positioning a second workpiece, and the second carrier (22) is provided with a second positioning mark (223); the second conveying mechanism (24) can convey the second workpiece to the second carrier (22) and adjust the position of the second workpiece relative to the second positioning mark (223) according to the position relation between the first workpiece and the first positioning mark (123); -said conveying means (23) being able to convey said second carriers (22) to an assembly station (a);

and a manipulator (30) for carrying the first carrier (12) for adsorbing the first workpiece to the assembly station (A) so as to be matched with the second carrier (22) to align and assemble the second workpiece with the first workpiece.

2. The assembly device according to claim 1, wherein the first feeding device (10) further comprises a first visual positioning mechanism (15), and the first visual positioning mechanism (15) is configured to construct a coordinate system with the first positioning mark (123) as a reference point, so as to obtain first position information of the first workpiece;

the second feeding device (20) further comprises a second visual positioning mechanism (25), and the second visual positioning mechanism (25) is used for constructing a coordinate system by taking the second positioning mark (223) as a reference point so as to acquire second position information of the second workpiece;

the assembly equipment further comprises a controller, and the controller can control the second carrying mechanism (24) to adjust the position of the second workpiece relative to the second positioning mark (223) according to the relation between the first position information and the second position information, so that the first workpiece and the second workpiece are accurately aligned.

3. The assembly device according to claim 2, wherein the first visual positioning mechanism (15) comprises a first triaxial linear module (151) and a first camera (152), the first triaxial linear module (151) being capable of driving the first camera (152) to move in three mutually perpendicular directions; and/or

The second visual positioning mechanism (25) comprises a second triaxial linear module (251) and a second camera (252), and the second triaxial linear module (251) can drive the second camera (252) to move in three mutually perpendicular directions.

4. Assembly device according to claim 1, characterized in that the first positioning platform (11) comprises a placement table (111) and a positioning mechanism, the placement table (111) being used for placing the first workpiece, the positioning mechanism being used for positioning the first workpiece on the placement table (111).

5. The assembly device according to claim 4, wherein the positioning mechanism comprises a plurality of positioning assemblies (112), a plurality of the positioning assemblies (112) being arranged around the placement table (111);

each positioning assembly (112) comprises a driving piece (1121), a positioning column (1122) and an elastic piece (1123), wherein the positioning column (1122) is connected with the driving piece (1121), the elastic piece (1123) is connected with the positioning column (1122), and the driving piece (1121) can drive the positioning column (1122) to be close to or far away from the first workpiece; when the positioning column (1122) approaches the first workpiece, the elastic member (1123) is pressed against the first workpiece until the positioning column (1122) is pressed against the first workpiece.

6. The assembly device according to claim 1, characterized in that the first loading means (10) further have a buffer platform (14) and a loading platform (16) for carrying the first carrier (12); the first carrying mechanism (13) can place the first carrier (12) adsorbing the first workpiece on the cache platform (14), and the manipulator (30) can grasp the first carrier (12) from the cache platform (14);

the feeding platform (16), the first positioning platform (11) and the cache platform (14) are sequentially arranged in the horizontal direction; the first handling mechanism (13) comprises a horizontal moving assembly (131), a vertical moving assembly (132) and a first handling assembly (133), wherein the vertical moving assembly (132) is fixedly installed on the horizontal moving assembly (131), the first handling assembly (133) is connected with the vertical moving assembly (132), the horizontal moving assembly (131) can drive the first handling assembly (133) to move between the feeding platform (16) and the first positioning platform (11) and the buffer platform (14) through the vertical moving assembly (132), and the vertical moving assembly (132) can drive the first handling assembly (133) to move in the vertical direction to take and place the first carrier (12).

7. The assembly device according to claim 1, wherein the first positioning mark (123) is aligned with the second positioning mark (223) when the first carrier (12) and the second carrier (22) are clamped.

8. Assembly device according to claim 1, characterized in that said conveying mechanism (23) is capable of conveying said second carriers (22) sequentially to a shaping station (B) and to said assembly station (a);

the second carrier (22) is provided with a shaping curved surface, and the second carrying mechanism (24) can press the second workpiece on the second carrier (22) positioned at the shaping station (B) and shaped through the shaping curved surface.

9. Assembly device according to claim 8, characterized in that said conveying means (23) are able to convey said second carriers (22) in succession to said shaping station (B), to said dispensing station (C), to said detection station (D) and to said assembly station (a);

the assembly equipment further comprises a dispensing device and a detection device, wherein the dispensing device is used for dispensing the second workpiece on the second carrier (22) at the dispensing station (C), and the detection device is used for detecting the dispensing quality of the second workpiece on the second carrier (22) at the detection station (D).

10. Assembly plant according to claim 8, characterized in that said conveying mechanism (23) is capable of conveying the clamp carriers formed after clamping by said assembly station (a) to a pressure maintaining station (E), a curing station (F) and a dismantling station (G).