TWI624325B - Automatic assembling apparatus - Google Patents

Automatic assembling apparatus Download PDF

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Publication number
TWI624325B
TWI624325B TW105117920A TW105117920A TWI624325B TW I624325 B TWI624325 B TW I624325B TW 105117920 A TW105117920 A TW 105117920A TW 105117920 A TW105117920 A TW 105117920A TW I624325 B TWI624325 B TW I624325B
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TW
Taiwan
Prior art keywords
assembly
module
positioning
workpiece
clamping
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TW105117920A
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Chinese (zh)
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TW201741061A (en
Inventor
林昱廷
蕭毅忠
何忠明
楊澤虎
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鴻海精密工業股份有限公司
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Priority to CN201610354207.8A priority Critical patent/CN107438357B/en
Priority to ??201610354207.8 priority
Application filed by 鴻海精密工業股份有限公司 filed Critical 鴻海精密工業股份有限公司
Publication of TW201741061A publication Critical patent/TW201741061A/en
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Publication of TWI624325B publication Critical patent/TWI624325B/en

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    • HELECTRICITY
    • H05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K13/00Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
    • H05K13/04Mounting of components, e.g. of leadless components
    • H05K13/046Surface mounting
    • H05K13/0469Surface mounting by applying a glue or viscous material
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

本發明提出一種自動組裝裝置,用於將配件裝配至工件上,其包括上料模組、定位模組、點膠模組及裝配模組,上料模組用於將工件傳送至定位模組,定位模組用於定位工件,點膠模組用於對配件塗膠處理,裝配模組用於將塗膠處理後的配件貼裝至工件上,裝配模組包括一加熱件,加熱件用於對配件進行預熱處理。自動組裝裝置還包括檢測模組,檢測模組包括兩個檢測器,一檢測器用於檢測配件與工件組裝對位時的偏差,並回饋於裝配模組以調整裝配位置,另一檢測器用於檢測完成組裝後的配件與工件之間的斷差,以篩出不合格的工件。 The invention provides an automatic assembly device for assembling accessories to a workpiece, which includes a loading module, a positioning module, a dispensing module and an assembly module. The loading module is used to transfer the workpiece to the positioning module , The positioning module is used to position the workpiece, the dispensing module is used to glue the accessories, and the assembly module is used to attach the glued accessories to the workpiece. The assembly module includes a heating element for heating. For pre-heating the accessories. The automatic assembly device also includes a detection module. The detection module includes two detectors. One detector is used to detect the deviation between the fitting and the assembly of the workpiece, and is fed back to the assembly module to adjust the assembly position. After the assembly is completed, the break between the parts and the workpiece is used to screen out the unqualified workpiece.

Description

自動組裝裝置 Automatic assembly device
本發明涉及電子產品的組裝設備,特別涉及一種用於組裝電子產品中配件的組裝設備。 The invention relates to an assembly device for electronic products, in particular to an assembly device for assembling accessories in electronic products.
在電子產品的製造過程中,通常需要多道組裝工序,而在這些組裝工序多是由人工完成的,例如,將I/O配件裝入電子產品的工件(如殼體)時,先對工件待組裝區域塗膠處理,再由人工手持裝夾工具,將I/O配件對準並貼裝至工件上。上述人工組裝方式,組裝效率較低且耗費人力較多。此外,由於在組裝的過程中,I/O配件與工件需要精確對位元,而人工裝I/O配件易出現對位不準的缺陷,從而致使組裝良率下降。 In the manufacturing process of electronic products, multiple assembly processes are usually required, and most of these assembly processes are completed manually. For example, when installing I / O accessories into a workpiece (such as a housing) of an electronic product, first Glue the area to be assembled, and then manually hold the clamping tool to align and mount the I / O accessories on the workpiece. The above manual assembly method has lower assembly efficiency and consumes more manpower. In addition, during the assembly process, the I / O parts and the workpiece need to be accurately aligned, and the manual assembly of the I / O parts is prone to the defects of misalignment, which leads to a decline in assembly yield.
鑒於上述狀況,有必要提供一種高效率且高精度的自動組裝裝置。 In view of the above situation, it is necessary to provide a highly efficient and high-precision automatic assembly device.
一種自動組裝裝置,用於配合流水線以將配件裝配至工件上,其包括工作臺、上料模組、定位模組、點膠模組、裝配模組及電控模組,該上料模組用於將該工件傳送至定位模組,該定位模組、該點膠模組及該裝配模組分別固定於該工作臺上,該定位模組用於定位該工件,該點膠模組用於對該配件塗膠處理,該裝配模組用於將塗膠處理後的該配件貼裝至該工件上,該電控模組分別電性連接於該上料模組、定位模組、點膠模組及裝配模組,以協調各模組之間的動作指令,該裝配模組包括固定於該工作臺上的裝配機器人及連接於該裝配機器人的裝配機械手,該裝配機器人控制該裝配機械手抓取該配件,以使其對位於該點膠模組並進行塗膠處理,該裝配機械手包括固定座、夾持件及 加熱件,該夾持件包括裝設於該固定座上的夾持氣缸及滑動裝設於該固定座上的兩個夾塊,該夾持氣缸驅動該兩個夾塊相向運動以夾持該配件,該加熱件部分凸伸於該兩個夾塊之間以對該配件預熱處理,該自動組裝裝置還包括設置於該工作臺上的檢測模組,該檢測模組包括兩個檢測器,一檢測器用於檢測該配件與該工件組裝對位時的偏差,並回饋於該裝配模組以調整裝配位置,另一檢測器用於檢測完成組裝後的該配件與該工件之間的斷差,以篩出組裝不合格的工件。 An automatic assembling device is used to match the assembly line to assemble the accessories to the workpiece. It includes a workbench, a loading module, a positioning module, a dispensing module, an assembly module and an electronic control module. The loading module It is used to transfer the workpiece to the positioning module. The positioning module, the dispensing module and the assembly module are respectively fixed on the workbench. The positioning module is used to position the workpiece. The dispensing module is used for In the process of gluing the accessory, the assembly module is used to mount the accessory after the gluing process on the workpiece, and the electronic control module is electrically connected to the loading module, the positioning module and the point respectively Glue module and assembly module to coordinate the movement instructions between the modules. The assembly module includes an assembly robot fixed on the worktable and an assembly manipulator connected to the assembly robot. The assembly robot controls the assembly The manipulator grabs the accessory so that it can apply glue to the dispensing module. The assembly manipulator includes a fixed seat, a clamping member and The heating element includes a clamping cylinder mounted on the fixing base and two clamping blocks slidingly mounted on the fixing base. The clamping cylinder drives the two clamping blocks to move towards each other to clamp the clamping block Accessories, the heating element partially protrudes between the two clamping blocks to pre-heat the accessories, the automatic assembly device further includes a detection module disposed on the workbench, the detection module includes two detectors , A detector is used to detect the deviation between the fitting and the workpiece during assembly and alignment, and is fed back to the assembly module to adjust the assembly position, and another detector is used to detect the break between the accessory and the workpiece after assembly To screen out unqualified parts.
上述自動組裝裝置藉由上料模組以實現工件的自動化上料,並藉由定位模組以實現工件的精確定位,有效提高了組裝效率及組裝良率。同時,裝配模組還設置一加熱件,以對配件預熱處理,防止塗設於配件上的膠水固化,提升了組裝的穩定性。另,自動組裝裝置還透過兩個檢測器以對組裝過程進行檢測,進一步提升了組裝的精度。 The above automatic assembly device realizes the automatic loading of the workpiece by the loading module, and realizes the precise positioning of the workpiece by the positioning module, which effectively improves the assembly efficiency and assembly yield. At the same time, the assembly module is also provided with a heating element to pre-heat the accessories to prevent the glue applied on the accessories from solidifying, which improves the stability of the assembly. In addition, the automatic assembly device also uses two detectors to detect the assembly process, which further improves the accuracy of assembly.
100‧‧‧自動組裝裝置 100‧‧‧Automatic assembly device
10‧‧‧工作臺 10‧‧‧Workbench
20‧‧‧上料模組 20‧‧‧Feeding module
21‧‧‧暫存台 21‧‧‧Temporary desk
211‧‧‧定位銷 211‧‧‧positioning pin
22‧‧‧上料機器人 22‧‧‧Feeding robot
23‧‧‧上料機械手 23‧‧‧ Loading robot
231‧‧‧安裝板 231‧‧‧ Mounting plate
232‧‧‧第一抓料件 232‧‧‧First picking part
2321‧‧‧第一吸盤 2321‧‧‧First sucker
233‧‧‧第二抓料件 233‧‧‧Second grab
2331‧‧‧伸縮氣缸 2331‧‧‧Telescopic cylinder
2332‧‧‧夾爪 2332‧‧‧jaw
2333‧‧‧第二吸盤 2333‧‧‧Second sucker
30‧‧‧定位模組 30‧‧‧Positioning module
31‧‧‧支架 31‧‧‧Bracket
32‧‧‧旋轉氣缸 32‧‧‧rotating cylinder
33‧‧‧定位組件 33‧‧‧Positioning components
331‧‧‧定位板 331‧‧‧Positioning board
332‧‧‧定位件 332‧‧‧Locating parts
3321‧‧‧定位塊 3321‧‧‧positioning block
3322‧‧‧定位氣缸 3322‧‧‧Positioning cylinder
333‧‧‧抵壓件 333‧‧‧Pressure parts
3331‧‧‧抵壓氣缸 3331‧‧‧Pressure cylinder
3332‧‧‧壓塊 3332‧‧‧Block
40‧‧‧點膠模組 40‧‧‧Dispensing module
41‧‧‧固定架 41‧‧‧Fixing frame
42‧‧‧點膠筒 42‧‧‧Dispense cartridge
421‧‧‧點膠針 421‧‧‧Dispense needle
50‧‧‧裝配模組 50‧‧‧Assembly module
51‧‧‧裝配機器人 51‧‧‧ Assembly robot
52‧‧‧裝配機械手 52‧‧‧Assembly manipulator
521‧‧‧連接法蘭 521‧‧‧Connecting flange
522‧‧‧固定座 522‧‧‧Fixed seat
523‧‧‧夾持件 523‧‧‧Clamping parts
5231‧‧‧夾持氣缸 5231‧‧‧Clamping cylinder
5232‧‧‧夾塊 5232‧‧‧Clamp block
524‧‧‧加熱件 524‧‧‧Heating
5241‧‧‧加熱器 5241‧‧‧heater
5242‧‧‧導熱塊 5242‧‧‧thermal block
5243‧‧‧溫度感測器 5243‧‧‧Temperature sensor
53‧‧‧校正機構 53‧‧‧ Correction mechanism
531‧‧‧底座 531‧‧‧Base
5311‧‧‧凹槽 5311‧‧‧groove
5312‧‧‧避位孔 5312‧‧‧Escape hole
532‧‧‧第一夾持件 532‧‧‧First clamping piece
5321‧‧‧第一夾持氣缸 5321‧‧‧First clamping cylinder
5322‧‧‧第一夾塊 5322‧‧‧First clamping block
533‧‧‧第二夾持件 533‧‧‧Second clamping piece
5331‧‧‧第二夾持氣缸 5331‧‧‧Second clamping cylinder
5332‧‧‧第二夾塊 5332‧‧‧Second clamping block
60‧‧‧檢測模組 60‧‧‧Detection module
61‧‧‧第一傳送組件 61‧‧‧ First transmission component
611‧‧‧基座 611‧‧‧Dock
612‧‧‧第一驅動件 612‧‧‧ First driving part
613‧‧‧第一滑軌 613‧‧‧ First slide
614‧‧‧滑動座 614‧‧‧sliding seat
62‧‧‧第二傳送組件 62‧‧‧Second transmission component
621‧‧‧第二驅動件 621‧‧‧Second driving part
622‧‧‧第二滑軌 622‧‧‧Second Slide
623‧‧‧升降座 623‧‧‧Elevating seat
63‧‧‧檢測組件 63‧‧‧Detection kit
631‧‧‧CCD攝像器 631‧‧‧CCD camera
632‧‧‧鐳射測距器 632‧‧‧Laser rangefinder
200‧‧‧流水線 200‧‧‧pipeline
210‧‧‧導向板 210‧‧‧Guide plate
220‧‧‧擋料氣缸 220‧‧‧block cylinder
230‧‧‧保護氣缸 230‧‧‧Protection cylinder
300‧‧‧配件 300‧‧‧Accessories
400‧‧‧工件 400‧‧‧Workpiece
500‧‧‧載具 500‧‧‧vehicle
600‧‧‧托盤 600‧‧‧Tray
圖1係本發明實施方式的自動組裝裝置與流水線的立體示意圖。 FIG. 1 is a schematic perspective view of an automatic assembly device and assembly line according to an embodiment of the invention.
圖2係圖1中所示自動組裝裝置的上料機械手的立體示意圖。 FIG. 2 is a perspective schematic view of the loading manipulator of the automatic assembly device shown in FIG. 1.
圖3係圖1中所示自動組裝裝置的定位模組的立體示意圖。 3 is a schematic perspective view of the positioning module of the automatic assembly device shown in FIG. 1.
圖4係圖1中所示自動組裝裝置的點膠模組的立體示意圖。 4 is a schematic perspective view of the dispensing module of the automatic assembly device shown in FIG. 1.
圖5係圖1中所示自動組裝裝置的裝配機械手的立體示意圖。 FIG. 5 is a schematic perspective view of an assembly robot of the automatic assembly device shown in FIG. 1.
圖6係圖1中所示自動組裝裝置的校正機構的立體示意圖。 6 is a schematic perspective view of the calibration mechanism of the automatic assembly device shown in FIG. 1.
圖7係圖6中所示校正機構的分解示意圖。 7 is an exploded schematic view of the correction mechanism shown in FIG. 6.
圖8係圖1中所示自動組裝裝置的檢測模組的立體示意圖。 8 is a schematic perspective view of the detection module of the automatic assembly device shown in FIG. 1.
下面將結合本發明實施例中之附圖,對本發明實施例中之技術方案進行清楚、完整地描述,顯然,所描述之實施例僅僅是本發明一部分實施例, 而不是全部之實施例。基於本發明中之實施例,本領域普通技術人員於沒有做出進步性勞動前提下所獲得之所有其他實施例,均屬於本發明保護之範圍。 The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention. Not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making progressive labor are within the protection scope of the present invention.
需要說明之是,當組件被稱為“固定於”另一組件,它可直接於另一組件上或亦可存於居中之組件。當一組件被認為是“連接”另一組件,它可是直接連接到另一組件或者可能一併存於居中組件。當一組件被認為是“設置於”另一組件,它可是直接設置於另一組件上或者可能一併存於居中組件。本文所使用之術語“垂直之”、“水準之”、“左”、“右”以及類似之表述只是為了說明之目之。 It should be noted that when a component is said to be “fixed” to another component, it can be directly on another component or it can be stored in the center component. When a component is considered to be "connected" to another component, it may be directly connected to another component or may be stored together in the center component. When a component is considered to be "set on" another component, it may be set directly on another component or may be stored together in the center component. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
除非另有定義,本文所使用之所有之技術及科學術語與屬於本發明之技術領域之技術人員通常理解之含義相同。本文中於本發明之說明書中所使用之術語只是為了描述具體之實施例之目的,不是旨在於限制本發明。本文所使用之術語“及/或”包括一或複數相關之所列項目之任意之及所有之組合。 Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terminology used in the description of the present invention herein is for the purpose of describing specific embodiments, and is not intended to limit the present invention. As used herein, the term "and / or" includes any and all combinations of one or more of the listed items.
請參閱圖1,本發明較佳實施方式提供一種自動組裝裝置100,用於配合流水線200以將配件300(如圖5)自動裝配至工件400(如圖2)上。自動組裝裝置100包括工作臺10、上料模組20、定位模組30、點膠模組40、裝配模組50及檢測模組60。上料模組20設置於流水線200的一側以對自動組裝裝置100上料作業;定位模組30固定設置於工作臺10上且臨近於上料模組20以用於定位工件400;點膠模組40固定設置於工作臺10上以對配件300進行點膠處理;裝配模組50固定設置於工作臺10上且位於定位模組30遠離上料模組20的一側以將配件300裝配至工件400上。檢測模組60固定設置於工作臺10上且位於上料模組20與定位模組30之間,以配合裝配模組50行使裝配動作,並對完成裝配後的工件400進行檢測處理以篩選不合格工件400。 Please refer to FIG. 1, a preferred embodiment of the present invention provides an automatic assembly device 100 for cooperating with an assembly line 200 to automatically assemble an accessory 300 (see FIG. 5) to a workpiece 400 (see FIG. 2). The automatic assembly device 100 includes a workbench 10, a loading module 20, a positioning module 30, a dispensing module 40, an assembly module 50, and a detection module 60. The loading module 20 is disposed on one side of the assembly line 200 to load the automatic assembly device 100; the positioning module 30 is fixedly disposed on the workbench 10 and adjacent to the loading module 20 for positioning the workpiece 400; dispensing The module 40 is fixed on the workbench 10 to dispense the accessory 300; the assembly module 50 is fixed on the workbench 10 and located on the side of the positioning module 30 away from the loading module 20 to assemble the accessory 300 Onto the workpiece 400. The detection module 60 is fixedly disposed on the workbench 10 and is located between the loading module 20 and the positioning module 30 to cooperate with the assembly module 50 to perform assembly actions, and performs detection processing on the completed workpiece 400 to screen Qualified workpiece 400.
於本實施方式中,複數配件300有序放置於托盤600中,且複數托盤600層疊放置於工作臺10上,並鄰近於裝配模組50,以便於裝配模組50進行取料作業。 In this embodiment, the plurality of accessories 300 are placed in an orderly manner in the tray 600, and the plurality of trays 600 are stacked on the workbench 10 and adjacent to the assembly module 50, so that the assembly module 50 can perform the reclaiming operation.
於本實施方式中,工件400盛放於載具500上,流水線200對應自動組裝裝置100的位置還設有導向板210、擋料氣缸220及保護氣缸230。導向板210的數量為兩個,且對稱設置於流水線200的兩側,以導向載有工件400的載具500。擋料氣缸220設置於導向板210下游端。當需對自動組裝裝置100上料時,擋料氣缸220伸下以將載有工件400的載具500擋下,從而實現工件 400在流水線200上的定位工作。保護氣缸230設置於其中一個導向板210的近似中央位置,以將上游載有工件400的載具500擋住,避免造成過多載具500在流水線200的堆疊,從而造成工件400的碰刮傷。 In this embodiment, the workpiece 400 is placed on the carrier 500, and the assembly line 200 is provided with a guide plate 210, a material blocking cylinder 220, and a protection cylinder 230 at a position corresponding to the automatic assembly device 100. The number of the guide plates 210 is two, and they are symmetrically disposed on both sides of the assembly line 200 to guide the carrier 500 carrying the workpiece 400. The blocking cylinder 220 is provided at the downstream end of the guide plate 210. When the automatic assembly device 100 needs to be loaded, the blocking cylinder 220 is extended to block the carrier 500 carrying the workpiece 400, thereby realizing the workpiece Positioning of 400 on the assembly line 200. The protection cylinder 230 is disposed at an approximate center position of one of the guide plates 210 to block the carrier 500 carrying the workpiece 400 upstream, so as not to cause excessive stacking of the carrier 500 on the assembly line 200, thereby causing the workpiece 400 to be scratched.
請一併參閱圖1與圖2,上料模組20包括暫存台21、上料機器人22及上料機械手23。暫存台21緊鄰於流水線200設置,以用於暫存來自流水線200上的載有工件400的載具500。暫存台21上設置有複數與載具500適配的定位銷211,以實現載有工件400的載具500在暫存台21的定位。上料機器人22設置於暫存台21遠離流水線200的一側,以用於控制上料機械手23運動。上料機械手23連接於上料機器人22的末端以行使取放料動作。上料機械手23包括安裝板231、背對設置於安裝板231兩側的第一抓料件232及第二抓料件233。於本實施方式中,安裝板231大致呈矩形板狀,第一抓料件232包括四個第一吸盤2321,且四個第一吸盤2321分別對應設置於矩形安裝板231的四個邊角處,但不限於此。第一抓料件232藉由第一吸盤2321吸附於工件400的表面以實現抓料工作。 Please refer to FIGS. 1 and 2 together. The loading module 20 includes a temporary storage table 21, a loading robot 22 and a loading robot 23. The temporary storage table 21 is disposed adjacent to the assembly line 200 for temporarily storing the carrier 500 carrying the workpiece 400 from the assembly line 200. The temporary storage table 21 is provided with a plurality of positioning pins 211 adapted to the carrier 500 to achieve positioning of the carrier 500 carrying the workpiece 400 on the temporary storage table 21. The loading robot 22 is disposed on the side of the temporary storage table 21 away from the assembly line 200 for controlling the movement of the loading robot 23. The loading manipulator 23 is connected to the end of the loading robot 22 to perform a pick-and-place action. The loading manipulator 23 includes a mounting plate 231, a first gripping member 232 and a second gripping member 233 disposed on opposite sides of the mounting board 231. In this embodiment, the mounting plate 231 is substantially rectangular. The first picking member 232 includes four first suction cups 2321, and the four first suction cups 2321 are respectively disposed at four corners of the rectangular mounting plate 231. , But not limited to this. The first gripper 232 is attracted to the surface of the workpiece 400 by the first suction cup 2321 to realize the gripping work.
第二抓料件233包括伸縮氣缸2331、兩個夾爪2332及複數第二吸盤2333。伸縮氣缸2331裝設於安裝板231背對第一抓料件232的一側,兩個夾爪2332連接於伸縮氣缸2331兩端,以用於夾持載具500。複數第二吸盤2333固定於夾爪2332背離伸縮氣缸2331的一側以用於吸附工件400。伸縮氣缸2331收縮以帶動兩個夾爪2332相向運動,並夾緊於載具500的兩相對側壁。同時,複數第二吸盤2333吸附固定工件400,以防止工件400由載具500中掉落。 The second gripper 233 includes a telescopic cylinder 2331, two clamping jaws 2332, and a plurality of second suction cups 2333. The telescopic cylinder 2331 is installed on a side of the mounting plate 231 facing away from the first gripping member 232, and two clamping claws 2332 are connected to both ends of the telescopic cylinder 2331 for clamping the carrier 500. A plurality of second suction cups 2333 are fixed to the side of the clamping jaw 2332 facing away from the telescopic cylinder 2331 for sucking the workpiece 400. The telescopic cylinder 2331 contracts to drive the two clamping jaws 2332 to move toward each other, and is clamped on two opposite side walls of the carrier 500. At the same time, the plurality of second suction cups 2333 suck and fix the workpiece 400 to prevent the workpiece 400 from falling off the carrier 500.
請一併參閱圖1與圖3,定位模組30包括支架31、旋轉氣缸32及定位組件33。支架31固定設置於工作臺10上且位於上料模組20與裝配模組50之間。旋轉氣缸32裝設於支架31上,以帶動定位組件33旋轉。定位組件33包括定位板331、固定於定位板331上的定位件332及抵壓件333。於本實施方式中,定位板331大致呈矩形狀,且定位板331的一側壁垂直連接於旋轉氣缸32上。定位件332包括定位塊3321及與定位塊3321相配合的定位氣缸3322。定位塊3321擋設於工件400的一側壁,定位氣缸3322推抵工件400的另一側壁,以實現工件400在定位板331上的水準定位。抵壓件333包括設置於定位板331上的抵壓氣缸3331及連接於抵壓氣缸3331上的壓塊3332。抵壓氣缸3331驅動 壓塊3332朝向工件400的方向運動,以將工件400壓緊貼合於定位板331上,進而實現工件400在豎直方向的定位。 Please refer to FIGS. 1 and 3 together. The positioning module 30 includes a bracket 31, a rotating cylinder 32 and a positioning assembly 33. The bracket 31 is fixedly disposed on the working table 10 and is located between the loading module 20 and the assembly module 50. The rotary cylinder 32 is installed on the bracket 31 to drive the positioning assembly 33 to rotate. The positioning assembly 33 includes a positioning plate 331, a positioning piece 332 fixed on the positioning plate 331, and a pressing piece 333. In this embodiment, the positioning plate 331 is substantially rectangular, and one side wall of the positioning plate 331 is vertically connected to the rotary cylinder 32. The positioning member 332 includes a positioning block 3321 and a positioning cylinder 3322 matched with the positioning block 3321. The positioning block 3321 is blocked on one side wall of the workpiece 400, and the positioning cylinder 3322 is pushed against the other side wall of the workpiece 400 to achieve horizontal positioning of the workpiece 400 on the positioning plate 331. The pressing member 333 includes a pressing cylinder 3331 provided on the positioning plate 331 and a pressing block 3332 connected to the pressing cylinder 3331. Drive against the cylinder 3331 The pressing block 3332 moves toward the workpiece 400 to press the workpiece 400 against the positioning plate 331, so as to realize the positioning of the workpiece 400 in the vertical direction.
請一併參閱圖1與圖4,點膠模組40包括固定於工作臺10上的固定架41及裝設於固定架41上的點膠筒42,點膠筒42用於盛放膠水。點膠筒42朝向工作臺10的一端設有一個點膠針421,點膠針421用於引出點膠筒42中的膠水,並塗於配件300的裝配面上。 Please refer to FIG. 1 and FIG. 4 together. The dispensing module 40 includes a fixing frame 41 fixed on the working table 10 and a dispensing barrel 42 mounted on the fixing frame 41. The dispensing barrel 42 is used for holding glue. An end of the dispensing barrel 42 facing the workbench 10 is provided with a dispensing needle 421. The dispensing pin 421 is used to draw out the glue in the dispensing barrel 42 and apply it to the assembly surface of the accessory 300.
可理解,點膠模組40還包括一感應器(圖未示),該感應器用於感測來料,以觸控點膠針421上的控制開關(圖未示)開啟與否,進而實現點膠模組40的自動化點膠,但不限於此。 It can be understood that the dispensing module 40 further includes a sensor (not shown), which is used to sense incoming materials, and whether the control switch (not shown) on the dispensing needle 421 is touched to turn on or not, thereby achieving The automatic dispensing of the dispensing module 40 is not limited thereto.
請一併參閱圖1與圖5,裝配模組50包括裝配機器人51及裝配機械手52,裝配機器人51固定設置於工作臺10上,以用於控制裝配機械手52運動。裝配機械手52連接於裝配機器人51的末端以行使抓料及裝配動作。裝配機械手52包括連接法蘭521、固定座522及夾持件523。連接法蘭521連接於裝配機器人51,固定座522垂直固定於連接法蘭521,夾持件523裝設於固定座522上。該夾持件523包括夾持氣缸5231及兩個夾塊5232,兩個夾塊5232分別滑動裝設於固定座522上,夾持氣缸5231驅動兩個夾塊5232相向運動以夾持配件300。 Please refer to FIGS. 1 and 5 together. The assembly module 50 includes an assembly robot 51 and an assembly manipulator 52. The assembly robot 51 is fixedly installed on the workbench 10 for controlling the movement of the assembly manipulator 52. The assembling manipulator 52 is connected to the end of the assembling robot 51 to perform material picking and assembling actions. The assembly manipulator 52 includes a connecting flange 521, a fixing base 522 and a clamping member 523. The connecting flange 521 is connected to the assembly robot 51, the fixing base 522 is vertically fixed to the connecting flange 521, and the clamping member 523 is mounted on the fixing base 522. The clamping member 523 includes a clamping cylinder 5231 and two clamping blocks 5232. The two clamping blocks 5232 are slidably mounted on the fixing base 522 respectively. The clamping cylinder 5231 drives the two clamping blocks 5232 to move toward each other to clamp the fitting 300.
裝配機械手52還包括一加熱件524,以對配件300預熱處理。加熱件524包括加熱器5241、導熱塊5242及溫度感測器5243。加熱器5241的一端電連接於外界的電源,另一端連接於導熱塊5242,以對導熱塊5242加熱處理。導熱塊5242裝設於固定座522上並凸伸於兩個夾塊5232之間,以對配件300預熱。溫度感測器5243的一端連接於導熱塊5242上,另一端連接於外界的顯示幕(圖未示),以感測導熱塊5242的溫度並顯示於該顯示幕上,進而便於作業人員對導熱塊5242的溫度進行調節。 The assembly manipulator 52 also includes a heating element 524 to pre-heat the accessory 300. The heating element 524 includes a heater 5241, a heat conduction block 5242, and a temperature sensor 5243. One end of the heater 5241 is electrically connected to the external power source, and the other end is connected to the heat conduction block 5242 to heat the heat conduction block 5242. The heat conduction block 5242 is installed on the fixing base 522 and protrudes between the two clamping blocks 5232 to preheat the fitting 300. One end of the temperature sensor 5243 is connected to the thermally conductive block 5242, and the other end is connected to an external display screen (not shown) to sense the temperature of the thermally conductive block 5242 and display it on the display screen, so that the operator can easily conduct heat The temperature of block 5242 is adjusted.
於本實施方式中,裝配機器人51及裝配機械手52的均為兩個,且兩個裝配機器人51分別控制相應的裝配機械手52行使抓料或裝配動作,以提高了裝配效率,但不限於此。 In this embodiment, both the assembly robot 51 and the assembly manipulator 52 are two, and the two assembly robots 51 respectively control the corresponding assembly manipulator 52 to perform a material picking or assembly action to improve assembly efficiency, but is not limited to this.
請一併參閱圖1、圖6及圖7,裝配模組50還包括位於兩個裝配機器人51之間的校正機構53,校正機構53用於對配件300進行定位,以校正配件300在裝配機械手52上的夾持位置。 Please refer to FIGS. 1, 6 and 7 together. The assembly module 50 further includes a calibration mechanism 53 between the two assembly robots 51. The calibration mechanism 53 is used to position the accessory 300 to calibrate the accessory 300 in the assembly machine The clamping position on the hand 52.
校正機構53包括固定於工作臺10上的底座531、裝設於底座531上的第一夾持件532及第二夾持件533。底座531背離工作臺10的一面開設有凹槽5311,以用於收納配件300。底座531還包括避位孔5312,避位孔5312對應於部分貫穿凹槽5311的底部,以避位第一夾持件532及第二夾持件533行使校正動作。第一夾持件532包括第一夾持氣缸5321及兩個第一夾塊5322,第一夾持氣缸5321固定於底座531上,兩個第一夾塊5322分別連接於第一夾持氣缸5321,以橫向夾緊定位配件300。第二夾持件533包括第二夾持氣缸5331及第二夾塊5332,第二夾持氣缸5331固定於底座531上,第二夾塊5332連接於第二夾持氣缸5331,以縱向夾緊定位配件300。 The calibration mechanism 53 includes a base 531 fixed on the workbench 10, a first clamping member 532 and a second clamping member 533 mounted on the base 531. A groove 5311 is formed on the side of the base 531 facing away from the workbench 10 for accommodating the accessory 300. The base 531 further includes a position avoiding hole 5312 corresponding to the bottom of the partially penetrating groove 5311 to prevent the first clamping member 532 and the second clamping member 533 from performing a correction action. The first clamping member 532 includes a first clamping cylinder 5321 and two first clamping blocks 5322, the first clamping cylinder 5321 is fixed on the base 531, and the two first clamping blocks 5322 are respectively connected to the first clamping cylinder 5321 , To position the fitting 300 with lateral clamping. The second clamping member 533 includes a second clamping cylinder 5331 and a second clamping block 5332. The second clamping cylinder 5331 is fixed on the base 531, and the second clamping block 5332 is connected to the second clamping cylinder 5331 for longitudinal clamping Positioning accessories 300.
裝配機器人51控制裝配機械手52從托盤600中抓取配件300,並將其放置於底座531的凹槽5311中,第一夾持件532與第二夾持件533分別夾持定位配件300。然後,第一夾持件532與第二夾持件533分別鬆弛配件300,以便於裝配機械手52取出該配件300。 The assembly robot 51 controls the assembly robot 52 to grab the accessory 300 from the tray 600 and place it in the groove 5311 of the base 531. The first clamping member 532 and the second clamping member 533 respectively clamp the positioning accessory 300. Then, the first clamping member 532 and the second clamping member 533 loosen the fitting 300 respectively, so that the assembly robot 52 can take out the fitting 300.
於本實施方式中,第一夾持件532、第二夾持件533及凹槽5311的數量均為兩個,並一一對應設置,但不限於此。 In this embodiment, the number of the first clamping member 532, the second clamping member 533, and the groove 5311 are two, and are arranged one by one correspondingly, but it is not limited thereto.
可理解,校正機構53也可以省略,此時裝配機械手52從托盤600中抓取配件300,裝配機器人51直接控制裝配機械手52並將配件300裝配至工件400上。 It can be understood that the correction mechanism 53 may also be omitted. At this time, the assembly robot 52 grabs the accessory 300 from the tray 600, and the assembly robot 51 directly controls the assembly robot 52 and assembles the accessory 300 onto the workpiece 400.
請一併參閱圖1與圖8,檢測模組60包括第一傳送組件61、第二傳送組件62及檢測組件63。第一傳送組件61與第二傳送組件62配合以將檢測組件63移動至所需檢測位置。第一傳送組件61包括固定於工作臺10上的基座611、設置於基座611上的第一驅動件612、第一滑軌613及滑動裝設於第一滑軌613上的滑動座614。第一驅動件612驅動滑動座614沿第一滑軌613的方向運動。第二傳送組件62包括固定於滑動座614上的第二驅動件621、第二滑軌622及滑動裝設於第二滑軌622上的升降座623。第二驅動件621驅動升降座623沿第二滑軌622的方向運動。於本實施方式中,滑動座614的運動方向與升降座623運動方向相互垂直。 Please refer to FIGS. 1 and 8 together. The detection module 60 includes a first transmission component 61, a second transmission component 62 and a detection component 63. The first transfer component 61 cooperates with the second transfer component 62 to move the detection component 63 to a desired detection position. The first conveying assembly 61 includes a base 611 fixed on the workbench 10, a first driving member 612 provided on the base 611, a first sliding rail 613, and a sliding seat 614 slidingly mounted on the first sliding rail 613 . The first driving member 612 drives the sliding base 614 to move in the direction of the first sliding rail 613. The second conveying assembly 62 includes a second driving member 621 fixed on the sliding base 614, a second sliding rail 622, and a lifting base 623 slidingly mounted on the second sliding rail 622. The second driving member 621 drives the lifting base 623 to move in the direction of the second slide rail 622. In this embodiment, the movement direction of the slide base 614 and the movement direction of the lift base 623 are perpendicular to each other.
檢測組件63包括固定於升降座623上的CCD攝像器631及鐳射測距器632。CCD攝像器631用於檢測配件300與工件400進行對位時的偏差值,從而回饋於裝配模組50以調整裝配角度或裝配位置。鐳射測距器632用於檢測 完成組裝後的配件300與工件400之間的斷差,便於篩選出組裝不合格的工件400。 The detection assembly 63 includes a CCD camera 631 and a laser rangefinder 632 fixed on the lifting base 623. The CCD camera 631 is used to detect the deviation value when the accessory 300 and the workpiece 400 are aligned, so as to feed back to the assembly module 50 to adjust the assembly angle or assembly position. Laser rangefinder 632 is used for detection After the assembly is completed, the break between the accessory 300 and the workpiece 400 is convenient for screening out the unqualified workpiece 400.
於本實施方式中,當配件300與工件400完成組裝後,旋轉氣缸32帶動定位組件33旋轉,以利於鐳射測距器632多方位地檢測配件300與工件400之間斷差。 In this embodiment, after the assembly of the accessory 300 and the workpiece 400 is completed, the rotary cylinder 32 drives the positioning assembly 33 to rotate, so that the laser rangefinder 632 can detect the gap between the accessory 300 and the workpiece 400 in multiple directions.
可理解,本實施方式中的CCD攝像器631可由其它類型的檢測器替代,只要其便於檢測配件300與工件400對位時的偏差值即可。 It can be understood that the CCD camera 631 in this embodiment may be replaced by other types of detectors, as long as it is convenient to detect the deviation value when the accessory 300 and the workpiece 400 are aligned.
可理解,本實施方式中的鐳射測距器632也可由其它類型的檢測器替代,只要其便於檢測組裝後的配件300與工件400之間的斷差即可。 It can be understood that the laser range finder 632 in this embodiment can also be replaced by other types of detectors, as long as it is convenient to detect the break between the assembled accessory 300 and the workpiece 400.
於本實施方式中,定位模組30及裝配模組50的數量均為兩個,以便於提高了裝配效率,但不限於此。 In this embodiment, the number of the positioning module 30 and the assembly module 50 are both two, so as to improve the assembly efficiency, but it is not limited to this.
可理解,自動組裝裝置100還可以包括一電控模組(圖未示),該電控模組分別電性連接於上料模組20、定位模組30、點膠模組40、裝配模組50及檢測模組60,並用於協調上料模組20、定位模組30、點膠模組40、裝配模組50及檢測模組60之間的動作指令。 It can be understood that the automatic assembly device 100 may further include an electronic control module (not shown), which is electrically connected to the loading module 20, the positioning module 30, the dispensing module 40, and the assembly module The group 50 and the detection module 60 are used for coordinating the movement instructions between the loading module 20, the positioning module 30, the dispensing module 40, the assembly module 50 and the detection module 60.
可理解,在流水線200的兩側均可分別設置自動組裝裝置100,以便於提高組裝效率。 It can be understood that the automatic assembling device 100 can be provided on both sides of the assembly line 200 in order to improve assembly efficiency.
組裝時,上料機器人22控制上料機械手23將流水線200上載有工件400的載具500取放至暫存台21上。然後,上料機器人22控制上料機械手23旋轉180度並藉由第一吸盤2321將載具500中的工件400取出,並放置於定位板331上,然後,定位件332及抵壓件333將工件400夾緊定位於定位板331上。裝配機器人51控制裝配機械手52將配件300從托盤600取出,並放置於校正機構53進行校正。然後,裝配機器人51控制裝配機械手52將校正機構53中的配件300取出,並對位於點膠針421下,以便於點膠模組40對配件300塗膠處理。同時,加熱件524對配件300預熱處理以避免膠水在配件300固化。然後,裝配模組50在檢測模組60的CCD攝像器631的配合作用下,以將塗有膠水的配件300的貼裝至工件400上。最後,檢測模組60的鐳射測距器632檢測完成組裝後的配件300與工件400之間的斷差是否合格。若檢測合格,上料機器 人22控制上料機械手23將工件400取出定位模組30,並放回至暫存台21的空載具500上。然後,上料機器人22控制上料機械手23旋轉180度並藉由第二抓料件233將載有工件400的載具500放回於流水線200上,以流向下一工站。 During assembly, the loading robot 22 controls the loading manipulator 23 to pick up and place the carrier 500 carrying the workpiece 400 on the assembly line 200 to the temporary storage table 21. Then, the loading robot 22 controls the loading robot 23 to rotate 180 degrees and take out the workpiece 400 in the carrier 500 through the first suction cup 2321, and place it on the positioning plate 331. Then, the positioning member 332 and the pressing member 333 The workpiece 400 is clamped and positioned on the positioning plate 331. The assembly robot 51 controls the assembly robot 52 to take out the accessory 300 from the tray 600 and place it in the calibration mechanism 53 to perform calibration. Then, the assembling robot 51 controls the assembling robot 52 to take out the fitting 300 in the correction mechanism 53 and places it under the dispensing needle 421 so that the dispensing module 40 can apply glue to the fitting 300. At the same time, the heating element 524 preheats the accessory 300 to prevent the glue from curing in the accessory 300. Then, the assembly module 50 cooperates with the CCD camera 631 of the detection module 60 to attach the glue-coated accessory 300 to the work 400. Finally, the laser range finder 632 of the detection module 60 detects whether the break between the assembled accessory 300 and the workpiece 400 is acceptable. If the test passes, the feeding machine The person 22 controls the loading manipulator 23 to take the workpiece 400 out of the positioning module 30 and put it back on the empty carrier 500 of the temporary storage table 21. Then, the loading robot 22 controls the loading robot 23 to rotate 180 degrees and put the carrier 500 carrying the workpiece 400 back on the assembly line 200 through the second gripper 233 to flow to the next station.
本發明實施方式的自動組裝裝置100藉由上料機器人22控制上料機械手23以實現工件400的自動化上料。同時,定位模組30還透過定位件332與抵壓件333之間的配合以實現工件400的精確定位。另,裝配模組50藉由設置一加熱件524,以實現對配件300的預熱處理,有效防止塗設於配件300上的膠水固化,進而提升了裝配的穩定性。因此,自動組裝裝置100的自動化程度較高,替代了傳統人工組裝的方式,降低了勞動強度,有效提高組裝效率及組裝精度。 The automatic assembly device 100 according to the embodiment of the present invention controls the loading robot 23 by the loading robot 22 to realize the automatic loading of the workpiece 400. At the same time, the positioning module 30 also realizes precise positioning of the workpiece 400 through the cooperation between the positioning member 332 and the pressing member 333. In addition, the assembly module 50 is provided with a heating element 524 to realize the pre-heat treatment of the accessory 300, which effectively prevents the glue applied on the accessory 300 from solidifying, thereby improving the stability of the assembly. Therefore, the automatic assembly device 100 has a high degree of automation, which replaces the traditional manual assembly method, reduces labor intensity, and effectively improves assembly efficiency and assembly accuracy.
綜上所述,本發明符合發明專利要件,爰依法提出專利申請。惟,以上該者僅為本發明之較佳實施例,舉凡熟悉本案技藝之人士,於爰依本發明精神所作之等效修飾或變化,皆應涵蓋於以下之如申請專利範圍內。 In summary, the present invention meets the requirements of the invention patent, and the patent application is filed in accordance with the law. However, the above are only preferred embodiments of the present invention. For those who are familiar with the skills of this case, equivalent modifications or changes made in accordance with the spirit of the present invention should be covered within the scope of the following patent applications.

Claims (10)

  1. 一種自動組裝裝置,用於配合流水線以將配件裝配至工件上,其包括工作臺、上料模組、定位模組、點膠模組、裝配模組及電控模組,該上料模組用於將該工件傳送至定位模組,該定位模組、該點膠模組及該裝配模組分別固定於該工作臺上,該定位模組用於定位該工件,該點膠模組用於對該配件塗膠處理,該裝配模組用於將塗膠處理後的該配件貼裝至該工件上,該電控模組分別電性連接於該上料模組、定位模組、點膠模組及裝配模組,以協調各模組之間的動作指令,其改良在於:該裝配模組包括固定於該工作臺上的裝配機器人及連接於該裝配機器人的裝配機械手,該裝配機器人控制該裝配機械手抓取該配件,以使其對位於該點膠模組並進行塗膠處理,該裝配機械手包括固定座、夾持件及加熱件,該夾持件包括裝設於該固定座上的夾持氣缸及滑動裝設於該固定座上的兩個夾塊,該夾持氣缸驅動該兩個夾塊相向運動以夾持該配件,該加熱件部分凸伸於該兩個夾塊之間以對該配件預熱處理,該自動組裝裝置還包括設置於該工作臺上的檢測模組,該檢測模組包括兩個檢測器,其中一檢測器用於檢測該配件與該工件組裝對位時的偏差,並回饋於該裝配模組以調整裝配位置,另一檢測器用於檢測完成組裝後的該配件與該工件之間的斷差,以篩出組裝不合格的工件。An automatic assembling device is used to match the assembly line to assemble the accessories to the workpiece. It includes a workbench, a loading module, a positioning module, a dispensing module, an assembly module and an electronic control module. The loading module It is used to transfer the workpiece to the positioning module. The positioning module, the dispensing module and the assembly module are respectively fixed on the workbench. The positioning module is used to position the workpiece. The dispensing module is used for In the process of gluing the accessory, the assembly module is used to mount the accessory after the gluing process on the workpiece, and the electronic control module is electrically connected to the loading module, the positioning module and the point respectively Glue module and assembly module to coordinate the movement instructions between the modules, the improvement is that the assembly module includes an assembly robot fixed on the worktable and an assembly manipulator connected to the assembly robot, the assembly The robot controls the assembly manipulator to grab the accessory so that it is located on the dispensing module and apply glue treatment. The assembly manipulator includes a fixed seat, a clamping member and a heating member, the clamping member includes Clamping cylinder and sliding assembly on the fixed seat Two clamping blocks on the fixing seat, the clamping cylinder drives the two clamping blocks to move toward each other to clamp the fitting, the heating element partially protrudes between the two clamping blocks to pre-heat the fitting , The automatic assembly device also includes a detection module disposed on the workbench, the detection module includes two detectors, one of which is used to detect the deviation of the accessory and the workpiece during assembly and alignment, and feedback to the Assemble the module to adjust the assembly position, and another detector is used to detect the break between the accessory and the workpiece after assembly to screen out the unqualified workpiece.
  2. 如請求項第1項所述之自動組裝裝置,其中,該工件盛放於一載具中,該上料模組包括暫存台、上料機器人及上料機械手,該暫存台緊鄰於該流水線設置,以用於暫存來自流水線且載有工件的載具,該暫存臺上設置有複數定位銷以定位該載具,該上料機器人位於該暫存台遠離該流水線的一側,以控制該上料機械手對該定位模組進行上料。The automatic assembly device according to claim 1, wherein the workpiece is contained in a carrier, and the loading module includes a temporary storage table, a loading robot and a loading robot, the temporary storage table is adjacent to The assembly line is provided for temporarily storing the carrier from the assembly line and carrying the workpiece. The temporary storage table is provided with a plurality of positioning pins to position the carrier. The loading robot is located on the side of the temporary storage table away from the assembly line To control the feeding robot to feed the positioning module.
  3. 如請求項第2項所述之自動組裝裝置,其中,該上料機械手包括安裝板、背對設置於該安裝板兩側的第一抓料件及第二抓料件,該第一抓料件包括複數第一吸盤,該第一抓料件藉由複數該第一吸盤吸附於該工件的表面以實現工件的抓取工作;該第二抓料件包括伸縮氣缸、兩個夾爪及複數第二吸盤,該伸縮氣缸裝設於該安裝板背對該第一抓料件的一側,該兩個夾爪連接於該伸縮氣缸兩端以夾持該載具,複數該第二吸盤固定於該夾爪背離該伸縮氣缸的一側以用於吸附固定該工件。The automatic assembling device according to claim 2, wherein the loading manipulator includes a mounting plate, a first gripping member and a second gripping member disposed on opposite sides of the mounting plate, the first gripping The material part includes a plurality of first suction cups, and the first gripping part is adsorbed on the surface of the workpiece by the plurality of first suction cups to realize the work of grasping the workpiece; the second gripping part includes a telescopic cylinder, two clamping jaws and A plurality of second suction cups, the telescopic cylinder is installed on a side of the mounting plate facing away from the first gripping member, the two clamping jaws are connected to both ends of the telescopic cylinder to clamp the carrier, and the plurality of second suction cups It is fixed on the side of the clamping jaw facing away from the telescopic cylinder for adsorbing and fixing the workpiece.
  4. 如請求項第1項所述之自動組裝裝置,其中,該定位模組包括支架、旋轉氣缸及定位組件,該支架固定設置於該工作臺上,該旋轉氣缸裝設於該支架上,以帶動該定位組件旋轉。The automatic assembly device according to claim 1, wherein the positioning module includes a bracket, a rotating cylinder and a positioning assembly, the bracket is fixedly disposed on the worktable, and the rotating cylinder is mounted on the bracket to drive The positioning assembly rotates.
  5. 如請求項第4項所述之自動組裝裝置,其中,該定位組件包括定位板、固定於該定位板上的定位件及抵壓件,該定位板垂直連接於該旋轉氣缸,該定位件包括定位塊及與該定位塊相配合的定位氣缸,該定位塊擋設於該工件的一側壁,該定位氣缸推抵該工件的另一側壁,以夾緊定位該工件,該抵壓件包括設置於該定位板上的抵壓氣缸及連接於該抵壓氣缸上的壓塊,該抵壓氣缸驅動該壓塊朝向該工件運動,以將該工件壓緊於該定位板上。The automatic assembling device according to claim 4, wherein the positioning assembly includes a positioning plate, a positioning member fixed on the positioning board and a pressing member, the positioning board is vertically connected to the rotary cylinder, and the positioning member includes A positioning block and a positioning cylinder matched with the positioning block, the positioning block is blocked on one side wall of the work piece, the positioning cylinder pushes against the other side wall of the work piece to clamp and position the work piece, and the pressing piece includes The pressing cylinder on the positioning plate and the pressing block connected to the pressing cylinder drive the pressing block to move toward the workpiece to press the workpiece against the positioning plate.
  6. 如請求項第1項所述之自動組裝裝置,其中,該點膠模組包括固定於該工作臺上的固定架及裝設於該固定架上的點膠筒,該點膠筒用於盛放膠水,該點膠筒朝向該工作臺的一端設有點膠針,該點膠針用於引出該點膠筒中的膠水並塗於該配件上。The automatic assembling device according to item 1 of the claim, wherein the dispensing module includes a fixing frame fixed on the worktable and a dispensing cylinder mounted on the fixing frame, the dispensing cylinder is used for holding Dispensing glue, an end of the dispensing cylinder facing the worktable is provided with a dispensing needle, and the dispensing needle is used to draw out the glue in the dispensing cylinder and apply it to the accessory.
  7. 如請求項第1項所述之自動組裝裝置,其中,該裝配機械手還包括連接法蘭,該連接法蘭連接於該裝配機器人,該固定座垂直固定於該連接法蘭。The automatic assembly device according to claim 1, wherein the assembly manipulator further includes a connection flange, the connection flange is connected to the assembly robot, and the fixing base is vertically fixed to the connection flange.
  8. 如請求項第7項所述之自動組裝裝置,其中,該加熱件包括加熱器、導熱塊及溫度感測器,該加熱器連接於該導熱塊以對該導熱塊加熱處理,該導熱塊裝設於該固定座並凸伸於該兩個夾塊之間,以對配件進行預熱,該溫度感測器連接於該導熱塊,以用於感測該導熱塊的溫度。The automatic assembly device according to claim 7, wherein the heating element includes a heater, a heat conduction block and a temperature sensor, the heater is connected to the heat conduction block to heat-process the heat conduction block, the heat conduction block is installed It is arranged on the fixing base and protrudes between the two clamping blocks to preheat the fittings. The temperature sensor is connected to the heat conduction block for sensing the temperature of the heat conduction block.
  9. 如請求項第1項所述之自動組裝裝置,其中,該裝配模組還包括一校正機構,用以校正該配件在該裝配機械手上的位置,該校正機構包括固定於工作臺上的底座、裝設於底座上的第一夾持件及第二夾持件,該第一夾持件與該第二夾持件配合以將該配件定位於該底座上。The automatic assembly device as described in claim 1, wherein the assembly module further includes a calibration mechanism for calibrating the position of the accessory on the assembly robot, the calibration mechanism includes a base fixed on the worktable 1. A first clamping member and a second clamping member installed on the base, the first clamping member cooperates with the second clamping member to position the accessory on the base.
  10. 如請求項第1項所述之自動組裝裝置,其中,該檢測模組包括第一傳送組件及第二傳送組件,該第一傳送組件與該第二傳送組件配合以將該兩個檢測器移動至所需檢測的位置。The automatic assembly device according to claim 1, wherein the detection module includes a first transfer component and a second transfer component, the first transfer component cooperates with the second transfer component to move the two detectors To the desired detection position.
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