TWI660785B - Automatic workpiece sticking equipment and method thereof - Google Patents

Abstract

Automatic workpiece joining equipment and method. The automatic workpiece joining equipment includes a camera device, a dispensing unit, a robot arm, and a processing unit. The camera device captures the image of the workpiece to be processed; the dispensing unit is arranged adjacent to the camera device; the robot arm is arranged around the camera device and is suitable for picking up the workpiece; the processing unit is electrically coupled to the camera device, the dispensing unit and the robot arm, of which After the processing unit controls the robotic arm to pick up the workpiece, the robotic arm moves the workpiece to an image capture position adjacent to the camera device so that the camera device captures the attitude image of the workpiece. The processing unit corrects the attitude of the workpiece based on the attitude image, and the robotic arm moves the workpiece Go to the dispensing unit and apply glue to the two parts.

Description

Automatic workpiece joining equipment and automatic workpiece joining method

The invention relates to an automatic equipment and an automatic method, and in particular to an automatic workpiece joining device and an automatic workpiece joining method.

With the advancement of science and technology, we will actively develop automated equipment in order to replace the conventional assembly process with machinery, and put the saved labor into research and development more effectively.

For example, in order to reduce the use of assembly parts and the overall aesthetics of the electronic device, so as to reduce the number of holes in the workpiece, the assembly of the workpiece may be selected to be glued together.

The aforementioned bonding step of bonding two workpieces together using glue includes at least dispensing on the bonding surface of the workpiece, and bringing the two bonding surfaces close to each other after the bonding surfaces of the workpiece face each other. These two steps are usually performed manually.

The manual joining method requires a large number of operators. In addition, the location of the glue on the workpiece is related to the experience of the operator, because the location of the glue will affect the aesthetics of the workpiece after joining, and whether the glue will overflow and affect other components in the workpiece. In addition, because of operator distraction, tiredness, or other reasons, the alignment of workpiece joints may be inaccurate, resulting in lower product yield.

The invention provides an automatic workpiece joining device and an automatic workpiece joining method which can save manpower.

The automatic workpiece joining equipment of the present invention includes a camera device, a dispensing unit, a first robot arm, a second robot arm, and a processing unit. The camera device captures an image of a workpiece to be processed; the dispensing unit is arranged adjacent to the camera device; a first robot arm and a second robot arm are arranged around the camera device; the first robot arm is adapted to pick up the first workpiece and the second machine The arm is adapted to pick up the second workpiece; the processing unit is electrically coupled to the camera device, the dispensing unit, the first robotic arm, and the second robotic arm, wherein the processing unit controls the first robotic arm to pick up the first workpiece and the second robotic arm to pick up the first workpiece. The two workpieces are used to move the first workpiece and the second workpiece to the recognition position of the adjacent camera device so that the camera device captures the posture images of the first workpiece and the second workpiece, and the processing unit corrects the first workpiece and the second workpiece according to the posture images. After the posture, the first robotic arm moves the first workpiece and the second robotic arm moves the second workpiece to the dispensing unit and applies glue to the first workpiece or the second workpiece to attach the first workpiece and the second workpiece.

An automated workpiece joining method of the present invention includes providing a first workpiece and a second workpiece; and providing an automated workpiece joining device, wherein a processing unit of the automated workpiece joining device controls a pair of robotic arms to pick up a first workpiece and a second workpiece, respectively. ; The robotic arm moves the first workpiece and the second workpiece to be adjacent to the camera device of the automated workpiece joining device, so as to capture the first attitude image of the first workpiece and the second attitude image of the second workpiece through the camera device and correct the first The attitude of the workpiece and the second workpiece; the processing unit corrects the attitude of the first workpiece and the second workpiece according to the first attitude image and the second attitude image; and the robot arm moves the first workpiece and the second workpiece to the automated workpiece joint The first work piece and the second work piece are glued under the dispensing unit of the equipment to adhere the first work piece and the second work piece.

Based on the above, the aforementioned automatic workpiece joining equipment and automatic workpiece joining method provide a device that automatically recognizes the postures of two workpieces and can automatically adjust the two workpieces to the correct posture for joining by using an image capture method and This method can reduce the manual operation steps of the assembly staff during the joining process, which can more effectively allocate manpower and save the cost of manpower.

FIG. 1 is a schematic diagram of an automated workpiece joining apparatus. Please refer to FIG. 1, an automatic workpiece joining apparatus 100 is used to automatically join two or more workpieces mechanically together to reduce the labor requirements in the manufacturing process and improve the yield of the joined workpieces. The automated workpiece joining apparatus 100 includes a camera 130, a pair of dispensing units 140, a pair of robotic arms, and a processing unit 170.

In brief, the camera 130, the dispensing unit 140, and the robot arm are all electrically coupled to the processing unit 170. The processing unit 170 controls the robot arm to pick up the first workpiece 200 and the second workpiece 300, and then the first workpiece 200 and the second workpiece 300 are picked up. After the two workpieces 300 move to a recognition position adjacent to the camera device, the camera device 130 captures the posture images of the first workpiece 200 and the second workpiece 300. The processing unit 170 receives the posture image of the camera 130 and compares and recognizes it with the information stored in the database or the processing unit 170, and then controls the robotic arm to correct the attitude of the first workpiece 200 and the second workpiece 300 according to the recognition result. After that, the first workpiece 200 and the second workpiece 300 are moved to the dispensing unit 140 and are glued by the dispensing unit 140 in a correct posture for bonding. Incidentally, the processing unit 170 can control the dosage of the dispensing unit 140 each time the glue is output.

In detail, the robot arm is a multi-axis robot arm, wherein the first robot arm 150 is used to pick up the first workpiece 200 and the second robot arm 160 is used to pick up the second workpiece 300. The aforementioned posture includes the position, angle, position to be coated of the first workpiece 200 relative to the first robot arm 150, or a combination thereof. Of course, the posture may also be the position, angle, position to be glued or the combination of the second workpiece 300 relative to the second robot arm 160.

In this embodiment, a first material loading area 110 and a second material loading area 120 for material preparation can also be provided in the automatic workpiece joining equipment 100, wherein the first material loading area 110 and the second material loading area 120 are respectively used for The first workpiece 200 and the second workpiece 300 are placed. In the preferred embodiment, including but not limited to, the camera device 130 may be disposed at a central portion of the entire automated workpiece joining apparatus 100, and the first loading area 110 and the second loading area 120 are provided on the front side of the camera device 130. There may be only one dispensing unit 140, or multiple dispensing units 140, depending on the requirements. The dispensing unit 140 is disposed adjacent to the camera 130, and the location of the dispensing unit 140 only needs to facilitate the dispensing of the first workpiece 200 and the second workpiece 300 held by the robot arm. In this embodiment, the first robot arm 150 is disposed between the camera 130 and the first loading area 110 and the second robot arm 160 is disposed between the camera 130 and the second loading area 120.

In addition, the automated workpiece joining apparatus 100 also has a third loading area 180 for placing the first workpiece 200 and the second workpiece 300 after joining, and the third loading area 130 is disposed on the camera device 130 relative to the first loading area. The rear side of the material area 110 and the second material area 120. In addition, the automated workpiece joining apparatus 100 may further include a pressing unit 190 disposed on a moving path of the second robot arm 160, and the joined first workpiece 200 and the second workpiece 300 are transferred to the first robot arm 160 by the second robot arm 160. The three loading areas 180 are placed, and then a pressure is applied to the upper surfaces of the first workpiece 200 and the second workpiece 300 after bonding by the pressing unit 190 to press the first workpiece 200 and the second workpiece 300 together. In this example, the pressing unit 190 may be a pneumatic cylinder, and is provided as a pair, so as to face the joined first workpiece 200 and the second workpiece 200 from opposite sides of the joined first workpiece 200 and the second workpiece 300. Pressure is applied to the upper surface of the workpiece 300 to perform compression bonding. The pressing elements 190 are arranged in a pair and apply pressure to the upper surfaces of the joined first and second workpieces 200 and 300 from opposite sides of the joined first and second workpieces 200 and 300, which helps to apply The pressures on the upper surfaces of the joined first and second workpieces 200 and 300 are evenly distributed.

The aforementioned setting of the camera device 130, the dispensing unit 140, the first robot arm 150, the second robot arm, the processing unit 170, the first loading area 110, the second loading area 120, and the third loading area 180 The position is for illustration purposes only. After referring to the description of this embodiment, those skilled in the art can change the setting positions of the foregoing components according to process requirements.

The automated workpiece joining method will be described below with reference to the aforementioned automated workpiece joining apparatus 100.

FIG. 2 is a schematic flowchart of an automated workpiece joining method. Please refer to FIG. 1 and FIG. 2 at the same time. In step S110, a first workpiece 200 and a second workpiece 300 are provided. In this example, the first workpiece 200 and the second workpiece 300 are placed in the first loading area 110 and the second workpiece 300, respectively. Two loading areas 120, in which the first workpiece 200 is placed in the first loading area 110 and the second workpiece 300 is placed in the second loading area 120. The method can be manual or mechanical, according to the workpieces to be joined The nature of the choice.

In step S120, the aforementioned automatic workpiece joining apparatus 100 is provided. The processing unit 170 of the automatic workpiece joining apparatus 100 controls the first robot arm 150 to pick up the first workpiece 200 from the first loading area 110, and controls the second robot arm 160. The second workpiece 300 is picked from the second loading area 120. The picking here includes clamping, adsorption or other optional methods, which can be changed according to the type of the workpiece to be picked and the selection of the robot arm.

In step S130, the processing unit 170 controls the first robot arm 150 and the second robot arm 160 to move the first workpiece 200 and the second workpiece 300 to a recognition position adjacent to the camera 130, so as to capture the first through the camera 130 The first posture image of the workpiece 200 and the second posture image of the second workpiece 300. The recognition position may be below or around the camera device 130 or even above, and is set according to actual needs.

To further explain, after capturing the first posture image and the second posture image, the camera device 130 returns the first posture image and the second posture image to the processing unit 170, and the processing unit 170 will respond to the captured first posture. The image and the second posture image are identified, and the identification here includes identifying, through the posture image, whether the surface to be glued is a flat surface or a curved surface, the individual first workpiece 200 and the individual second workpiece 300 to be glued. In addition to the area, the captured posture image may also be compared with the data stored in the database or the processing unit 170 to compare the first workpiece 200 with respect to the first robot arm 150 and Whether the grip angle of the second workpiece 300 relative to the second robot arm 160 is deflected, or whether the positions of the first workpiece 200 relative to the first robot arm 150 and the position of the second workpiece 300 relative to the second robot arm 160 are offset, etc., etc., And the recognition result is returned to the processing unit 170, and the processing unit 170 then transmits a signal to the first robot arm 150 and the second robot arm 160 for correction according to the recognition result, so that for each recognition If the posture correcting the first workpiece 200 and second workpiece 300. In short, when the captured first posture image is, for example, when the first robot arm 150 picks up the first workpiece 200, it is compared with the information pre-stored in the processing unit 170 or the database. Compared with the reference point of the first robot arm 150, the comparison point is deflected by an angle and does not completely match the pre-stored information. After the processing unit 170 recognizes this situation, it calculates the value of the deflected angle, such as the comparison of the first workpiece 200 The point is deflected by 3 degrees compared to the reference point of the first robot arm 150, and the processing unit 170 sends a signal to reverse the first robot arm 150 by 3 degrees to compensate for the deflection angle of the first workpiece 200, so that the first workpiece 200 In the best position to be glued.

Alternatively, after the second robot arm 160 picks up the second workpiece 300, the second robot arm 160 moves the second workpiece 300 to a recognition position adjacent to the camera device 130 so that the camera device 130 captures a second posture image. Comparing the second pose image with the information pre-stored in the processing unit 170 or the database, the comparison point of the second workpiece 300 is offset from the reference point of the second robot arm 160 by a distance and does not completely match the pre-stored information, After the processing unit 170 recognizes this situation through comparison, the processing unit 170 calculates the value of the offset distance. For example, the comparison point of the second workpiece 300 is shifted by 0.3 cm from the reference point of the second robot arm 160. The processing unit 170 sends a signal to move the second robot arm 160 by 0.3 cm to make up for the offset distance of the second workpiece 300, so that the second workpiece 300 is in an optimal posture to be glued. The first workpiece 200 also performs posture image capture, identification, and correction in the same manner.

Incidentally, the identification and correction here are not only compared with the information built in the processing unit 170 or the database in advance, so that the robotic arm can automatically learn and perform the corrective action. It is through manual teaching, for example, the correction method and the correction value are input after manual judgment.

In step S140, the first robot arm 150 and the second robot arm 160 adjust the first workpiece 200 and the second workpiece 300 to correct and optimal postures according to the correction information given by the processing unit 170, and then the first robot arm 150 and the second robot arm 160 move the first workpiece 200 and the second workpiece 300 under the dispensing unit 140 to apply glue.

In addition to the distance and angle of the workpiece relative to the robot arm, the aforementioned calibration information may further include a path for the first robot arm 150 and the second robot arm 160 to move the first workpiece 200 and the second workpiece 300 to the dispensing unit 140, The area of the first workpiece 200 and the second workpiece 300 to be coated, the position to be coated, the first robot arm 150 adjusts the angle of the first workpiece 200 relative to the dispensing unit 140 or the second robot arm 160 adjusts the second workpiece The angle of 300 with respect to the dispensing unit 140... Etc., so that the first workpiece 200 and the second workpiece 300 are coated by the dispensing unit 140 with an optimized posture.

After that, the first robot arm 150 and the second robot arm 160 are moved to attach the first workpiece 200 and the second workpiece 300.

It may further include step S150, placing the bonded first workpiece 200 and the second workpiece 300 in the third loading area 180, and waiting for the first workpiece 200 and the second workpiece 300 to be bonded in a static manner. In addition, step S160 may be further included. The pressing unit 190 applies pressure to the upper surfaces of the first workpiece 200 and the second workpiece 300 after bonding placed in the third loading area 180 to enhance the first workpiece 200 and the first workpiece 200. Laminating effect of the two workpieces 300. Of course, different post-processing methods can be selected according to the type of glue. For example, when the type of glue coated on the first workpiece 200 and the second workpiece 300 is UV curing glue, they can be more closely bonded together. The first workpiece 200 and the second workpiece 300 are irradiated with ultraviolet light.

The aforementioned automatic workpiece joining device and method of the present invention can perform real-time image capture of the workpiece to be bonded through the use of a camera device, and then identify and correct the processing unit, so that the path of the robot arm moving the workpiece and the workpiece relative to the workpiece. The angle of the dispensing unit can be adjusted instantly, so it can be widely applied to various types of workpieces and various forms of surfaces to be joined.

Hereinafter, the automatic workpiece joining apparatus and method of the present invention will be further applied to the assembly of a golf club head.

FIG. 3 is a schematic diagram of an automated workpiece joining apparatus applied to a golf club head. As shown in FIG. 3, the automatic workpiece joining device of this embodiment is applied to a dispenser 500, which includes a first loading area 510, a second loading area 520, a first robot arm 550, and a second The robot arm 560, a pair of dispensing units 540, a camera unit 530, a processing unit 170 (please refer to FIG. 3), and a third loading area 580. The camera unit 530 is disposed in the central area of the entire dispensing machine 500. The first The arm 550, the second arm 560, and the dispensing unit 540 are arranged around the camera device 530. The first loading area 510 and the second loading area 520 are located at the front end of the dispensing machine 500, and the third loading area 580 is located at The rear end of the dispenser 500.

FIG. 4 is a schematic diagram of the first workpiece placed in the first material receiving area, and FIG. 5 is a schematic diagram of the second workpiece placed in the second material receiving area. Please refer to FIG. 3, FIG. 4, and FIG. 5 at the same time. When using the dispensing machine 500 as shown in FIG. 3 to perform the fitting step of the golf club head, the body 600 of the golf club head is placed in the first loading area 510. And the cover 700 of the golf club head is placed in the second loading area 520. It should be noted that, because the shape of the body 600 and the cover 700 of the golf club head is relatively special, it is difficult to fix or pick it up in a simple manner. Therefore, a clamping structure corresponding to the shape of the main body 600 and the cover 700 of the golf club head is designed in the first and second feeding areas 510 and 520. As can be seen from FIG. 4, two positioning blocks 512 and 514 are provided in the first loading area 510 for fixing the position of the body 600 of the golf club head placed in the first loading area 510, and one of them The positioning block 512 has an inclined surface 512a inclined with respect to the normal direction N of the first loading area 510, so that when the body 600 of the golf club head is placed on the first loading area 510, the body of the golf club head can be made The plane 600a of 600 abuts on this inclined surface 512a. Similarly, another positioning block 514 is also designed with a structure corresponding to the shape of the body 600 of the golf club head. The body 600 of the golf club head can be placed in the first loading area 510 by using the two positioning blocks 512 and 514.

The second loading area 520 is provided with a plurality of positioning blocks 522 and positioning rods 524, and the positioning blocks 522 and the positioning rods 524 are provided according to the shape of the cover 700 of the golf ball.

As described above, the body 600 of the golf club head has a positioning recess 602, and the first robot arm 550 has a positioning protrusion (not shown), wherein the shapes of the positioning recess 602 and the positioning protrusion (not shown) are complementary.

When the main body 600 of the golf club head is placed in the first loading area 510, the to-be-coated surface 604 (labeled in FIG. 6) of the main body 600 of the golf club head faces the platform of the first loading area 510. When the first robot arm 550 picks up the main body 600 of the golf club head, the positioning protrusion correspondingly extends into the positioning recess 602.

Different from the first robotic arm 550, the cover 700 of the golf club head to be picked up by the second robotic arm 560 is an arc-shaped sheet-shaped workpiece, and the weight of the cover 700 of the golf club head is heavier than that of a golf ball. The body 600 of the head is light in weight, so the second robot arm 560 can pick up the cover 700 of the golf club head in a vacuum suction manner. In detail, the second robot arm 560 includes a body 561 and a plurality of suction nozzles 562. The suction nozzle 562 passes through the body 561, and the back surface 704 of the cover 700 of the golf club head faces the second robot arm 560. When the mouth 562 contacts the cover 700 of the golf club head, the second robot arm 560 sucks the cover 700 of the golf club head by vacuuming, as shown in FIG. 7. In addition, in order for the second robot arm 560 to effectively grasp the cover 700 of the golf club head, the second robot arm 560 further includes a plurality of height adjusting members 563 protruding from the surface of the body 561, wherein the height adjusting members 563 protrude. The height of the main body 561 can be adjusted according to the shape of the back surface 704 of the cover 700 of the golf club head.

In addition, a sleeve 565 may be further disposed below the height adjusting member 563, and the sleeve 565 is formed of a softer material to provide cushioning when the second robot arm 560 picks up the cover 700 by suction, preventing the cover 700 Damaged.

After the first robot arm 550 picks up the body 600 of the golf club head and the second robot arm 560 picks up the cover body 700 of the golf club head, the first robot arm 550 and the second robot arm 560 separate the body of the golf club head, respectively. 600 and the cover 700 of the golf club head are transported to an identification position for the camera 530 to capture images of the body 600 of the golf club head and the cover 700 of the golf club head for comparison and identification. Before that, the first robotic arm 550 will flip the body 600 of the golf club head so that the surface to be coated 604 faces upward (as shown in FIG. 6), and the second robotic arm 560 will flip the cover 700 of the golf club head so that The to-be-coated surface 702 faces upward to facilitate image capture by the camera device 530.

Incidentally, the aforementioned first robotic arm 550 picks up the body 600 of the golf club head and the second robotic arm 560 picks up the cover 700 of the golf club head may be operated simultaneously, or sequentially one after the other The camera device 530 may sequentially capture the images of the body 600 of the golf club head and the cover 700 of the golf club head 700 to be coated, and may also be provided with more than two at the same time. The camera device 530 is configured to capture images at the same time and is designed according to requirements.

After the camera device 530 captures the image of the golf club head body 600 and the golf club head cover 700, it further includes comparing and identifying the posture of each workpiece based on the information in the database or the memory stored in the processing unit 170. The definition of the attitude has been described in detail in the foregoing embodiment, so it will not be described again. Each of the aforementioned workpieces contains a single individual of the same workpiece but slightly different due to manufacturing tolerances.

Then, the camera device 530 transmits the result to the processing unit 170 (refer to FIG. 3), and the processing unit 170 (refer to FIG. 3) provides the corrected information to the first robot arm 550 and the second robot arm 560 according to the result. The first robot arm 550 and the second robot arm 560 correct the posture of the body 600 of the golf club head and the cover 700 of the golf club head, and the body 600 of the golf club head and the cover 700 of the golf club head Allow the dispensing unit 540 to perform dispensing in an optimal posture, that is, make the body 600 of the golf club head and the cover 700 to be coated 604, 702 of the golf club head face at an optimal angle and position. Dispensing unit 540.

At the same time, the correction also includes the movement paths of the first robot arm 550 and the second robot arm 560. In this way, the glue provided by the dispensing unit 540 is applied to the best positions of the to-be-coated surfaces 604 and 702 of the golf club head body 600 and the golf club head cover 700.

Next, the first robot arm 550 and the second robot arm 560 are relatively close to each other, so that the body 600 of the golf club head and the cover 700 of the golf club head are coated with glue-to-be-coated faces 604 and 702 and face each other. Together.

FIG. 8 is a schematic diagram of the first workpiece and the second workpiece clamped by the second robot arm. Please refer to FIG. 3, FIG. 7 and FIG. 8 at the same time. The second robot arm 560 further includes a clamping member 564. After the body 600 of the golf club head and the cover 700 of the golf club are attached, the clamping member 564 A body 600 of a golf club head that is engaged with the cover 700 of the golf club head is held from below the cover body 700 of the golf club head. Next, the body 600 of the golf club head and the cover 700 of the golf club head are placed in the third loading area 580.

FIG. 9 is a schematic diagram of a pressing unit provided in a third charging area applying pressure to the main body and the cover after bonding. Please refer to FIG. 3, FIG. 8 and FIG. 9 at the same time. The second robot arm 560 places the body 600 and the cover 700 of the golf club head after the second robot arm 560 is attached to the third loading area 580. The pressing unit 590 is used to apply pressure to the body 600 of the golf club head and the cover 700 of the golf club head. The pressing unit 590 may be a pneumatic cylinder, and the pneumatic cylinder is disposed obliquely, so it is inclined. Apply pressure to the upper surface of the golf club head body 600 and the upper surface of the cover 700 of the golf club head (for example, the back surface 704 of the cover 700), so that the body of the golf club head 600 and the golf ball The cover 700 of the club head is tightly joined to form a golf club head. After that, the golf club head can be removed manually or by other mechanical arms for the next stage of assembly operation.

Although the foregoing embodiment exemplifies the first workpiece and the second workpiece as components of the golf club head (the main body 600 and the cover body 700), it is not limited thereto, and other electronic or non-electronic components can also be used as Workpieces in the automated workpiece joining apparatus and method of the present invention.

In summary, in the automated workpiece joining device and method of the present invention, a camera device is used to capture images in real time, compare with the information in a database or processing unit, and identify the 3D representation of each single workpiece, and according to The results provide corrected information to drive the robotic arm to allow the workpiece to be dispensed by the dispensing unit in an optimal posture. Therefore, the use of the automated workpiece joining equipment and method can allow the assembly personnel who originally performed these operations to perform operations that require more manpower, thereby achieving optimal use of manpower, effectively reducing manpower costs, and improving the application and management of human resources.

In addition, the processing unit can also control the dosage of the dispensing unit each time. In this way, the adhesion of the workpiece is less prone to overflow, which can improve the yield of the finished product.

Although the present invention has been disclosed as above with the examples, it is not intended to limit the present invention. Any person with ordinary knowledge in the technical field can make some modifications and retouching without departing from the spirit and scope of the present invention. The protection scope of the present invention shall be determined by the scope of the attached patent application.

100: Automatic workpiece joining equipment 110, 510: First loading area 120, 520: Second loading area 130, 530: Camera 140, 540: Dispensing unit 150, 550: First robot arm 160, 560: Second robot arm 170: processing unit 180, 580: third loading area 190, 590: pressing unit 200: first workpiece 300: second workpiece 500: dispensing machine 512a: inclined surface 512, 514: positioning block 522 : Positioning block 524: Positioning rod 561: Body 562: Nozzle 563: Height adjusting member 564: Clamping member 565: Sleeve 600: Body of golf club head 700: Cover body 600a: Plane 602: Positioning depressions 604, 702 : Surface to be coated 704: Back side S110 ~ S170: Step N: Normal direction

FIG. 1 is a schematic diagram of an automated workpiece joining apparatus. FIG. 2 is a schematic flowchart of an automated workpiece joining method. FIG. 3 is a schematic diagram of an automated workpiece joining apparatus applied to a golf club head. FIG. 4 is a schematic diagram of a first workpiece placed in a first material receiving area. FIG. 5 is a schematic diagram of the second workpiece placed in the second material receiving area. FIG. 6 is a schematic diagram of the first robot arm turning the first workpiece so that the surface to be coated faces upward. FIG. 7 is a schematic diagram of the second robot arm sucking the second workpiece by vacuuming the suction nozzle. FIG. 8 is a schematic diagram of the first workpiece and the second workpiece clamped by the second robot arm. FIG. 9 is a schematic diagram of the pressing unit provided in the third material feeding area applying pressure to the first shell and the second workpiece after bonding.

Claims (17)

An automatic workpiece joining device includes: a camera device for capturing an image of a workpiece to be processed; a glue unit disposed adjacent to the camera device; a first robot arm and a second robot arm disposed on the camera Around the device, the first robot arm is adapted to pick up a first workpiece and the second robot arm is adapted to pick up a second workpiece, wherein the first workpiece has a positioning depression and the first robot arm has a positioning protrusion And the positioning protrusion is adapted to correspondingly extend into the positioning recess; and a processing unit electrically coupled to the camera device, the dispensing unit, the first robot arm and the second robot arm, wherein the processing unit controls The first robot arm picks up the first workpiece, and the second robot arm picks up the second workpiece, thereby moving the first workpiece and the second workpiece to an image capturing position adjacent to the camera device, so that the camera device captures A first attitude image of the first workpiece and a second attitude image of the second workpiece; wherein the processing unit is based on the first attitude image and the second attitude image. State image to correct the posture of the first workpiece and the posture of the second workpiece; wherein the first robot arm moves the first workpiece to the dispensing unit, and the second robot arm moves the second workpiece to the point The glue unit applies glue to the first workpiece or the second workpiece to adhere the first workpiece and the second workpiece. The automatic workpiece joining device according to item 1 of the patent application scope, wherein the attitude of the first workpiece includes a position, an angle, a position to be glued of the first workpiece relative to the first robot arm, or a combination thereof, and the The posture of the second workpiece includes a position, an angle, a position to be glued of the second workpiece relative to the second robot arm, or a combination thereof. The automatic workpiece joining device according to item 1 of the scope of patent application, wherein correcting the posture of the first workpiece and the posture of the second workpiece includes: moving or rotating the first robot arm or the second robot arm, and The first workpiece or the second workpiece is caused to assume the correct posture with respect to the dispensing unit. The automatic workpiece joining device according to item 1 of the scope of patent application, wherein the second robot arm has a body and a plurality of suction nozzles, the suction nozzle passes through the body, and the suction nozzle sucks the vacuum suction Second artifact. The automatic workpiece joining device according to item 4 of the scope of patent application, wherein the second robot arm further includes a plurality of height adjustment members, the height adjustment members protrude from the body, and the height adjustment members protrude from the body The height of the second workpiece can be adjusted according to the back surface of the second workpiece to be picked up. According to the automatic workpiece jointing device described in item 5 of the patent application scope, wherein the second robot arm further includes a set of tubes disposed below the height adjusting member to contact the back surface of the second workpiece. The automatic workpiece joining device according to item 5 of the scope of patent application, wherein the second robot arm further includes a clamping member, which is disposed below the body and is adapted to be clamped from below the second workpiece to the first workpiece. The first workpiece is joined by two workpieces. The automatic workpiece joining device according to item 1 of the scope of patent application, further comprising a pressing unit provided on the movement path of the first robot arm or the second robot arm, and the pressing unit applies pressure after the joining The upper surfaces of the first workpiece and the second workpiece are pressed for bonding. The automatic workpiece joining device according to item 1 of the scope of patent application, wherein the first workpiece and the second workpiece include a component of a golf club head or a component of an electronic device. The automatic workpiece joining device according to item 1 of the scope of patent application, wherein the automatic workpiece joining device has a first loading area, and a plurality of positioning blocks are arranged in the first loading area for clamping. The first workpiece. The automatic workpiece joining device according to item 10 of the scope of patent application, wherein at least one of the positioning blocks has an inclined surface inclined with respect to a normal direction of the first loading area, and the first workpiece has A plane that abuts the slope. The automatic workpiece joining device according to item 10 of the patent application scope, wherein the automatic workpiece joining device has a second loading area, and the second loading area is provided with a plurality of positioning blocks and a plurality of positioning rods. For fixing the second workpiece. An automated workpiece joining method includes: providing a first workpiece and a second workpiece; and providing an automated workpiece joining device, wherein a processing unit of the automated workpiece joining device controls a pair of robotic arms to pick up the first workpiece respectively. And the second workpiece, wherein the first workpiece has a positioning recess, and one of the pair of robot arms has a positioning protrusion, and the positioning protrusion correspondingly extends into the positioning recess; the robot arm moves the first A workpiece and the second workpiece are moved to be adjacent to a camera device of the automated workpiece bonding device to capture a first attitude image of the first workpiece and a second attitude image of the second workpiece through the camera device, And the processing unit corrects the posture of the first workpiece and the posture of the second workpiece according to the first posture image and the second posture image; and the robot arm moves the first workpiece and the second workpiece to the The glue dispensing unit of the automated workpiece bonding apparatus applies glue to the first workpiece and the second workpiece to adhere the first workpiece and the second workpiece. The automatic workpiece joining method according to item 13 of the scope of patent application, wherein the attitude of the first workpiece includes the position, angle, position to be glued of the first workpiece relative to the robot arm, or a combination thereof, and the second workpiece The attitude of the workpiece includes the position, angle, position to be glued or a combination of the second workpiece relative to the robot arm. The automatic workpiece joining method according to item 13 of the patent application scope, wherein the method of picking up the first workpiece by the robot arm having the positioning recess in the pair of robot arms is clamping, and the The other robot arm sucks the second workpiece by vacuuming. The automatic workpiece joining method described in item 15 of the scope of the patent application, further includes providing a pressing unit that applies pressure to the upper surfaces of the first workpiece and the second workpiece after lamination. The automatic workpiece joining method according to item 13 of the patent application scope, wherein the first workpiece and the second workpiece include a component of a golf club head or a component of an electronic device.