WO2016183875A1

WO2016183875A1 - Multicomponent assembling device

Info

Publication number: WO2016183875A1
Application number: PCT/CN2015/080485
Authority: WO
Inventors: 李相鹏; 解明扬; 杨浩; 李伟
Original assignee: 江苏比微曼智能科技有限公司
Priority date: 2015-05-21
Filing date: 2015-06-01
Publication date: 2016-11-24
Also published as: CN104842157B; CN104842157A

Abstract

A multicomponent assembling device used for assembling multiple workpieces comprises a plurality of assembling manipulators, and comprises first conveying mechanisms (2) and second conveying mechanisms (4). Each first conveying mechanism (2) and each second conveying mechanism (4) are respectively disposed on two sides of the corresponding assembling manipulator. Each first conveying mechanism (2) is used for conveying a first workpiece (12), each second conveying mechanism (4) is used for conveying at least one second workpiece (14), and the first conveying mechanisms (2) and the second conveying mechanisms (4) are consistent in the conveying directions. In the multicomponent assembling device, components conveyed by one conveying mechanism are transferred and combined onto components conveyed by another conveying mechanism by means of an assembling manipulator, so as to achieve the objective of combined machining. Because the two conveying mechanisms are consistent in conveying directions, manpower is greatly saved and the production efficiency is greatly improved.

Description

Multi-part assembly equipment

Technical field

The present invention relates to an assembly processing apparatus.

Background technique

For some products with irregular shapes, they are often divided into a plurality of relatively regular shaped parts for production and assembly. For example, it is used in a package to serve as a positioning member for fixing a product that is easily damaged, and it is often provided with a plurality of limit projections for restricting the space in which the target product is obtained in the package. Traditionally, by manually combining multiple components, it is not only wasteful of manpower, but also inefficient.

Summary of the invention

A multi-component assembly apparatus for assembling a plurality of workpieces, comprising: a plurality of assembly robots, and first and second conveying mechanisms respectively disposed on both sides of the assembly robot, the first conveying mechanism And a second conveying mechanism is configured to convey the at least one second workpiece, and the conveying directions of the first conveying mechanism and the second conveying mechanism are the same.

Preferably, the second conveying mechanism is provided with at least two conveying sections perpendicular to the conveying direction, the conveying sections are separated by a partition, and the plurality of assembling robots are respectively used for transferring the second in the corresponding conveying section The workpiece is on the first workpiece.

Preferably, at least one beam spanning the second conveying mechanism is provided in the conveying direction of the second conveying mechanism, and the partition member is movably disposed on the beam.

Preferably, the partition is movable in the direction in which the beam extends.

Preferably, the beam is movably disposed on the conveying mechanism in a conveying direction along a conveying direction of the conveying mechanism.

Preferably, the partition comprises two partition plates each extending in the conveying direction, and the two partition plates are movably connected with an adjustable pitch.

Preferably, the beam is provided with a scale line.

Preferably, the multi-component assembly apparatus includes a processing device, and the assembly robot drives the workpiece transferred on the second conveying mechanism to the processing device for processing, then moves and combines to the first conveyor. Construct the first workpiece.

Preferably, the second workpiece fixes the workpiece on the first workpiece by heat sealing, and the processing device includes a heating mechanism for heating the workpiece.

Preferably, a plurality of processing stations are disposed along the conveying direction of the first conveying mechanism, and at least one processing station is provided with a positioning structure, and the positioning structure comprises a stopper robot disposed in a forward direction of the first workpiece.

Preferably, the stopper robot is capable of blocking the advancement of the first workpiece and removing the blocking of the first workpiece.

Preferably, the stopper robot includes a flap disposed above the first conveying mechanism, and a first driving device that drives the flap to be turned over, the flap being inverted to block the first conveying on the first conveying mechanism The workpiece advances and the flipping can release the blocking of the first workpiece.

Preferably, each of the processing stations is correspondingly provided with the positioning structure.

Preferably, the positioning structure further comprises a positioning robot disposed on the other side of the conveying direction of the first conveying mechanism and capable of clamping and relaxing the first workpiece in cooperation with the limiting structure.

Preferably, the limiting structure is a positioning strip extending in the conveying direction.

Preferably, the positioning robot comprises a positioning member and a second driving device for driving the positioning member to approach and retreat to the limiting structure, the positioning member having an elongated side on a side facing the limiting structure.

Preferably, a plurality of processing stations are disposed along the conveying direction of the first conveying mechanism, and at least one processing station is correspondingly provided with a turning device for inverting the first workpiece placement angle.

Preferably, the turning device comprises a lifting mechanism, a motor disposed on the lifting mechanism, and a grip portion disposed at the output end of the motor, the motor being capable of driving the grip portion to rotate.

Preferably, the motor is laterally disposed on the lifting mechanism, and the motor shaft is disposed perpendicular to a conveying direction of the conveying mechanism.

Preferably, the turning device comprises a pushing member and a driving device capable of driving the pushing member to push the first workpiece and retract in a direction perpendicular to the conveying direction.

Preferably, the assembly robot includes a first robot and a second robot.

Preferably, the assembly robot includes an arm and a hand disposed at a front end of the arm, the hand including a grasping structure, wherein the arm has a point, and the arm can at least be wound in a plane in which the extending direction is The fulcrum rotates and the hand can extend forward and backward relative to the arm while the hand At least one of the arm and the hand is capable of adjusting a height perpendicular to the direction of rotation of the arm.

Preferably, the hand is rotatable in a plane parallel to the direction of rotation of the arm.

Preferably, the hand is rotatable in a plane perpendicular to the direction of rotation of the arm.

Preferably, the assembly robot includes a lifting device, and the arm and the hand are disposed on the lifting device to adjust the height as a whole.

Preferably, a screw drive device is mounted on the arm, and the screw drive device drives the hand to extend forward and backward relative to the arm.

Preferably, the front end of the arm is provided with a first motor, the hand is disposed at an output end of the first motor, and the first motor drives the hand to rotate in a plane parallel to the direction of rotation of the arm.

Preferably, the front end of the arm is provided with a second motor, the hand is disposed at an output end of the second motor, and the second motor drives the hand to rotate in a plane perpendicular to the direction of rotation of the arm.

Preferably, the grip portion is a needle plate or a vacuum suction cup.

Preferably, the multi-component assembly apparatus further includes a separating mechanism disposed in the conveying direction of the second conveying mechanism for separating any two adjacently adjacent workpieces conveyed on the second conveying mechanism.

The beneficial effects achieved by the invention:

1. The multi-component assembly apparatus of the present invention achieves the purpose of combined processing by transferring and combining the components conveyed by one of the transport mechanisms to the components transported by another transport mechanism by the assembly robot. Since the conveying directions of the two conveying mechanisms are the same, labor saving and production efficiency are greatly saved.

2. A processing device can be provided, so that the assembly robot drives the workpiece transferred on the first conveying mechanism to the processing device for processing, and then moves to the first workpiece transmitted by the second conveying mechanism, thereby eliminating the manual In the process of processing the second workpiece, the second workpiece can complete the processing in the transfer path, further improving the automation degree of the pipeline of the present invention.

3. When the second workpiece can be fixed on the first workpiece by heat sealing, the processing device includes a heating mechanism, and then the robot can complete heating on the heating mechanism before the second workpiece reaches the first workpiece to reach the first workpiece. After the upper part, it can be directly pressed with it, which is more convenient and quicker.

4. Different types of assembly robots can be set for different transfer requirements, so that the assembly line is more adaptable to different product processing.

5. The multi-component assembly apparatus of the present invention can set a plurality of processing stations along the conveying direction of the first conveying mechanism, and at least one processing station is provided with a positioning structure, and the positioning structure is set in the forward direction. The stopper manipulator can suspend the workpiece to be processed at the corresponding station, and the side limit structure can stabilize the position of the workpiece perpendicular to the conveying direction, so that the workpiece can be accurately controlled at the corresponding station without stopping the transmission. Staying and leaving, and the combination of the two ensures the accuracy of the machining position, which is beneficial to the improvement of machining accuracy and efficiency.

6. The positioning structure further comprises a positioning robot capable of clamping and relaxing the first workpiece in cooperation with the limiting structure on the other side of the conveying mechanism of the conveying mechanism, and on the one hand, the first workpiece can be on the conveying mechanism according to actual conditions. The position is corrected, and on the other hand, the positioning robot cooperates with the limit structure to fix the first workpiece, thereby ensuring the stability of its position during processing.

7. At least one processing station, an inverting device for adjusting the first workpiece placement angle can also be provided, and the first workpiece can be flipped, so that the surface to be processed of the first workpiece can be changed as needed, for example, by changing The pose combines the second workpiece at different locations.

8. The apparatus of the present invention can provide at least two transmission sections perpendicular to the conveying direction, and the transmission sections are separated by partitions, so that different workpieces can be placed separately, so that different stations can be used in different numbers or Different types of workpieces greatly improve convenience and accuracy.

9. The second conveying mechanism can be provided with a beam, so that the position of the conveying section in the vertical conveying direction can be adjusted as needed, so that the manpower or equipment of each station can grasp the workpiece in the conveying section within the range. For example, if the respective transmission sections are partitioned by two partition plates, the two partition plates in any transmission section can be moved along the beam and perpendicular to the conveying direction to adjust the position. It is also possible to further set the tick marks in the direction in which the beams extend, thereby facilitating precise adjustment and reproduction of the position.

10. It is possible to further set the two partition plate movable connections in the transmission section, thereby facilitating adjustment of the width of the transmission section.

DRAWINGS

Figure 1 is a general schematic view of a preferred embodiment of the present invention;

Figure 2 is an enlarged schematic view of a portion A shown in Figure 1;

3 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the first and second processing stations;

Figure 4 is an enlarged schematic view of a portion B shown in Figure 3;

Figure 5 is an enlarged schematic view of the transmission section of Figure 3;

Figure 6 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the third and fourth processing stations;

Figure 7 is a schematic view showing the cooperation of the first conveying mechanism and the second conveying mechanism at the fifth, sixth and seventh processing stations;

Figure 8 is a schematic view showing the internal structure of a first robot in a preferred embodiment of the present invention;

Figure 9 is a schematic view showing the internal structure of a second robot in a preferred embodiment of the present invention;

Figure 10 is a schematic structural view of a turning device in a preferred embodiment of the present invention;

Wherein: 12, first workpiece, 122, first portion, 124, second portion, 126, third portion, 128, protrusion, 14, second workpiece, 16, second workpiece, 18, second workpiece, 2 First conveying mechanism, 22, conveyor belt, 24, driving device, 3. positioning structure, 32, stopper robot, 322, flap, 324, first driving device, 34, positioning bar, 36, positioning robot, 362, positioning 364, second drive device 4, second transfer mechanism 41, conveyor belt 42, conveyor section 43, drive unit 44, partition plate 45, projection 46, beam, 462, fixing hole, 464, tick mark, 47, adjustment part, 472, waist groove, 48, fastener, 49, connecting piece, 5, separating mechanism, 52, separating piece, 54, drive device, 6, first robot, 62, base Seat, 622, bottom plate, 624, support plate, 626, slide rail, 63, arm, 632, support plate, 634, screw drive, 64, bracket, 642, sliding structure, 644, platform, 65, grip , 66, lifting screw mechanism, 672, mounting frame, 674, first motor, 68, motor, 7, turning device, 72, lifting mechanism, 7 4, motor, 76, grip, 78, mounting plate, 8, second robot, 83, arm, 834, screw drive, 85, hand, 872, mounting frame, 874, first motor, 876, Second motor, 9, processing equipment, 92, heating plate.

detailed description

The invention is further described below in conjunction with the drawings. The following examples are only intended to more clearly illustrate the technical solutions of the present invention, and are not intended to limit the scope of the present invention.

As shown in Figures 1-10, a multi-part assembly apparatus for assembling at least a second workpiece onto a first workpiece 12 includes a first transport mechanism 2 for transporting a first workpiece 12 and for transporting at least one The second conveying mechanism 4 of the second workpiece, the first conveying mechanism 2 and the second conveying mechanism 4 are arranged side by side, the conveying direction is uniform, and the multi-component assembling apparatus further includes a plurality of assembling robots arranged in the conveying direction, and the assembling robot can be the second The workpiece conveyed on the conveying mechanism 4 is combined to the first workpiece 12 conveyed by the first conveying mechanism 2.

Specifically, the first workpiece 12 includes two strip-shaped first portions 122 disposed in parallel, and a strip-shaped second portion 124 and a third portion 126 that respectively connect the two first portions 122, and the second portion 124 and the third portion The portions 126 are also arranged in parallel with each other. More specifically, the second portion 124 connects the same end portions of the two first portions 122, and the third portion 126 connects the intermediate positions of the two first portions 122. Wherein the second portion 124 is opposite to the outer side of the third portion 126 A plurality of projections 128 are provided, and the outwardly projecting faces of the projections 128 are flush with each other in the same plane.

Specifically, the first conveying mechanism 2 includes a conveyor belt 22 that conveys the first workpiece 12, and a driving device 24 that drives the conveyor belt 22 to operate, wherein the conveyor belt 22 conveys the first workpiece 12 horizontally. Similarly, the second conveying mechanism 4 includes a conveyor belt 41 that conveys the second workpiece, and a driving device 43 that drives the conveyor belt 41 to operate, and the conveyor belt 41 also conveys the second workpiece horizontally.

There are seven processing stations along the conveying direction of the first conveying mechanism 2, assembly robots disposed between the first conveying mechanism 2 and the second conveying mechanism 4, and second, third, fourth, sixth and seventh Processing stations correspond one-to-one. At the same time, processing robots 9 are respectively disposed in the vicinity of the assembly robots, so that the assembly robot can drive the workpieces transmitted on the second conveying mechanism 4 to be processed at the processing device 9 nearby, and then moved and combined to the first conveying mechanism 2 The first workpiece 12.

In the conveying direction of the first conveying mechanism 2, each of the second, third, fourth, fifth, sixth and seventh processing stations is respectively provided with a positioning structure 3, and the positioning structure 3 comprises a conveying direction in the conveying mechanism. The side limit structure and the retractable stopper robot 32 disposed in the advancing direction of the conveying mechanism.

In the positioning structure 3, the limiting structure is specifically a positioning strip 34 extending in the conveying direction. At the same time, the positioning structure 3 further comprises a side disposed on the side of the first conveying mechanism 2 farther than the second conveying mechanism 4, and can cooperate with the limiting structure. A positioning robot 36 that clamps and relaxes the first workpiece 12. Specifically, in this embodiment, the positioning strip 34 is flat on one side of the conveyor belt 22 and perpendicular to the plane of the conveyor belt 22, so that when the first workpiece 12 is placed on the conveyor belt 22, the positioning robot 36 will position the first workpiece. 12 is pushed against the limiting structure, and the outer protrusions of the second portion 124 of the first workpiece 12 are simultaneously abutted against the side of the positioning strip 34, so that the position of the first workpiece 12 can be stably restricted. Preferably, the positioning strip 34 extends from the second processing station to the entirety of the seventh processing station, and is more stable and convenient for positioning the first workpiece 12 on each processing station. The positioning robot 36 specifically includes a positioning member 362 and a second driving device 364 that drives the positioning member 362 toward and away from the limiting structure. The positioning member 362 has a long side on a side facing the limiting structure, thereby facilitating the whole, Stable push and clamp of the workpiece. More specifically, the positioning member 362 is in the shape of a rectangular strip, and the second driving device 364 is disposed below the plane of the conveyor belt 22, such as a cylinder, which is connected to a vertical plate, and the vertical plate extends upwardly beyond the plane of the conveyor belt 22 and passes through a horizontal plate. The positioning members 362 are connected in the middle in the longitudinal direction thereof. Therefore, the second driving device 364 can drive the positioning member 362 to move in the running direction of the vertical conveying mechanism.

In addition, the stopper robot 32 includes a flap 322 disposed above the conveying mechanism, and a driving flip The first driving device 324 of the plate 322 is inverted, and the flipping of the flap 322 can block the advancement of the first workpiece 12 on the conveying mechanism to the corresponding processing station for processing, and the upturning can release the blocking of the first workpiece 12. The workpieces that have been processed at the corresponding processing stations continue to flow to the next processing station.

At least six transport sections 42 arranged side by side are provided perpendicular to the transport direction on the second transport mechanism 4, and any two transport sections 42 are separated by a partition and are independent.

Specifically, the partition member is disposed above the conveyor belt 41 and includes two partitioning plates 44 each extending in the conveying direction of the second conveying mechanism 4. A transfer section 42 is formed between the two partition plates 44 of the partition. A plurality of beams 46 spanning the second conveying mechanism 4 are also provided in the conveying direction of the second conveying mechanism 4, and the two partitioning plates 44 of the partitions are synchronously movable along the beam 46 in a direction perpendicular to the conveying direction. Since the beam 46 not only provides a guiding effect for the adjustment and movement of the partitioning plate 44, but also supports the partitioning plate 44, the specific number of the beam 46 can be determined according to the length of the conveyor belt 22 in the conveying direction to separate The support and adjustment of the plate 44 is stable. In addition, in this embodiment, the partitioning members on the cross beams 46 are in one-to-one correspondence, and the two partitioning plates 44 of the partitioning members are respectively integrated with the corresponding partitioning plates 44 in the conveying direction of the second conveying mechanism 4, thereby transmitting The second workpiece in section 42 has a more stable separation limit.

The cross member 46 is provided with a plurality of fixing holes 462 in the extending direction, and the two partitioning plates 44 of the arbitrary conveying section 42 are fixed to the fixing holes 462 of the beam 46 by the fasteners 48, and the number of the fixing holes 462 is larger than that of the conveying section 42. The number is such that the mounting position can be changed by selecting the fixing hole 462. The fastener 48 can be specifically a screw, and the beam 46 is provided with a scale line 464 in the direction of extension to facilitate reading during adjustment.

The two partitioning plates 44 are movably connected by fasteners 48, and each of the conveying sections 42 has at least one partitioning plate 44 provided with a long groove vertical conveying direction of the waist groove 472, and the fastener 48 passes through the waist groove. The position adjustment in 472 changes the distance between the two partition plates 44 in the same conveying section 42. Specifically, each of the two partitioning plates 44 of the conveying section 42 has an upwardly extending sheet-like projection 45 at a position corresponding to the cross beam 46, and continues to horizontally extend toward the top end of the projection 45 to form two adjusting portions 47, and The adjusting portions 47 of the two partitioning plates 44 are superposed on each other, and the adjusting portion 47 is provided with a waist groove 472. The fasteners 48 are disposed in the two adjusting portions 47 to connect the two partitioning plates 44. In addition, the upper adjustment portion 47 is further provided with a connecting piece 49 having a cross-sectional shape. The connecting piece 49 is specifically mounted on the beam 46 and the lower end is connected to the adjusting portion 47 of the corresponding conveying portion 42. Therefore, the connecting piece 49 moves on the beam 46, that is, the corresponding conveying section 42 is moved, and the adjusting portion 47 is fixed to the beam 46 by the fastener 48.

Between the first transport mechanism 2 and the second transport mechanism 4, the assembly robots are not identical. Specifically, the assembly robot corresponding to the second, third, fourth, and sixth processing stations is the first robot 6. The second robot 8 is disposed corresponding to the seventh processing station.

The first robot 6 includes an arm 63 and a grip portion 65 disposed at the front end of the arm 63. The arm 63 has a point at which the arm 63 can rotate at least about the fulcrum in a plane in which the extending direction thereof is located, and the grip portion 65 can be opposed to the arm 63. The front and rear are retracted while at least one of the arm 63 and the grip 65 can adjust the height perpendicular to the direction of rotation of the arm 63.

Specifically, the first robot 6 includes a base 62. The base 62 has a bottom plate 622 and two supporting plates 624 disposed opposite to each other and vertically disposed on the bottom plate 622. The arm 63 is disposed on a bracket 64 and is height-movably disposed on the base 62 by a bracket 64. More specifically, the inner sides of the two support plates 624 are respectively provided with slide rails 626 extending perpendicularly to the bottom plate 622. The brackets 64 of the arms 63 are respectively provided with sliding structures 642 that cooperate with the slide rails 626, so that the brackets 64 and the arms 63 can be integrally provided. Along the slide rail 626 is moved in a direction perpendicular to the bottom plate 622, and the base 62 is further provided with a lifting screw mechanism 66 connected to the bracket 64, so that the driving bracket 64 drives the arm 63 to move along the slide rail 626 to adjust the height.

The bracket 64 specifically includes a platform 644 disposed parallel to the bottom plate 622 and side plates disposed on both sides of the platform 644. The side plate is provided with a sliding structure 642 to cooperate with the sliding rail 626. The motor 644 is provided with a motor 68 having a rotational axis direction perpendicular to the platform 644 and an output end coupled to an arm 63 disposed above the platform 644 to enable the arm 63 to rotate in a plane parallel to the platform 644.

The arm 63 includes an elongated support plate 632 disposed parallel to the plane of the platform 644. The length of the support plate 632 is the direction in which the arms 63 extend. A support rod 634 is disposed on the support plate 632. The output end of the screw drive unit 634 is coupled to the grip portion 65 to drive the grip portion 65 forward and backward relative to the arm 63.

Specifically, the grip portion 65 is connected to the output end of the screw driving device 634 through a mounting bracket 672, and the mounting bracket 672 is provided with a first motor 674 of a rotating shaft vertical supporting plate 632, and the grip portion 65 is disposed on the first motor. At the output of 674, the first motor 674 drives the grip 65 to rotate in a plane parallel to the direction of rotation of the arm 63. The grip portion 65 may specifically be a needle plate or a structure for providing a vacuum suction cup on the mounting plate for grasping the workpiece.

In the first robot hand 6 of the present embodiment, the bottom plate 622 is horizontally disposed, and the state in which the support plate 624 is vertical is taken as an example. First, the arm 63 together with the grip portion 65 can adjust the height in the vertical direction, and the second arm 63 Together with the grip portion 65 as a whole, it can be rotated 360° in the horizontal plane. Thirdly, the grip portion 65 can be advanced and retracted relative to the arm 63, and the fourth grip portion 65 can be rotated 360° in the horizontal plane, so that the robot can achieve the above. Four dimensions of movement.

The second robot 8 differs from the first robot 6 in that the hand 85 is also rotatable in a plane perpendicular to the direction of rotation of the arm 83.

Specifically, the front end of the arm 83 is provided with a second motor 876, and the second motor 876 is connected to the output end of the screw driving device 834 and the mounting bracket 872, so that the mounting bracket 872, the first motor 874 and the hand 85 can be in the second motor. Under the drive of 876, it rotates in a plane perpendicular to the direction of rotation of the arm 83. Thereby a movement dimension of the hand 85 is increased.

Between the first conveying mechanism 2 and the second conveying mechanism 4, a turning device 7 for adjusting the angle of placement of the first workpiece 12 is further provided at the fifth processing station.

The inverting device 7 is in particular capable of inverting the first workpiece 12, thereby changing the surface to be treated of the first workpiece 12, for example by combining the second workpiece in different positions by changing the attitude. The turning device 7 specifically includes a lifting mechanism 72, a motor 74 disposed on the lifting mechanism 72, and a grip portion 76 disposed at the output end of the motor 74, and the motor 74 can drive the grip portion 76 to rotate. More specifically, the lifting mechanism 72 is a lifting cylinder. The motor 74 and the grip portion 76 are disposed together on a mounting plate 78, and are disposed on the lifting cylinder through the mounting plate 78. Therefore, the lifting cylinder can drive the motor 74 and the grip portion. 76 moves up and down as a whole. The motor 74 is disposed laterally on the lifting mechanism 72. The axis of the motor 74 is perpendicular to the conveying direction of the second conveying mechanism 4, that is, the direction of the rotation of the motor 74 is parallel to the plane of the conveyor belt 22, and is perpendicular to the conveying direction. The grip portion 76 can be, for example, a needle plate or a substrate provided with a vacuum chuck so that the first workpiece 12 can be grasped.

In this embodiment, the processing device 9 includes a heating mechanism for heating the workpiece, so that the assembly robot can heat the heating device before the second workpiece is assembled to the first workpiece 12, and then the first workpiece 12 can be directly combined. Heat sealing. More specifically, the heating mechanism is a heating plate 92 that is in contact with the second workpiece and can directly heat the surface to be heated.

In this embodiment, a separating mechanism 5 disposed in the conveying direction of the second conveying mechanism 4 is further included for separating any two adjacent workpieces that are adjacent to each other and are next to each other. Specifically, the separating mechanism 5 includes an elongated needle-shaped separating member 52 extending in the vertical conveying direction, and a driving device 54 that drives the separating member to advance and retreat in the vertical conveying direction, and the driving device 54 may be a common structure in the industry, such as a cylinder. When the separating member 52 is in the form of a narrow needle, it can be quickly and easily inserted into the adsorption or bonded together. The gap between the two second workpieces, thereby separating them, facilitates subsequent accurate gripping of the workpiece.

The working process of the apparatus of the present invention will be described below by taking the apparatus of the present embodiment applied to the lamination processing of the first and second workpieces as an example.

Wherein, the first workpiece 12 and the second workpiece are all foam blocks, which can be assembled by heat sealing and pressing, and the combined structure can be used for limiting the position of the product and the parts in the packaging box and functioning as a buffer and a protection. In operation, the first workpiece 12 is loaded at the first processing station, placed horizontally, and the second portion 124 abuts against the positioning strip 34. After that, the first workpiece 12 reaches the second processing station with the conveyor belt 22, and the corresponding stopper robot 32 is turned down to temporarily stay, and the corresponding positioning robot 36 approaches and presses the first workpiece 12 against the positioning bar 34 to realize positioning. . The corresponding first robot 6 then transplants the second workpiece 14 to the upper end of the first portion 122 of the first workpiece 12, where the first robot 6 can heat the surface of the second workpiece 14 to be combined first. When it is pressed onto the first workpiece 12, it can be directly joined, and the other processing stations can also perform the pretreatment of the corresponding method on the corresponding second workpiece before the combination in the same manner. The first workpiece 12 combined with the second workpiece 14 continues to receive the other second workpiece 14 and the second workpiece 16 and the second in the same manner to the third processing station, the fourth processing station, and the sixth processing station. a combination of workpieces 18, wherein the first workpiece 12 combined with the second workpiece 14 and the second workpiece 16 is rotated at the fifth processing station, vertically inverted by 180°, and then moved to the sixth processing station for a second A combination of workpieces 18. Specifically, after the first workpiece 12 reaches the fifth processing station, the inverting device 7 performs a vertical tilt of 180° by grasping the combined first workpiece 12 and rising to a suitable height, and then lowering will be turned over. The workpiece is placed back on the conveyor belt 22 so that the combination of the second workpiece 18 is accepted at the sixth processing station, that is, the side that can be turned over. The seventh processing station can be used for inspection of the finished product and finally removed by the corresponding second robot 8.

It should be noted that, although the inverting device realizes the turning of the workpiece by rotation in the embodiment, it is also possible to provide the inverting device including a pushing member and a driving device capable of driving the pushing member to push the first workpiece and the retracting in a direction perpendicular to the conveying direction. , thereby changing its posture by pushing down the first workpiece. Although the working process of the apparatus of the present invention is illustrated by the combination of the first workpiece 12 and the second workpiece 14 of the foam material in the embodiment, the workpiece to which the apparatus of the present invention is applied is not limited, and the workpiece is not necessarily heat-sealed. For example, adhesion can also be carried out by applying an adhesive.

Although the corresponding partitioning plate 44 in the embodiment is integrally connected in the conveying direction of the second conveying mechanism 4, the corresponding partitioning plate 44 in the conveying direction of the second conveying mechanism 4 and upstream and downstream may be designed. They are independent, so that when the beam can be moved in the conveying direction of the second conveying mechanism 4, the distance between adjacent two partition members in the conveying direction can be adjusted, thereby using the second workpiece of different lengths.

The above is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention. It should also be considered as the scope of protection of the present invention.

Claims

A multi-component assembly apparatus for assembling a plurality of workpieces, comprising: a plurality of assembly robots, and first and second conveying mechanisms respectively disposed on both sides of the assembly robot, the first conveying mechanism And a second conveying mechanism is configured to convey the at least one second workpiece, and the conveying directions of the first conveying mechanism and the second conveying mechanism are the same.
A multi-part assembly apparatus according to claim 1, wherein said second conveying mechanism is provided with at least two conveying sections perpendicular to the conveying direction, said conveying sections being separated by a partition member, a plurality of The assembly robots are respectively used to transfer the second workpiece in the corresponding conveying section to the first workpiece.
A multi-part assembly apparatus according to claim 2, wherein at least one cross member spanning the conveying mechanism is provided in the conveying direction of said second conveying mechanism, said partition member being movably disposed at said On the beam.
A multi-part assembly apparatus according to claim 2 or 3, wherein said partition member comprises two partition plates each extending in the conveying direction, and the two partitioning plates are movably connected with an adjustable pitch.
A multi-part assembly apparatus according to claim 3, wherein said beam is provided with a scale line.
A multi-part assembly apparatus according to claim 1 or 2, comprising a processing device, wherein the assembly robot drives the workpiece transferred on the second conveying mechanism to the processing device for processing, and then moves Combined with the first workpiece transmitted by the first transport mechanism.
A multi-part assembly apparatus according to claim 6, wherein said second workpiece fixes the workpiece on the first workpiece by heat sealing, said processing apparatus including a heating mechanism for heating said workpiece .
A multi-part assembly apparatus according to claim 1, wherein a plurality of processing stations are disposed along a conveying direction of said first conveying mechanism, and at least one processing station is provided with a positioning structure, said positioning The structure includes a stopper robot disposed in a forward direction of the first workpiece.
A multi-part assembly apparatus according to claim 8, wherein said stopper robot is capable of blocking advancement of said first workpiece and removal of blocking of said first workpiece.
A multi-component assembly apparatus according to claim 1, wherein a plurality of processing stations are disposed along a conveying direction of said first conveying mechanism, and at least one processing station is correspondingly provided for inverting the first workpiece An angled turning device.