CN110434585B - Assembly equipment - Google Patents
Assembly equipment Download PDFInfo
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- CN110434585B CN110434585B CN201910817653.1A CN201910817653A CN110434585B CN 110434585 B CN110434585 B CN 110434585B CN 201910817653 A CN201910817653 A CN 201910817653A CN 110434585 B CN110434585 B CN 110434585B
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 227
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000007664 blowing Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 239000007769 metal material Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 17
- 238000013459 approach Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention provides assembly equipment, wherein an assembly robot and a shooting device are arranged in the assembly equipment, the assembly robot comprises an assembly mechanical arm and an adsorption device, the adsorption device comprises an adsorption disc and a shooting part, when the assembly equipment is used, a workpiece can be adsorbed by the adsorption device of the assembly robot, and the workpiece is moved by the assembly mechanical arm so as to be assembled on a product, so that automatic assembly can be realized, and the production efficiency is improved. Moreover, for products such as a display screen, when the product is assembled, the lamp panel on the adsorption disc can be shot through the shooting device so as to obtain the specific position of the lamp panel, and the box body can be shot through the shooting part in the assembling robot so as to obtain the specific position of the box body, so that the relative positions of the lamp panel and the box body can be further obtained, and the assembling mechanical arm can drive the lamp panel to move to the position corresponding to the box body, and accurate assembly is completed. Therefore, the scheme can realize accurate positioning, improve the assembly success rate, avoid reassembling and improve the production efficiency.
Description
Technical Field
The invention relates to the technical field of automatic production, in particular to assembly equipment.
Background
In the production of the display screen, there is a procedure that a lamp panel (also called a module) is assembled on a box body, a socket is arranged on the box body, a slot is arranged on the lamp panel, and the position of the slot of the lamp panel is required to correspond to the position of the socket of the box body accurately during the assembly, and then the socket is inserted. In the prior art, manual operation is adopted during assembly, the production efficiency is low, and the socket and the slot are small in size, difficult to correspond accurately, and sometimes can be assembled only through multiple operations, so that the production efficiency is further influenced.
Disclosure of Invention
The invention provides assembly equipment for solving the problem of low assembly efficiency of products in the prior art.
In order to solve the above-described problems, the present invention provides an assembling apparatus comprising: the assembling robot comprises an assembling mechanical arm and an adsorption device arranged on the assembling mechanical arm, the adsorption device comprises an adsorption disc and a shooting part, the adsorption disc is used for adsorbing a workpiece, the shooting part is used for shooting a product to determine the position of at least one part of the structure of the product, and at least one part of the assembling mechanical arm is movably arranged to drive the adsorption device to move; the shooting device is used for shooting the workpiece adsorbed by the adsorption disc so as to determine the position of at least one part of the structure of the workpiece on the adsorption device; the assembling mechanical arm can acquire image information shot by the shooting part and the shooting device, and the adsorbing device is moved according to the image information so as to assemble the workpiece adsorbed by the adsorbing disc on a product.
Further, the assembling apparatus further includes: the processing part is electrically connected with the assembly mechanical arm, the shooting part and the shooting device, and is used for receiving and processing the image information shot by the shooting part and the shooting device; the assembling mechanical arm can receive the processed image information of the processing part and adjust the relative position of the workpiece and the product absorbed by the absorption disc according to the processed image information of the processing part so as to assemble the workpiece on the product.
Further, the photographing apparatus includes: the upright post is fixedly arranged; the first camera is used for shooting a workpiece, is arranged on the upright post and is positioned in the moving range of the assembling mechanical arm; the first annular light source is arranged on the upright post and surrounds the first camera.
Further, the assembling apparatus further includes: conveying line, conveying line are used for carrying the product, and shooting portion is used for shooing the product that is located on the conveying line.
Further, the assembling apparatus further includes: and the feeding machine is arranged on one side of the assembly robot and is used for supplying workpieces to the assembly robot.
Further, the photographing section includes: a second camera for photographing the product; the second annular light source is arranged around the second camera.
Further, the adsorption apparatus further includes: the adsorption mounting seat is connected with the assembly mechanical arm, and the adsorption disc and the shooting part are arranged on the adsorption mounting seat; one end of the adsorption disc, which is far away from the adsorption mounting seat, is an adsorption end, and the adsorption end is used for blowing air to the outside along the radial direction of the adsorption disc so as to form a low-pressure area; under the condition that the adsorption disc blowing air to the outside is close to a workpiece within a preset distance range, the two sides of the workpiece generate preset pressure difference under the action of a low pressure area and external air pressure and are sucked up by the adsorption disc; the adsorption limiting part is arranged on the adsorption mounting seat and is provided with an adsorption limiting surface, the adsorption limiting surface is arranged at intervals with the end face of the adsorption end, the adsorption limiting surface is positioned on one side, away from the adsorption mounting seat, of the end face of the adsorption end, and the adsorption limiting surface is used for being abutted with a sucked workpiece so that the workpiece is kept at a preset distance from the adsorption end.
Further, the adsorption limiting portion includes: the adsorption connecting piece is arranged on the adsorption mounting seat; the adsorption limiting piece is arranged at one end, far away from the adsorption mounting seat, of the adsorption connecting piece and is provided with an adsorption limiting surface.
Further, the adsorption connecting piece is made of a metal material, and the adsorption limiting piece is made of conductive rubber.
Further, the adsorption apparatus further includes: the pressure sensor is arranged on the adsorption mounting seat and is used for detecting the value of the pressure applied to the workpiece by the adsorption limiting part.
By applying the technical scheme of the invention, the assembling robot and the shooting device are arranged in the assembling equipment, wherein the assembling robot comprises an assembling mechanical arm and an adsorption device, the adsorption device comprises an adsorption disc and a shooting part, the adsorption disc is used for adsorbing a workpiece, the shooting part is used for shooting a product to determine the position of at least one part of structure of the product, the assembling mechanical arm can drive the adsorption device to move, the shooting device is used for shooting the workpiece adsorbed by the adsorption disc to determine the position of at least one part of structure of the workpiece relative to the adsorption device, and the assembling mechanical arm can move the adsorption device according to the shooting images of the shooting part and the shooting device so as to assemble the workpiece adsorbed by the adsorption disc on the product. Therefore, the workpiece can be adsorbed by the adsorption device of the assembling robot, and the workpiece is moved by the assembling mechanical arm so as to be assembled on a product, thereby realizing automatic assembly and improving the production efficiency. Moreover, for products such as a display screen, when the product is assembled, the lamp panel on the adsorption disc can be shot through the shooting device so as to obtain the specific position of the lamp panel, and the box body can be shot through the shooting part in the assembling robot so as to obtain the specific position of the box body, so that the relative positions of the lamp panel and the box body can be further obtained, and the assembling mechanical arm can drive the lamp panel to move to the position corresponding to the box body, and accurate assembly is completed. Therefore, the scheme can realize accurate positioning, improve the assembly success rate and avoid reassembling, thereby further improving the production efficiency.
Further, since the suction end of the suction plate blows out the gas radially outward, a low pressure area is formed in the area near the suction end, the pressure of the low pressure area is smaller than the external air pressure, when the suction plate approaches the workpiece, the downward pressure of the gas in the low pressure area to the workpiece is smaller than the upward pressure of the gas below the workpiece to the workpiece, and when the pressure difference between the upper side and the lower side of the workpiece is larger than the self gravity of the workpiece, that is, when the predetermined pressure difference is reached, the workpiece is sucked up by the suction plate. The workpiece is abutted with the sucked workpiece through the adsorption limiting part, so that the workpiece and the adsorption end can be kept at a preset distance, the phenomenon that the formation of a low-pressure area is influenced due to the fact that the distance between the workpiece and the adsorption end is too close can be avoided, the condition that enough pressure difference is formed on the upper side and the lower side of the workpiece is met, and the fact that the adsorption disc reliably sucks the workpiece is guaranteed. Compared with the existing adsorption device, the adsorption device does not need to be in contact with the surface of a workpiece, so that the adsorption device can be suitable for workpieces with holes or gaps on the surface, and is wide in application range.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
fig. 1 shows a schematic structural view of an assembling apparatus provided by an embodiment of the present invention;
fig. 2 shows a top view of the assembly device of fig. 1;
fig. 3 shows a schematic structural diagram of the photographing device of fig. 1;
FIG. 4 shows a schematic structural view of the adsorption apparatus of FIG. 1;
fig. 5 shows a side view of the adsorption device of fig. 4.
Wherein the above figures include the following reference numerals:
4110. an adsorption mounting seat; 4111. an adsorption mounting plate; 4112. adsorbing the connecting block; 4120. an adsorption plate; 4130. an adsorption limit part; 4131. an adsorption connection; 4132. adsorbing the limiting piece; 4133. a connecting rod; 4134. a connecting plate; 4140. a pressure sensor; 4150. a camera mount; 4151. avoidance holes; 4160. a photographing section; 4161. a second camera; 4162. a second annular light source; 4170. assembling a mechanical arm; 4200. a photographing device; 4210. a column; 4220. a first camera; 4230. a first annular light source; 4240. a code scanning part; 4300. and a feeding machine.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, an embodiment of the present invention provides an assembling apparatus including: the assembling robot comprises an assembling mechanical arm 4170 and an adsorption device arranged on the assembling mechanical arm 4170, wherein the adsorption device comprises an adsorption disc 4120 and a shooting part 4160, the adsorption disc 4120 is used for adsorbing a workpiece, the shooting part 4160 is used for shooting a product to determine the position of at least one part of a structure of the product, and at least one part of the assembling mechanical arm 4170 is movably arranged to drive the adsorption device to move; a camera 4200, the camera 4200 being configured to capture a workpiece adsorbed by the adsorption disk 4120 to determine a position of at least a portion of a structure of the workpiece on the adsorption device; the mounting robot 4170 may acquire image information captured by the capturing section 4160 and the capturing device 4200, and move the adsorbing device according to the image information to mount the workpiece adsorbed by the adsorbing tray 4120 to the product.
By applying the technical solution of the present embodiment, an assembling robot and a photographing device 4200 are provided in an assembling apparatus, where the assembling robot includes an assembling mechanical arm 4170 and an adsorbing device, the adsorbing device includes an adsorbing disc 4120 and a photographing part 4160, the adsorbing disc 4120 is used for adsorbing a workpiece, the photographing part 4160 is used for photographing a product to determine a position of at least a part of a structure of the product, the assembling mechanical arm 4170 may drive the adsorbing device to move, the photographing device 4200 is used for photographing the workpiece adsorbed by the adsorbing disc 4120 to determine a position of at least a part of the structure of the workpiece relative to the adsorbing device, and the assembling mechanical arm 4170 may move the adsorbing device according to photographed images of the photographing part 4160 and the photographing device 4200 to assemble the workpiece adsorbed by the adsorbing disc 4120 to the product. Thus, the workpiece can be adsorbed by the adsorption device of the assembling robot, and the workpiece is moved by the assembling mechanical arm 4170 so as to be assembled on a product, thereby realizing automatic assembly and improving the production efficiency. In addition, for products such as display screens, when in assembly, the light plate on the adsorption disc 4120 can be shot by the shooting device 4200 to obtain a specific position of the light plate, and the box body can be shot by the shooting part 4160 in the assembly robot to obtain a specific position of the box body, so that the relative positions of the light plate and the box body can be further obtained, and the assembly mechanical arm 4170 can drive the light plate to move to a position corresponding to the box body, so that accurate assembly is completed. Therefore, the scheme can realize accurate positioning, improve the assembly success rate and avoid reassembling, thereby further improving the production efficiency.
In this embodiment, the assembling apparatus further includes: a processing unit electrically connected to the mounting robot 4170, the imaging unit 4160, and the imaging device 4200, and configured to receive and process the captured image information of the imaging unit 4160 and the imaging device 4200; the assembling robot 4170 may receive the processed image information of the processing unit, and adjust the relative position of the workpiece and the product absorbed by the absorbing tray 4120 according to the processed image information of the processing unit, so as to assemble the workpiece onto the product. In this way, the processing part receives the image information captured by the capturing part 4160 and the capturing device 4200, processes the image information to obtain the positional relationship between the workpiece and the product, and then the assembling mechanical arm 4170 adjusts the relative position between the workpiece and the product absorbed by the absorbing disc 4120 according to the image information processed by the processing part, so as to accurately assemble the workpiece onto the product.
As shown in fig. 3, the photographing device 4200 includes: the upright posts 4210 are fixedly arranged; a first camera 4220 for photographing a workpiece, the first camera 4220 being disposed on the upright 4210, a photographing area of the first camera 4220 being located within a movement range of the assembly robot 4170; a first ring light source 4230 disposed on the post 4210, the first ring light source 4230 disposed around the first camera 4220. During shooting, the assembly mechanical arm 4170 drives the workpiece to move so as to enable the workpiece to be close to the first camera 4220, the workpiece faces the shooting direction of the first camera 4220 through angle adjustment, and the first annular light source 4230 can illuminate the workpiece so as to ensure that a shot image is clear. The light source is arranged to be of an annular structure, so that light rays are uniformly distributed, and the image quality is improved.
Optionally, the camera 4200 further includes a code scanning portion 4240, where the code scanning portion 4240 is disposed on the upright 4210, and the code scanning portion 4240 is used for scanning bar code or two-dimensional code information on the workpiece to perform material identification and management, so as to facilitate automation. The code scanning part 4240 is arranged on the upright post 4210, so that the code scanning part 4240 can be used for scanning workpieces in the process of photographing by using the first camera 4220, and the independent operation can be avoided, the operation time can be prolonged, and the production efficiency can be improved.
In this embodiment, the assembling apparatus further includes: and a conveying line for conveying the product, and a photographing part 4160 for photographing the product located on the conveying line. The product can be conveyed through the conveying line, and automatic production is convenient to realize. The product is stopped at a predetermined position on the conveyor line before assembly, but the position error is unavoidable after the stop. The assembling mechanical arm 4170 drives the adsorption device to approach the product, so that the shooting part 4160 on the adsorption device can shoot the product on the conveying line, and the accurate position of the product can be obtained by processing the shot image information. Then, the assembling mechanical arm 4170 drives the workpiece to move, and the relative position of the workpiece and the product is adjusted, so that the assembling position of the workpiece and the product is corresponding, and the assembling is realized.
In this embodiment, the assembling apparatus further includes: the loading machine 4300 is disposed at one side of the assembly robot, and the loading machine 4300 is used for supplying workpieces to the assembly robot. The workpiece is supplied to the assembly robot by the feeder 4300, so that the continuity of production can be realized, and the automatic production can be realized. The loading machine 4300 may store a plurality of workpieces and transport each workpiece to a fixed location where the assembly robot then takes the workpiece.
As shown in fig. 4 and 5, in the present embodiment, the photographing section 4160 includes: a second camera 4161 for photographing a product; a second annular light source 4162, the second annular light source 4162 being disposed around the second camera 4161. The product may be photographed by the second camera 4161 to determine the position of the product, and the product may be illuminated by the second ring light source 4162 at the time of photographing to improve the quality of the photographed image. The light source is arranged to be of an annular structure, so that light is uniformly distributed, and the shooting effect is improved.
In this embodiment, the adsorption apparatus further includes: the adsorption mounting seat 4110 is connected with the assembly mechanical arm 4170, and the adsorption disc 4120 and the shooting part 4160 are arranged on the adsorption mounting seat 4110; one end of the adsorption disc 4120, which is far away from the adsorption mounting seat 4110, is an adsorption end, and the adsorption end is used for blowing air to the outside along the radial direction of the adsorption end so as to form a low-pressure area; the suction tray 4120 blowing air to the outside generates a predetermined pressure difference by the low pressure region and the external air pressure at both sides of the work and is sucked up by the suction tray 4120 in the case of approaching the work by a predetermined distance range; the adsorption limiting portion 4130 is arranged on the adsorption mounting seat 4110, the adsorption limiting portion 4130 is provided with an adsorption limiting surface, the adsorption limiting surface is arranged at intervals with the end face of the adsorption end, the adsorption limiting surface is located on one side, away from the adsorption mounting seat 4110, of the end face of the adsorption end, and the adsorption limiting surface is used for being abutted with a sucked workpiece so that the workpiece and the adsorption end can keep a preset distance.
By this means, since the suction end blows out the gas radially outward, the region near the suction end forms a low pressure region having a pressure smaller than the outside air pressure, and when the suction plate 4120 approaches the workpiece, the downward pressure of the gas in the low pressure region against the workpiece is smaller than the upward pressure of the gas below the workpiece against the workpiece, and when the pressure difference between the upper and lower sides of the workpiece is larger than the gravity of the workpiece itself, that is, a predetermined pressure difference is reached, the workpiece is sucked up by the suction plate 4120. The suction limiting portion 4130 is abutted against the sucked workpiece, so that the workpiece and the suction end can be kept at a predetermined distance, the formation of a low-pressure area can be prevented from being influenced due to the fact that the distance between the workpiece and the suction end is too close, the condition that a sufficient pressure difference is formed on the upper side and the lower side of the workpiece is met, and the suction disc 4120 is guaranteed to reliably suck the workpiece. Compared with the existing adsorption device, the adsorption device does not need to be in contact with the surface of a workpiece, so that the adsorption device can be suitable for workpieces with holes or gaps on the surface, and is wide in application range. For example, a lamp panel having a plurality of LED lamps on a surface thereof may be used for adsorbing a display screen.
Alternatively, in the present embodiment, the adsorption plate 4120 has a columnar structure. The adsorption end of the adsorption disk 4120 may be provided with a plurality of air outlets, and the plurality of air outlets are arranged at intervals along the circumferential direction of the adsorption end, so that air is discharged from a plurality of positions, so that a large low-pressure area is formed near the adsorption end, and the adsorption effect is improved. Or the adsorption end of the adsorption disc 4120 may be provided with an annular air outlet, and the different circumferential positions of the annular air outlet all exhaust air outwards.
In the present embodiment, the adsorption stopper 4130 includes: the adsorption connector 4131 is arranged on the adsorption mounting seat 4110; the adsorption limiting member 4132 is disposed at one end of the adsorption connecting member 4131 away from the adsorption mounting seat 4110, and the adsorption limiting member 4132 has an adsorption limiting surface. Wherein, the adsorption connector 4131 is used for playing a connecting role, and the adsorption limiting part 4132 is used for limiting the workpiece. Optionally, the adsorption connecting member 4131 and the adsorption limiting member 4132 are both in columnar structures, and the cross-sectional area of the adsorption limiting member 4132 is larger than that of the adsorption connecting member 4131, so that the contact area between the adsorption limiting member 4132 and the workpiece can be increased, and the workpiece is prevented from being damaged.
Optionally, the adsorption connector 4131 is movably disposed on the adsorption mounting seat 4110, so as to drive the adsorption limiting member 4132 to move by the adsorption connector 4131, so as to adjust the distance between the adsorption limiting surface and the end surface of the adsorption end. Through the arrangement, the distance between the adsorption limiting surface and the end surface of the adsorption end can be adjusted as required, so that the adsorption effect is ensured.
In the present embodiment, the adsorption connector 4131 is made of a metal material, and the adsorption stopper 4132 is made of conductive rubber. The adsorption limiting portion 4130 thus plays a role in electric conduction. In the production of display screens, the lamp panels may generate static electricity during movement and assembly, and excessive static electricity may damage the lamp panels. Therefore, after the adsorption device is used for adsorbing the lamp panel, static electricity on the lamp panel can be eliminated through contact between the lamp panel and the adsorption limiting piece 4132, so that the lamp panel is protected. The same effect can be achieved for other electronic products.
Optionally, the end of the adsorption connecting member 4131 has a plurality of grooves, the end of the adsorption limiting member 4132 away from the adsorption limiting surface has a plurality of protrusions, and the plurality of protrusions of the adsorption limiting member 4132 are connected with the plurality of grooves of the adsorption connecting member 4131 in a matching manner. Through the arrangement, the adsorption limiting piece 4132 and the adsorption connecting piece 4131 can be mutually limited, and the reliability of connection is improved. Further, the contact area of the suction stopper 4132 and the suction connector 4131 can be increased.
Optionally, the adsorption connector 4131 includes a connecting rod 4133 and a connecting plate 4134 disposed at one end of the connecting rod 4133, the connecting rod 4133 is screwed with the adsorption mounting seat 4110, the plurality of grooves of the adsorption connector 4131 are located on the connecting plate 4134, the adsorption limiter 4132 is in a sheet structure, and the connecting plate 4134 is adhered to the adsorption limiter 4132. The connecting rod 4133 is in threaded connection with the adsorption mounting seat 4110, so that the assembly of the connecting rod 4133 and the adsorption mounting seat is facilitated, and the distance between the adsorption limiting surface and the end surface of the adsorption end can be conveniently adjusted. The connecting plate 4134 is adhered to the adsorption limiting member 4132, so that the assembly is convenient, and the adsorption limiting member 4132 can be supported by the connecting plate 4134. The cooperation of the plurality of grooves and the plurality of protrusions can improve the bonding strength of the connecting plate 4134 and the adsorption limiting member 4132.
In the present embodiment, the adsorption limiting portion 4130 is plural, and the plural adsorption limiting portions 4130 are disposed at intervals along the circumferential direction of the adsorption plate 4120. Therefore, the workpiece can be limited through the plurality of adsorption limiting parts 4130, so that the stress distribution of the workpiece is uniform. In the present embodiment, the low pressure area formed by blowing air to the adsorption tray 4120 is located near the area surrounded by the plurality of adsorption limiting portions 4130.
In this embodiment, the adsorption apparatus further includes: the pressure sensor 4140 is disposed on the suction mounting seat 4110, and the pressure sensor 4140 is configured to detect a value of pressure applied to the workpiece by the suction limiting portion 4130. When the excessive pressure is detected, measures can be taken in time to avoid the workpiece of the compression ring. For example, the adsorption device is used for assembling the lamp panel on the box body of the display screen, the lamp panel is provided with a slot, the box body is provided with a socket, and the socket is spliced with the slot. When the lamp panel assembling device is operated, the adsorption device drives the adsorbed lamp panel to move, the slot of the lamp panel corresponds to the socket of the box body, and then the lamp panel is pressed towards the box body so as to assemble the lamp panel and the box body. When the lamp panel is pressed, the pressure sensor can detect the value of the pressure applied to the lamp panel by the adsorption limiting part 4130, and feedback and adjustment can be timely made, so that the lamp panel is prevented from being damaged due to overlarge pressure to the lamp panel.
Optionally, the suction mount 4110 includes: the adsorption mounting plate 4111, the adsorption plate 4120 and the adsorption limiting part 4130 are both mounted on the adsorption mounting plate 4111, and one side of the pressure sensor 4140 is connected with one side of the adsorption mounting plate 4111, which is away from the adsorption plate 4120; the suction connection block 4112 is provided at a distance from the suction mounting plate 4111, and the other side of the pressure sensor 4140 is connected to the suction connection block 4112. That is, the pressure sensor 4140 is disposed between the suction mounting plate 4111 and the suction connection block 4112, so that the pressure sensor 4140 contacts a member having a large area, facilitating accurate pressure detection.
Alternatively, the pressure sensor 4140 has a disk-like structure, and the end surface area of the pressure sensor 4140 is smaller than the end surface area of the suction mounting disk 4111 and the end surface area of the suction connection block 4112. The two end surfaces of the pressure sensor 4140 are respectively abutted against the end surface of the suction mounting disk 4111 and the end surface of the suction connection block 4112. In the present embodiment, the pressure sensor 4140 may be connected to the adsorption mounting disc 4111 or the adsorption connection block 4112 by a screw connection.
Optionally, the adsorption mounting seat 4110 further includes an adsorption connecting plate, and the adsorption disc 4120 is disposed on one side of the adsorption connecting plate, and the other side of the adsorption connecting plate is connected to the adsorption mounting disc 4111, so that the assembly of the adsorption disc 4120 is facilitated.
In this embodiment, the adsorption apparatus further includes: the camera mount 4150 is connected to the suction mount 4110, and the second camera 4161 is provided on the camera mount 4150. Through the arrangement, besides the workpiece can be adsorbed by the adsorption device, the adsorption device can also shoot, so that the workpiece can be conveniently assembled.
Specifically, the camera mount 4150 has an avoidance hole 4151, the second camera 4161 is disposed at the avoidance hole 4151 of the camera mount 4150, the photographing direction of the second camera 4161 is disposed along the axis of the avoidance hole 4151 of the camera mount 4150, the second annular light source 4162 is disposed on the camera mount 4150, and the second annular light source 4162 is disposed around the avoidance hole 4151. By providing the avoidance hole 4151, shielding of the second camera 4161 for photographing can be avoided.
By applying the technical scheme of the embodiment, the workpiece can be adsorbed by the adsorption device of the assembling robot, and the workpiece is moved by the assembling mechanical arm 4170 so as to be assembled on a product, thereby realizing automatic assembly and improving the production efficiency. In addition, for products such as display screens, when in assembly, the light plate on the adsorption disc 4120 can be shot by the shooting device 4200 to obtain a specific position of the light plate, and the box body can be shot by the shooting part 4160 in the assembly robot to obtain a specific position of the box body, so that the relative positions of the light plate and the box body can be further obtained, and the assembly mechanical arm 4170 can drive the light plate to move to a position corresponding to the box body, so that accurate assembly is completed. Therefore, the scheme can realize accurate positioning, improve the assembly success rate and avoid reassembling, thereby further improving the production efficiency.
Moreover, since the suction end of the suction plate blows out the gas radially outward, the region near the suction end forms a low pressure region having a pressure smaller than the outside air pressure, and when the suction plate 4120 approaches the workpiece, the downward pressure of the gas in the low pressure region against the workpiece is smaller than the upward pressure of the gas below the workpiece against the workpiece, and when the pressure difference between the upper and lower sides of the workpiece is larger than the gravity of the workpiece itself, that is, a predetermined pressure difference is reached, the workpiece is sucked up by the suction plate 4120. The suction limiting portion 4130 is abutted against the sucked workpiece, so that the workpiece and the suction end can be kept at a predetermined distance, the formation of a low-pressure area can be prevented from being influenced due to the fact that the distance between the workpiece and the suction end is too close, the condition that a sufficient pressure difference is formed on the upper side and the lower side of the workpiece is met, and the suction disc 4120 is guaranteed to reliably suck the workpiece. Compared with the existing adsorption device, the adsorption device does not need to be in contact with the surface of a workpiece, so that the adsorption device can be suitable for workpieces with holes or gaps on the surface, and is wide in application range.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An assembling apparatus, comprising:
an assembling robot comprising an assembling robot arm (4170) and an adsorbing device provided on the assembling robot arm (4170), the adsorbing device including an adsorbing tray (4120) and a photographing part (4160), the adsorbing tray (4120) being for adsorbing a workpiece, the photographing part (4160) being for photographing a product to determine a position of at least a part of a structure of the product, at least a part of the assembling robot arm (4170) being movably provided to drive the adsorbing device to move;
-a camera (4200), the camera (4200) being configured to capture a workpiece adsorbed by the adsorption disk (4120) to determine a position of at least a portion of a structure of the workpiece on the adsorption device;
the assembling mechanical arm (4170) can acquire image information shot by the shooting part (4160) and the shooting device (4200), and move the adsorbing device according to the image information so as to assemble the workpiece adsorbed by the adsorbing disc (4120) onto the product;
a processing unit that is electrically connected to the mounting robot (4170), the imaging unit (4160), and the imaging device (4200), and that receives and processes image information captured by the imaging unit (4160) and the imaging device (4200); the assembling mechanical arm (4170) can receive the processed image information of the processing part and adjust the relative position of the workpiece adsorbed by the adsorption disc (4120) and the product according to the processed image information of the processing part so as to assemble the workpiece on the product;
the imaging device (4200) includes: the upright post (4210) is fixedly arranged; a first camera (4220) for photographing the workpiece, the first camera (4220) being disposed on the upright (4210), a photographing area of the first camera (4220) being located within a movement range of the assembly robot arm (4170); a first annular light source (4230) disposed on the post (4210), the first annular light source (4230) disposed around the first camera (4220);
the adsorption device further includes: an adsorption mounting seat (4110) connected to the assembly robot arm (4170), wherein the adsorption plate (4120) and the photographing part (4160) are both disposed on the adsorption mounting seat (4110); one end of the adsorption disc (4120) far away from the adsorption mounting seat (4110) is an adsorption end, and the adsorption end is used for blowing air outwards along the radial direction of the adsorption end so as to form a low-pressure area; the adsorption disc (4120) blowing air to the outside generates a preset pressure difference under the action of the low pressure area and external air pressure on two sides of the workpiece under the condition of being close to the workpiece within a preset distance range, and the workpiece is sucked up by the adsorption disc (4120); the adsorption limiting part (4130) is arranged on the adsorption mounting seat (4110), the adsorption limiting part (4130) is provided with an adsorption limiting surface, the adsorption limiting surface is arranged at intervals with the end surface of the adsorption end, the adsorption limiting surface is positioned at one side of the end surface of the adsorption end, which is away from the adsorption mounting seat (4110), and the adsorption limiting surface is used for being abutted with the sucked workpiece so as to keep a preset distance between the workpiece and the adsorption end;
the adsorption limiting portion (4130) includes: an adsorption connector (4131) provided on the adsorption mount (4110); the adsorption limiting piece (4132) is arranged at one end, far away from the adsorption mounting seat (4110), of the adsorption connecting piece (4131), and the adsorption limiting piece (4132) is provided with the adsorption limiting surface.
2. The assembly apparatus of claim 1, wherein the assembly apparatus further comprises:
and the conveying line is used for conveying the products, and the shooting part (4160) is used for shooting the products positioned on the conveying line.
3. The assembly apparatus of claim 1, wherein the assembly apparatus further comprises:
and a feeder (4300) provided on one side of the assembly robot, the feeder (4300) being configured to supply the assembly robot with the workpiece.
4. The assembling apparatus according to claim 1, wherein the photographing section (4160) includes:
-a second camera (4161) for capturing said product;
-a second annular light source (4162), said second annular light source (4162) being arranged around said second camera (4161).
5. The assembling apparatus according to claim 1, wherein the suction connector (4131) is made of a metal material, and the suction stopper (4132) is made of conductive rubber.
6. The assembly apparatus of claim 1, wherein the adsorption device further comprises:
and a pressure sensor (4140) provided on the suction mounting seat (4110), wherein the pressure sensor (4140) is configured to detect a value of pressure applied to the workpiece by the suction limiting portion (4130).
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| CN201910817653.1A CN110434585B (en) | 2019-08-30 | 2019-08-30 | Assembly equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910817653.1A CN110434585B (en) | 2019-08-30 | 2019-08-30 | Assembly equipment |
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| CN110434585B true CN110434585B (en) | 2024-03-08 |
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| JP2013154457A (en) * | 2012-01-31 | 2013-08-15 | Asahi Kosan Kk | Workpiece transfer system, workpiece transfer method, and program |
| WO2017085932A1 (en) * | 2015-11-16 | 2017-05-26 | 川崎重工業株式会社 | Robot system and robot system control method |
| JP2018089719A (en) * | 2016-11-30 | 2018-06-14 | 株式会社東芝 | Robot hand |
| CN109273385A (en) * | 2018-09-13 | 2019-01-25 | 德淮半导体有限公司 | Wafer defect detection method, mechanical arm based on mechanical arm, semiconductor equipment |
| JP2019076965A (en) * | 2017-10-20 | 2019-05-23 | グローリー株式会社 | Robot hand, robot and gripping method |
| CN210731548U (en) * | 2019-08-30 | 2020-06-12 | 珠海格力智能装备有限公司 | Assembling equipment |
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2019
- 2019-08-30 CN CN201910817653.1A patent/CN110434585B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013154457A (en) * | 2012-01-31 | 2013-08-15 | Asahi Kosan Kk | Workpiece transfer system, workpiece transfer method, and program |
| WO2017085932A1 (en) * | 2015-11-16 | 2017-05-26 | 川崎重工業株式会社 | Robot system and robot system control method |
| JP2018089719A (en) * | 2016-11-30 | 2018-06-14 | 株式会社東芝 | Robot hand |
| JP2019076965A (en) * | 2017-10-20 | 2019-05-23 | グローリー株式会社 | Robot hand, robot and gripping method |
| CN109273385A (en) * | 2018-09-13 | 2019-01-25 | 德淮半导体有限公司 | Wafer defect detection method, mechanical arm based on mechanical arm, semiconductor equipment |
| CN210731548U (en) * | 2019-08-30 | 2020-06-12 | 珠海格力智能装备有限公司 | Assembling equipment |
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